Self-adaptive ship body curved surface supporting device and control method

Abstract

The invention provides a self-adaptive ship body curved surface supporting device and a control method. The self-adaptive ship body curved surface supporting device comprises supporting units installed on a transport trolley in a rectangular array mode, and any supporting unit comprises a lifting oil cylinder fixedly connected with the transport trolley and a self-adaptive supporting assembly arranged at the lifting end of the lifting oil cylinder; the self-adaptive supporting assembly comprises a base plate and a top plate, an electromagnetic chuck is arranged at the upper end of the top plate, the top plate and the base plate are connected through a parallel mechanism arranged between the base plate and the top plate, and the top plate is hinged to the lifting end of the lifting oil cylinder through a supporting column and a ball bearing. The method comprises the steps of an active lifting stage, a preliminary positioning stage and a fixed lifting stage. By arranging the parallel mechanism and the ball bearing structure, if the jacking position deviates, the electromagnetic chuck slides on the surface of the ship section through extrusion of the jacking oil cylinder until sliding stops, the current intensity is increased, the electromagnetic chuck generates the maximum adsorption force, the parallel mechanism is locked, and positioning is achieved; and a foundation is provided for subsequent safe lifting and transportation.

Description

Technical Field

[0001] The invention relates to an adaptive hull curved surface supporting device and a control method, belonging to the technical field of shipbuilding. Background Art

[0002] Ship block docking technology is a commonly used manufacturing method in the ship manufacturing process. During the docking process of the block and the section, the technology of lifting and moving the ship section by jacking and moving devices has become more and more mature and its application frequency has increased.

[0003] The bottom of the ship section is mostly a non-planar structure, and the connection with the side is a curved surface transition. Therefore, during the jacking work of the ship body, the contact stability between the jacking trolley and the bottom of the ship section is a problem that must be solved during the docking process of the ship section. At present, during the jacking process of the ship section, the positioning of the lifting structure and the surface of the ship section is achieved by measuring the matching position of the jacking trolley and the ship section in advance, moving the jacking trolley to the specified position and starting the jacking mechanism until it contacts the surface of the ship section. The connection structure of the jacking mechanism in contact with the ship section adopts suction cups and special lifting structures that match the shape of the ship section. When these connection structures are in contact with the ship section during jacking, since the lifting cylinder of the jacking trolley is rigid and the position of the jacking trolley is fixed, if there is a positioning deviation, the connection structure matching the ship section will be mismatched, resulting in failure to provide safe and effective jacking.

[0004] Therefore, in order to solve the impact of the position error of the connecting structure during the jacking process, there is an urgent need for a connecting structure that can overcome the influence of the error and achieve stable jacking. Summary of the invention

[0005] Purpose of the invention: In view of the deficiencies in the prior art, the present invention provides an adaptive hull curved surface support device and a control method to solve the problems mentioned in the above background technology.

[0006] Technical solution: An adaptive hull curved surface support device comprises support units mounted on a transport trolley in a rectangular array, wherein any support unit comprises a lifting cylinder fixedly connected to the transport trolley and an adaptive support assembly arranged at the lifting end of the lifting cylinder; The adaptive support assembly includes a chassis fixedly connected to the outer side of the lifting end of the lifting cylinder and a top plate with an electromagnetic suction cup on the upper end. The top plate and the chassis are connected by a parallel mechanism arranged between the chassis and the top plate. The top plate is hinged to the lifting end of the lifting cylinder through a support and a ball bearing.

[0007] The present invention sets a parallel mechanism and a ball bearing structure. When the top plate contacts the surface of the ship section, the ball bearing can make the overall direction of the adaptive support component roughly the same as the direction of the surface of the ship section. At this time, the electromagnetic suction cup is energized with a small current to generate a small adsorption force between the electromagnetic suction cup and the surface of the ship section, so as to correct the corresponding positions of the top plate and the ship section. When the lifting cylinder continues to lift, if the lifting position deviates, the electromagnetic suction cup is squeezed by the lifting cylinder to slide on the surface of the ship section until the sliding stops, which means that the force at this position is balanced. At this time, the current intensity is increased to make the electromagnetic suction cup generate the maximum adsorption force, and the parallel mechanism is locked to achieve positioning, thereby providing a basis for subsequent safe lifting and transportation.

[0008] The electromagnetic chuck comprises at least three electromagnetic chuck monomers distributed in a circular array on the top plate. One side of any electromagnetic chuck monomer close to the middle of the top plate is hinged to the upper end of the top plate, and the other side is abutted against the upper end of the top plate, so that the electromagnetic chuck monomer can rotate upward.

[0009] In order to adapt to the curved surface of the ship section and ensure that the electromagnetic suction cup can fit the curved surface and provide stable support, the electromagnetic suction cup is decomposed into at least three electromagnetic suction cup monomers, and the monomers are hingedly connected to the top plate. Under low current conditions, the electromagnetic suction cup monomers can rotate by themselves and adsorb to the ship section, and then continue to lift, correct the adsorption position, increase the current intensity, so that the electromagnetic suction cup monomers can be stably adsorbed on the surface of the hull. When targeting the curved hull, the three electromagnetic suction cup monomers form a stable support surface. At the same time, during the transportation of the ship section, when starting and braking, the force generated by the inertia of the ship section, because the electromagnetic suction cup monomers are distributed in a circular array, their hinged positions have constraints at various angles in the horizontal direction, so they can be effectively constrained in the starting and braking stages to prevent the problem of position changes caused by inertia of the hull during movement.

[0010] Electromagnetic bosses are evenly distributed at equal intervals on the upper end of the electromagnetic chuck, and the electromagnetic bosses cover the entire upper end surface of the electromagnetic chuck.

[0011] The surface of the ship section is adsorbed by evenly distributed electromagnetic bosses, which increases the strength of the electromagnetic suction cup and provides better support. After wear and tear due to long-term work, only the electromagnetic bosses need to be replaced accordingly, without the need to replace the entire structure, thus reducing maintenance costs.

[0012] The parallel structure includes at least three groups of adjusting cylinders corresponding to the number and position of the electromagnetic suction cup units, and any group of adjusting cylinders includes at least one adjusting cylinder unit whose two ends are respectively hinged to the edges of the top plate and the bottom plate, and the outer diameter of the top plate is smaller than the outer diameter of the bottom plate.

[0013] The parallel mechanism is set as an adjusting cylinder, and the hydraulic system of the lifting cylinder itself can be used to provide oil for it. Through hydraulic braking positioning, it can provide a more stable and safe supporting force. The outer diameters of the top plate and the chassis are different, so the adjusting cylinder can be installed at an angle. When supporting a flat surface, the pillars and the lifting cylinder bear the vertical downward force. When supporting a curved surface, the force is transmitted to the pillars and the lifting cylinder through the adjusting cylinder to achieve stable support.

[0014] The connection between the bottom of the top plate and the regulating oil cylinder is arranged as an inclined support surface which is inclined downward from the edge of the top plate toward the support column.

[0015] The setting of the inclined support surface makes the contracted side closer to a vertical state when the adjusting cylinder deflects to one side, and the force is transmitted in the vertical downward direction as much as possible, making the support more stable.

[0016] The middle part of the top plate is a circular hollow structure, the top of the pillar is provided with a step surface, and the top of the pillar is provided with at least two spaced-apart mounting parts, the outer side of the mounting part is an arc surface which is interference fit with the inner side surface of the middle part of the top plate, and the bottom of the top plate abuts against the step surface of the top of the pillar.

[0017] The top plate and the pillars are made into a separate structure, and two mounting parts are set on the top of the pillars for interference fit with the top plate, so that the top plate only needs to be snapped in during installation. The one-piece design has high cost and maintenance cost.

[0018] A control method for an adaptive hull curved surface supporting device comprises the following steps: Step 1: Active lifting stage; After the transport trolley moves to the pre-set docking position with the ship section, the lifting cylinder is automatically lifted to the range of 60%~100% of the maximum stroke of the lifting cylinder; Step 2, initial positioning stage; the ship section is adjusted and lowered according to the movement of the gantry until it contacts the adaptive support assembly; by detecting the pressure change of the lifting cylinder, each electromagnetic suction cup monomer is controlled to be electrically adsorbed on the surface of the ship section for initial positioning; Step 3, fixed lifting stage; The ship section continuously applies downward pressure on the lifting cylinder. When the lifting cylinder that first contacts the ship section drops to 20% of the maximum stroke of the total lifting cylinder, the lifting switch valves of all lifting cylinders are disconnected, the oil circuit is disconnected, and the cylinder maintains the current position. The power supply of each electromagnetic suction cup unit is increased, and the regulating switch valve on the regulating cylinder oil circuit is disconnected, so that the regulating cylinder and the lifting cylinder maintain the current position, completing the final fixed lift.

[0019] The step 2 is specifically as follows: Each lifting cylinder is provided with an overflow valve and an oil pressure sensor in the oil return line. The adaptive support assembly generates downward pressure after contacting the ship section. The oil pressure sensor detects the oil pressure change signal, and receives the signal through the signal processing control assembly to control the electromagnetic suction cup unit to be energized. The current is divided into two gears, which are 30% of the maximum current value and the maximum current value. In the initial positioning stage, the current is 30% of the maximum current value. The lifting cylinder slowly descends under the action of the overflow valve. The adaptive support assembly gradually swings in the direction of fitting the ship section as the pressure applied by the ship section. The adjusting cylinder is adaptively adjusted according to the pressure direction. When there is a deviation in the docking position between the lifting cylinder and the ship section, the electromagnetic suction cup unit slides to a force equilibrium state to complete the initial positioning.

[0020] The step 3 is specifically as follows: When the lifting cylinder that first contacts the ship section descends to 20% of the maximum stroke of the total lifting cylinder, the lifting cylinder switch valve is disconnected, so that the pressure generated by the hull is supported by the hydraulic oil in the large chamber of the lifting cylinder; from the beginning of the initial positioning stage to the end of the fixed lifting stage, the oil inlet pipeline of the small chamber of each lifting cylinder is set with a pressure compensator to make the stroke of each lifting cylinder consistent when it descends. In the fixed lifting stage, the current is the maximum current value, so that the electromagnetic suction cup monomer is adsorbed on the surface of the ship section with the maximum adsorption force.

[0021] Beneficial effect: The present invention sets a parallel mechanism and a ball bearing structure. When the top plate contacts the surface of the ship section, the ball bearing can make the overall direction of the adaptive support assembly roughly the same as the direction of the surface of the ship section. At this time, the electromagnetic suction cup is energized with a small current to generate a smaller adsorption force between the electromagnetic suction cup and the surface of the ship section, so as to correct the corresponding position of the top plate and the ship section. When the lifting cylinder continues to lift, if the lifting position deviates, the electromagnetic suction cup will slip on the surface of the ship section through the squeezing of the lifting cylinder until the sliding stops, which means that the force at this position is balanced. At this time, the current intensity is increased to make the electromagnetic suction cup generate maximum adsorption force, and the parallel mechanism is locked to achieve positioning, thereby providing a basis for subsequent safe lifting and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the array installation of the present invention.

[0024] Figure 2 This is a structural diagram of the support unit of the present invention.

[0025] Figure 3 This is a structural diagram of the upper side of the adaptive support assembly of the present invention.

[0026] Figure 4 This is a structural diagram of the lower side of the adaptive support assembly of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0030] like Figures 1 to 3 As shown, an adaptive hull curved surface support device comprises support units mounted on a transport trolley in a rectangular array, wherein any support unit comprises a lifting cylinder 1 fixedly connected to the transport trolley and an adaptive support assembly arranged at the lifting end of the lifting cylinder 1; The adaptive support assembly includes a chassis 2 fixedly connected to the outer side of the lifting end of the lifting cylinder 1 and a top plate 3 with an electromagnetic suction cup 4 on the upper end. The top plate 3 and the chassis 2 are connected via a parallel mechanism arranged between the chassis 2 and the top plate 3. The top plate 3 is hinged to the lifting end of the lifting cylinder 1 via a support 5 via a ball bearing 6.

[0031] The electromagnetic suction cup 4 includes at least three electromagnetic suction cup monomers 41 distributed in a circular array on the top plate 3. One side of any electromagnetic suction cup monomer 41 close to the middle of the top plate 3 is hinged to the upper end of the top plate 3, and the other side is abutted against the upper end of the top plate 3, so that the electromagnetic suction cup monomer 41 can rotate upward.

[0032] Electromagnetic bosses 42 are evenly distributed at equal intervals on the upper end of the electromagnetic chuck 4 , and the electromagnetic bosses 42 cover the entire upper end surface of the electromagnetic chuck 4 .

[0033] The parallel structure includes at least three groups of adjusting cylinders 7 corresponding to the number and position of the electromagnetic suction cup units 41, and any group of adjusting cylinders 7 includes at least one adjusting cylinder unit 71 whose two ends are respectively hinged to the edges of the top plate 3 and the bottom plate 2, and the outer diameter of the top plate 3 is smaller than the outer diameter of the bottom plate 2.

[0034] like Figure 4 As shown, the connection between the bottom of the top plate 3 and the regulating cylinder 7 is configured as an inclined support surface 31 that is inclined downward from the edge of the top plate 3 toward the support column 5 .

[0035] The middle part of the top plate 3 is a circular hollow structure, the top of the pillar 5 is provided with a step surface, and the top of the pillar 5 is provided with at least two spaced-apart mounting portions 51, the outer side of the mounting portion 51 is an arc surface which is interference fit with the inner side surface of the middle part of the top plate 3, and the bottom of the top plate 3 abuts against the step surface of the top of the pillar 5.

[0036] A control method for an adaptive hull curved surface supporting device comprises the following steps: Step 1: Active lifting stage; After the transport trolley moves to the preset docking position with the ship section, the lifting cylinder 1 is actively lifted to 60% of the maximum stroke of the lifting cylinder 1; Step 2, preliminary positioning stage; the ship section is adjusted and lowered according to the movement of the gantry until it contacts the adaptive support assembly; by detecting the pressure change of the lifting cylinder 1, each electromagnetic suction cup monomer 41 is controlled to be electrically adsorbed on the surface of the ship section for preliminary positioning; Step 3, fixed lifting stage; The ship section continuously applies downward pressure to the lifting cylinder 1. When the lifting cylinder 1 that first contacts the ship section drops to 20% of the maximum stroke of the total lifting cylinder 1, the lifting switch valves of all lifting cylinders 1 are controlled to be disconnected, the oil circuit is disconnected, and the cylinder maintains the current position. The electromagnetic suction cup monomers 41 are controlled to be energized, and the regulating switch valve on the oil circuit of the regulating cylinder 7 is disconnected, so that the regulating cylinder 7 and the lifting cylinder 1 both maintain the current position, completing the final fixed lift.

[0037] The step 2 is specifically as follows: Each lifting cylinder 1 is provided with an overflow valve and an oil pressure sensor in the oil return pipeline. The adaptive support assembly generates downward pressure after contacting the ship section. The oil pressure sensor detects the oil pressure change signal, and receives the signal through the signal processing control assembly to control the electromagnetic suction cup monomer 41 to be energized. The current is divided into two gears, which are 30% of the maximum current value and the maximum current value. In the initial positioning stage, the current is 30% of the maximum current value. The lifting cylinder 1 slowly descends under the action of the overflow valve, and the adaptive support assembly gradually swings in the direction of fitting the ship section as the pressure applied by the ship section. The adjusting cylinder 7 is adaptively adjusted according to the pressure direction. When the docking position of the lifting cylinder 1 and the ship section deviates, the electromagnetic suction cup monomer 41 slides to a force equilibrium state to complete the initial positioning.

[0038] The step 3 is specifically as follows: When the lifting cylinder 1 that first contacts the ship section descends to 20% of the maximum stroke of the total lifting cylinder 1, the lifting cylinder 1 switch valve is disconnected, so that the pressure generated by the hull is supported by the hydraulic oil in the large chamber of the lifting cylinder 1; from the beginning of the initial positioning stage to the end of the fixed lifting stage, the oil inlet pipeline of the small chamber of each lifting cylinder 1 is set with a pressure compensator to make the stroke of each lifting cylinder 1 consistent when it descends. In the fixed lifting stage, the current is the maximum current value, so that the electromagnetic suction cup monomer 41 is adsorbed on the surface of the ship section with the maximum adsorption force.

[0039] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0040] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adaptive hull curved surface support device, comprising support units mounted in a rectangular array on a transport vehicle, characterized in that: Any supporting unit comprises a lifting cylinder (1) fixedly connected to the transport trolley and an adaptive supporting assembly arranged at the lifting end of the lifting cylinder (1); The adaptive support assembly comprises a chassis (2) fixedly connected to the outer side of a lifting end of a lifting cylinder (1) and a top plate (3) with an electromagnetic suction cup (4) arranged at the upper end; the top plate (3) and the chassis (2) are connected via a parallel mechanism arranged between the chassis (2) and the top plate (3); the top plate (3) is hinged to the lifting end of the lifting cylinder (1) via a support (5) via a ball bearing (6).

2. The adaptive hull curvature support device according to claim 1, characterized in that: The electromagnetic suction cup (4) comprises at least three electromagnetic suction cup monomers (41) distributed in a circular array on the top plate (3); one side of any electromagnetic suction cup monomer (41) close to the middle of the top plate (3) is hinged to the upper end of the top plate (3) in a hinged manner, and the other side is abutted against the upper end of the top plate (3), so that the electromagnetic suction cup monomer (41) can rotate upward.

3. The adaptive hull curvature support device according to claim 2, characterized in that: Electromagnetic bosses (42) are evenly spaced on the upper end of the electromagnetic suction cup (4), and the electromagnetic bosses (42) completely cover the upper end surface of the electromagnetic suction cup (4).

4. The adaptive hull curvature support device according to claim 2, characterized in that: The parallel structure comprises at least three groups of regulating oil cylinders (7) corresponding to the number and position of the electromagnetic suction cup monomers (41), and any one group of regulating oil cylinders (7) comprises at least one regulating oil cylinder monomer (71) whose two ends are respectively hinged to the edges of the top plate (3) and the bottom plate (2), and the outer diameter of the top plate (3) is smaller than the outer diameter of the bottom plate (2).

5. The adaptive hull curvature support device according to claim 4, characterized in that: The connection between the bottom of the top plate (3) and the regulating oil cylinder (7) is arranged as an inclined support surface (31) that is inclined downward from the edge of the top plate (3) toward the support column (5).

6. The adaptive hull curvature support device according to claim 1, characterized in that: The middle part of the top plate (3) is a circular hollow structure, the top of the pillar (5) is provided with a stepped surface, and the top of the pillar (5) is provided with at least two spaced-apart mounting portions (51), the outer side of the mounting portion (51) is an arc surface which is interference-fitted with the inner side surface of the middle part of the top plate (3), and the bottom of the top plate (3) is in contact with the stepped surface of the top of the pillar (5).

7. The control method of the adaptive hull curved surface support device according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: Active lifting stage; After the transport trolley moves to a preset docking position with the ship section, the lifting cylinder (1) is actively lifted to a range between 60% and 100% of the maximum stroke of the lifting cylinder (1); Step 2, initial positioning stage; the ship section is adjusted and lowered according to the movement of the gantry until it contacts the adaptive support assembly; by detecting the pressure change of the lifting cylinder (1), each electromagnetic suction cup monomer (41) is controlled to be electrically adsorbed on the surface of the ship section to perform initial positioning; Step 3, fixed lifting stage; The ship section continuously applies downward pressure to the lifting cylinder (1). When the lifting cylinder (1) that first contacts the ship section descends to 20% of the maximum stroke of the total lifting cylinder (1), the lifting switch valves of all lifting cylinders (1) are controlled to be disconnected, the oil circuit is disconnected, and the cylinders are kept in the current position. The electromagnetic suction cup units (41) are controlled to be energized, and the regulating switch valve on the oil circuit of the regulating cylinder (7) is disconnected, so that the regulating cylinder (7) and the lifting cylinder (1) are kept in the current position, and the final fixed lifting is completed.

8. The control method of the adaptive hull curved surface support device according to claim 7, characterized in that: The step 2 is specifically as follows: Each lifting oil cylinder (1) is provided with an overflow valve and an oil pressure sensor in the oil return pipeline. After the adaptive support assembly contacts the ship section, downward pressure is generated. The oil pressure sensor detects an oil pressure change signal. The signal is received by the signal processing control assembly to control the electromagnetic suction cup unit (41) to be energized. The current is divided into two gears, which are 30% of the maximum current value and the maximum current value. In the initial positioning stage, the current is 30% of the maximum current value. The lifting oil cylinder (1) slowly descends under the action of the overflow valve. The adaptive support assembly gradually swings in the direction of fitting the ship section as the pressure applied by the ship section. The adjustment cylinder (7) is adaptively adjusted according to the pressure direction. When the lifting oil cylinder (1) deviates from the docking position with the ship section, the electromagnetic suction cup unit (41) slides to a force equilibrium state to complete the initial positioning.

9. The control method of the adaptive hull curved surface support device according to claim 8, characterized in that: The step 3 is specifically as follows: When the lifting cylinder (1) that first contacts the ship section descends to 20% of the maximum stroke of the total lifting cylinder (1), the lifting cylinder (1) switch valve is disconnected, so that the pressure generated by the hull is supported by the hydraulic oil in the large chamber of the lifting cylinder (1); from the beginning of the initial positioning stage to the end of the fixed lifting stage, the small chamber oil inlet pipelines of each lifting cylinder (1) are provided with a pressure compensator so that the stroke of each lifting cylinder (1) when descending is consistent. In the fixed lifting stage, the current is the maximum current value, so that the electromagnetic suction cup monomer (41) is adsorbed on the surface of the ship section with the maximum adsorption force.

Images