Working method of multi-tube segment posture adjustment and transfer device

Abstract

The present invention provides a working method of a multi-barrel segment attitude adjustment and transportation device, comprising: an attitude adjustment platform, a rotating module, a supporting module, a transportation device and a barrel segment attitude control system; the rotating module is supported by the supporting module, the attitude adjustment platform is installed on the rotating module for rotation, the two ends of the barrel segment are respectively placed on an attitude adjustment platform, and a transportation device is arranged near the supporting module; the present application realizes a six-axis attitude adjustment process of the barrel segment by integrating a first horizontal direction and a second horizontal direction motion mechanism into a motion mechanism of a self-adjusting roller frame, and realizes automatic and precise control of the barrel segment attitude through the linkage of a laser tracker and the barrel segment attitude control system, thereby shortening the attitude adjustment cycle of the barrel segment assembly and further improving the attitude adjustment efficiency.

Description

Technical Field

[0001] The invention relates to the field of barrel segment processing, and in particular to a working method of a multi-barrel segment posture adjustment and transportation device. Background Art

[0002] A barrel segment assembly refers to a device composed of multiple independent cylinders assembled in parallel according to specific posture requirements. Generally, due to the large mass and size of a single barrel segment, the assembly process cannot be completed in one step, and its posture needs to be continuously and dynamically adjusted. At present, in the industrial field, there are very limited cases of attitude adjustment for larger barrel segment assembly devices, and there are even fewer cases of using automation technology to adjust the attitude of barrel segment assemblies. Introducing automated servo attitude adjustment means into the attitude adjustment process of barrel segment assemblies is of great significance for improving attitude adjustment accuracy, improving the reliability of the attitude adjustment process, and shortening the attitude adjustment cycle. The patent document with publication number CN104148914A discloses an attitude adjustment assembly system and attitude adjustment method for docking rocket components. The patent cannot realize the automatic attitude adjustment and transportation of multiple barrel segments. The patent document with publication number CN117902016A discloses a collaborative attitude adjustment device for the flexible docking of ship segments. The structure of the device is complex and different from the structure of the present application, and it is also impossible to realize the automatic attitude adjustment and transportation of multiple barrel segments. Summary of the invention

[0003] In view of the defects in the prior art, the object of the present invention is to provide a working method of a multi-drum segment posture adjustment and transportation device.

[0004] A working method of a multi-barrel segment posture adjustment and transportation device provided by the present invention comprises: a posture adjustment platform, a rotation module, a support module, a transportation device and a barrel segment posture control system;

[0005] The rotating module is supported by the supporting module, the posture adjustment platform is installed on the rotating module for rotation, both ends of the barrel section are respectively placed on a posture adjustment platform, and a transfer device is arranged near the supporting module;

[0006] The posture adjustment platform comprises: a self-adjusting roller frame and a track moving platform;

[0007] A first horizontal moving mechanism is arranged inside the self-adjusting roller frame, and the roller of the self-adjusting roller frame moves along a first horizontal direction through the first horizontal moving mechanism; the track moving platform is mounted on the rotating module, and the self-adjusting roller frame is mounted on the track moving platform and moves along a second horizontal direction through the track moving platform;

[0008] A laser tracker is arranged near the barrel section, and the laser tracker signal is connected to the barrel section posture control system, and the barrel section posture control system signal is connected to the posture adjustment platform and the rotation module;

[0009] The working method of the multi-tube segment posture adjustment and transportation device comprises the following steps:

[0010] Step S1, rough adjustment of the initial barrel segment posture: hoisting a single initial barrel segment onto a group of corresponding posture adjustment platforms through the transfer device, and preliminarily observing and determining the initial state of each device on the posture adjustment platform and the initial posture of the initial barrel segment during the hoisting process;

[0011] Step S2, fine adjustment of the initial barrel segment posture: according to the feedback information of the laser tracker to the barrel segment posture control system, the barrel segment posture control system signal controls the posture adjustment platform to dynamically adjust the posture of the initial barrel segment, and uses the finely adjusted posture of the initial barrel segment as the posture adjustment reference of subsequent barrel segments;

[0012] Step S3, rough adjustment of the relative posture of the barrel segment assembly: hoist the subsequent barrel segments one by one, and during the hoisting process, preliminarily observe the relative posture of the barrel segment to be installed and the initial barrel segment and perform rough adjustment;

[0013] Step S4, fine adjustment of the relative posture of the barrel segment assembly: based on the feedback information of the laser tracker to the barrel segment posture control system, the barrel segment posture control system signal controls the posture adjustment platform to dynamically adjust the posture of the subsequent barrel segment to be installed relative to the initial barrel segment.

[0014] Preferably, the rotating module comprises: a rotating column and a rotating cantilever;

[0015] The rotating column is a columnar structure that can rotate around an axial direction and is provided with one or more. Each of the rotating columns is provided with a plurality of horizontally placed rotating cantilevers, and each of the rotating cantilever is provided with the posture adjustment platform.

[0016] Preferably, the support module comprises: a basic support platform and a cantilever support;

[0017] The cantilever support is mounted on the basic support platform, and the cantilever support is provided with one or more;

[0018] The cantilever support comprises: a support column and a support base;

[0019] The support base is installed on the basic support platform, the support column is installed on the support base, one or more groove-shaped support tables are provided on the support column, and the multiple rotating cantilevers on each rotating column are supported by the top of the support column or the support table.

[0020] Preferably, the rotating modules are arranged in groups of two along the axial direction of the barrel section, and multiple groups are provided. The rotating modules are provided with multiple attitude adjustment platforms along the height direction, and the multiple attitude adjustment platforms on each group of two rotating modules correspond one to one in height.

[0021] Preferably, two rotatable roller brackets are provided on the first horizontal moving mechanism, and rollers are mounted on the roller brackets.

[0022] Preferably, step S1 also includes the following steps:

[0023] Step A1, rotating the two posture adjustment platforms on the same side of the bottom layer to a specified position, and aligning the two posture adjustment platforms in a first horizontal direction and a second horizontal direction;

[0024] Step A2, hoisting the initial barrel segment to above the two attitude adjustment platforms aligned in step A1, adjusting the axis of the initial barrel segment, and visually aligning the axial direction of the initial barrel segment with the center lines of the two attitude adjustment platforms along the second horizontal direction;

[0025] Step A3, hoisting the initial barrel section onto the rollers of the two posture adjustment platforms, and during the hoisting process, adjusting the posture of the roller bracket by rotation, dynamically adjusting the inclination angle of the self-adjusting roller bracket, so that the roller fits tightly against the outer wall of the barrel section, thereby achieving coarse adjustment of the longitudinal position of the barrel section.

[0026] Preferably, step S2 also includes the following steps:

[0027] Step B1, fine adjustment of the first horizontal direction posture: the laser tracker collects the initial barrel segment posture information and transmits it to the barrel segment posture control system in real time to fit the barrel segment posture information, generate a visual image and a translation increment in the first horizontal direction, the barrel segment posture control system drives the self-adjusting roller frame on the posture adjustment platform to move synchronously along the first horizontal direction, the laser tracker synchronously monitors the movement process, and adjusts the servo motor movement increment of the posture adjustment platform until the initial barrel segment reaches the specified position;

[0028] Step B2, fine adjustment of the second horizontal direction posture: the barrel segment posture control system generates a visualization image and a translation increment in the second horizontal direction according to the collected information of the laser tracker, the barrel segment posture control system drives the track-type mobile platform to move synchronously along the second horizontal direction, and the laser tracker synchronously monitors and dynamically adjusts the servo motor movement increment of the track-type mobile platform until the initial barrel segment reaches the specified position;

[0029] Step B3, longitudinal posture fine adjustment: the barrel segment posture control system generates a visual image and a longitudinal translation increment according to the collected information of the laser tracker, the barrel segment posture control system drives the roller brackets on both sides of the self-adjusting roller bracket to rotate inward or outward synchronously, and the laser tracker synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the rotation drive of the roller bracket until the initial barrel segment reaches the specified position;

[0030] Step B4, fine adjustment of the posture around the first horizontal direction: the barrel section posture control system generates a visualization image and a rotation increment around the first horizontal direction according to the collected information of the laser tracker, so that the inclination angles of the roller brackets on the self-adjusting roller brackets along the front and rear ends of the barrel section are different, and the inclination angles of the left and right roller brackets of the same self-adjusting roller bracket are equal and opposite, and the laser tracker synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the rotation drive of the roller bracket until the initial barrel section reaches the specified position;

[0031] Step B5, fine adjustment of the posture around the second horizontal direction: the barrel segment posture control system generates a visual image and a rotation increment around the second horizontal direction according to the collected information of the laser tracker, the barrel segment posture control system drives all rollers on the self-adjusting roller frames along the front and rear ends of the barrel segment to rotate in the same direction and frequency, driving the barrel segment to rotate around the second horizontal direction, and the laser tracker synchronously monitors and dynamically adjusts the motion increment of the servo motor that realizes the roller rotation drive until the barrel segment reaches the specified position;

[0032] Step B6, fine adjustment of the longitudinal posture: the barrel segment posture control system generates a visual image and a longitudinal rotation increment based on the information collected by the laser tracker. At this time, the inclination angles of the left and right roller brackets of the two self-adjusting roller frames remain unchanged, and the bottoms of the two roller brackets can be translated left and right along the first horizontal direction respectively under the drive of the translation motor. The laser tracker synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the translation drive of the roller bracket until the initial barrel segment reaches the specified position.

[0033] Preferably, step S3 also includes the following steps:

[0034] Step C1, subsequent cylinder sections are hoisted layer by layer from low to high and placed on the attitude adjustment platform. Before hoisting, the two attitude adjustment platforms on the side to be hoisted are simultaneously rotated to a specified position, and the two attitude adjustment platforms are horizontally aligned in a first horizontal direction and a second horizontal direction;

[0035] Step C2, hoisting the subsequent barrel segment to be installed above the two attitude adjustment platforms, adjusting the axis of the subsequent barrel segment, and visually aligning the axial direction of the subsequent barrel segment with the center lines of the two attitude adjustment platforms along the second horizontal direction;

[0036] Step C3, hoisting the subsequent barrel section onto the rollers of the two posture adjustment platforms, and dynamically adjusting the inclination angle of the self-adjusting roller frame during the hoisting process so that the rollers are closely fitted to the outer wall of the barrel section.

[0037] Preferably, step S4 also includes the following steps:

[0038] Step D1, fine adjustment of the relative posture in the first horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the laser tracker collects the posture information of the subsequent barrel segment and transmits it to the barrel segment posture control system in real time to fit the posture information of the barrel segment, generate a visual image and a translation increment in the first horizontal direction, the barrel segment posture control system drives the self-adjusting roller frame on the posture adjustment platform to move synchronously along the first horizontal direction, the laser tracker synchronously monitors the movement process, and adjusts the movement increment of the servo motor of the posture adjustment platform until the subsequent barrel segment reaches the specified position;

[0039] Step D2, fine adjustment of the relative posture in the second horizontal direction: taking the postures of the initial barrel segment and the preceding barrel segment as references, the barrel segment posture control system generates a visualization image and a translation increment in the second horizontal direction according to the collected information of the laser tracker, the barrel segment posture control system drives the track-type mobile platform to move synchronously along the second horizontal direction, and the laser tracker synchronously monitors and dynamically adjusts the motion increment of the servo motor of the track-type mobile platform until the subsequent barrel segment reaches the specified position;

[0040] Step D3, longitudinal relative posture fine adjustment: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system generates a visual image and a longitudinal translation increment according to the collected information of the laser tracker, the barrel segment posture control system drives the roller brackets on both sides of the self-adjusting roller bracket to rotate inward or outward synchronously, and the laser tracker synchronously monitors and dynamically adjusts the motion increment of the servo motor that realizes the rotation drive of the roller bracket until the subsequent barrel segment reaches the specified position;

[0041] Step D4, fine adjustment of the relative posture around the first horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system generates a visualization image and a rotation increment around the first horizontal direction according to the collected information of the laser tracker, so that the inclination angles of the roller brackets of the front and rear two self-adjusting roller brackets supporting the barrel segment are different, and the inclination angles of the left and right roller brackets of the same self-adjusting roller bracket are equal and opposite, and the laser tracker synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the rotation drive of the roller bracket until the subsequent barrel segment reaches the specified position;

[0042] Step D5, fine adjustment of the relative posture around the second horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system generates a visual image and a rotation increment around the second horizontal direction according to the collected information of the laser tracker, the barrel segment posture control system drives all rollers on the front and rear roller frames to rotate at the same frequency, driving the barrel segment to rotate around the second horizontal direction, and the laser tracker synchronously monitors and dynamically adjusts the motion increment of the servo motor that realizes the roller rotation drive until the subsequent barrel segment reaches the specified position;

[0043] Step D6, fine adjustment of the relative longitudinal posture: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system generates a visualization image and a rotation increment around the longitudinal direction according to the collected information of the laser tracker. At this time, the inclination angles of the left and right roller brackets of the two self-adjusting roller frames remain unchanged, and the bottoms of the two roller brackets can each translate left and right along the first horizontal direction under the drive of the translation motor. The laser tracker synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the translation drive of the roller bracket until the subsequent barrel segment reaches the specified position.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present application realizes the six-axis attitude adjustment process of the barrel section by integrating the first horizontal direction and the second horizontal direction motion mechanisms into the motion mechanism of the self-adjusting roller frame. Through the linkage of the laser tracker and the barrel section attitude control system, automatic and precise control of the barrel section attitude is realized, which shortens the attitude adjustment cycle of the barrel section assembly and further improves the attitude adjustment efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0047] Figure 1 It is the principle diagram of the multi-tube segment posture adjustment and transportation device;

[0048] Figure 2 It is the overall structure diagram of the multi-tube segment posture adjustment and transportation device;

[0049] Figure 3 It is a structural schematic diagram of a rotating module and a supporting module;

[0050] Figure 4 It is the overall working process diagram of the multi-drum segment posture adjustment and transfer device;

[0051] Figure 5 This is the rough adjustment flow chart of the initial barrel segment posture;

[0052] Figure 6 This is the flow chart of fine adjustment of initial barrel segment position;

[0053] Figure 7 It is a flowchart of the rough adjustment of the relative posture of the multi-barrel segment assembly;

[0054] Figure 8 It is a flowchart for fine adjustment of relative posture of multi-barrel segment components;

[0055] Fig. 9 It is a schematic diagram of the posture adjustment of the single barrel section around the first horizontal direction;

[0056] Fig.10 It is a schematic diagram of the single barrel section adjusting its posture around the second horizontal direction;

[0057] Fig.11 It is a schematic diagram of the longitudinal adjustment of a single barrel segment;

[0058] As shown in the figure:

[0059] DETAILED DESCRIPTION

[0060] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0061] Example 1

[0062] like Figure 1-3 As shown, this embodiment includes: an attitude adjustment platform 1, a rotating module 2, a supporting module 3, a transfer device 4 and a barrel segment attitude control system 5; the rotating module 2 is supported by the supporting module 3, the attitude adjustment platform 1 is installed on the rotating module 2 for rotation, the two ends of the barrel segment are respectively placed on an attitude adjustment platform 1, and a transfer device 4 is arranged near the supporting module 3; the attitude adjustment platform 1 includes: a self-adjusting roller frame and a track moving platform, a first horizontal direction moving mechanism is arranged inside the self-adjusting roller frame, and the rollers of the self-adjusting roller frame move along the first horizontal direction through the first horizontal direction moving mechanism, that is, Figure 2 In the X direction, the track moving platform is installed on the rotating module 2, and the self-adjusting roller frame is installed on the track moving platform and moves along the second horizontal direction through the track moving platform, that is, Figure 2Y direction in the barrel; a laser tracker 19 is arranged near the barrel section, and the laser tracker 19 signal is connected to the barrel section posture control system 5, and the barrel section posture control system 5 signal is connected to the posture adjustment platform 1 and the rotating module 2, wherein the laser tracker 19 is a device that uses laser for positioning on the market, and the barrel section posture control system 5 is a device that can be realized in the field and can realize signal control by using a computer, a PLC controller, etc. The rotating module 2 includes: a rotating column and a rotating cantilever; the rotating column is a columnar structure that can rotate around the axis and is provided with one or more, each rotating column is provided with a plurality of horizontally placed rotating cantilevers, and each rotating cantilever is provided with a posture adjustment platform 1. The supporting module 3 includes: a basic supporting platform 31 and a cantilever support; the cantilever support is installed on the basic supporting platform 31, and the cantilever support is provided with one or more; the cantilever support includes: a supporting column and a supporting base, the supporting base is installed on the basic supporting platform 31, the supporting column is installed on the supporting base, and the supporting column is provided with one or more groove-shaped supporting table surfaces, and the multiple rotating cantilevers on each rotating column are supported by the top of the supporting column or the supporting table surface. The rotating modules 2 are arranged in groups of two along the axial direction of the barrel section, and multiple groups are arranged. The rotating modules 2 are provided with multiple attitude adjustment platforms 1 along the height direction, and the multiple attitude adjustment platforms 1 on each group of two rotating modules 2 correspond to each other in height.

[0063] The left and right rollers of the self-adjusting roller frame are installed on the roller bracket. The roller bracket posture can be adjusted to adjust the roller inclination angle to realize the longitudinal translation of the barrel section. Before performing the posture adjustment work, the left and right rollers of the two self-adjusting roller frames required for posture adjustment at both ends of the barrel section are pre-moved to the specified positions. When a single barrel section is hoisted onto the roller frame, the left and right rollers automatically adjust their postures according to the diameter of the barrel section. After the automatic adjustment is completed, the left and right rollers are electrically locked to achieve the fixation of the barrel section.

[0064] Adjustment method of the inclination angle of the roller bracket: Since the roller bracket is rotatably installed on the first horizontal direction moving mechanism, when the inclination angle needs to be adjusted, the roller bracket is driven to rotate by a motor to achieve the adjustment of the inclination angle.

[0065] In one embodiment, the track moving platform and the first horizontal moving mechanism move in a manner that a motor drives a slider to move along the guide rail, and the slider is connected to the bottom of the corresponding self-adjusting roller frame or the bottom of the roller.

[0066] The laser tracker 19 is installed between the multiple barrel section assemblies, and the height can be adjusted by selecting a bracket. The laser tracker 19 works synchronously with the posture control system to achieve dynamic monitoring and posture adjustment feedback of the axis of the barrel section to be hoisted.

[0067] like Figure 4As shown, the present embodiment also provides a working method of a multi-barrel segment posture adjustment and transportation device, which is characterized by comprising the following steps: step S1, initial barrel segment posture rough adjustment: hoist a single initial barrel segment to a group of corresponding posture adjustment platforms 1 through a transportation device 4, and preliminarily observe and determine the initial state of each device on the posture adjustment platform 1 and the initial posture of the initial barrel segment during the hoisting process; step S2, initial barrel segment posture fine adjustment: according to the feedback information of the laser tracker 19 to the barrel segment posture control system 5, the barrel segment posture control system 5 signals control the adjustment The posture platform 1 dynamically adjusts the posture of the initial barrel segment, and uses the fine-tuned posture of the initial barrel segment as the posture adjustment reference for subsequent barrel segments; step S3, coarse adjustment of the relative posture of the barrel segment assembly: hoist the subsequent barrel segments one by one, and preliminarily observe the relative posture of the barrel segment to be installed and the initial barrel segment during the hoisting process and perform coarse adjustment; step S4, fine adjustment of the relative posture of the barrel segment assembly: according to the feedback information of the laser tracker 19 to the barrel segment posture control system 5, the barrel segment posture control system 5 signal controls the posture adjustment platform 1 to dynamically adjust the posture of the subsequent barrel segment to be installed relative to the initial barrel segment.

[0068] like Figure 5 Combination Figure 9-11 As shown, step S1 also includes the following steps: step A1, rotating the two attitude adjustment platforms 1 on the same side of the bottom layer to the specified position, and aligning the two attitude adjustment platforms 1 in the first horizontal direction and the second horizontal direction; step A2, hoisting the initial barrel section to the top of the two attitude adjustment platforms 1 aligned in step A1, adjusting the axis of the initial barrel section, and visually aligning the axial direction of the initial barrel section with the center lines of the two attitude adjustment platforms 1 along the second horizontal direction; step A3, hoisting the initial barrel section to the rollers of the two attitude adjustment platforms 1, and during the hoisting process, the posture of the roller bracket is adjusted by rotation, and the inclination angle of the self-adjusting roller bracket is dynamically adjusted, so that the roller is closely fitted to the outer wall of the barrel section, thereby realizing the coarse adjustment of the barrel section along the longitudinal position.

[0069] like Figure 6 Combination Figure 9-11As shown, in step S2, the following steps are also included: step B1, first horizontal direction (X direction) posture fine adjustment: the laser tracker 19 collects the initial barrel segment posture information and transmits it to the barrel segment posture control system 5 in real time to fit the barrel segment posture information, generate a visual image and a translation increment in the first horizontal direction, the barrel segment posture control system 5 drives the two self-adjusting roller frames on the posture adjustment platform 1 to move synchronously along the first horizontal direction, the laser tracker 19 synchronously monitors the movement process, and adjusts the servo motor movement increment of the posture adjustment platform 1 until the initial barrel segment reaches the specified position; step B2, second horizontal direction (Y direction) posture fine adjustment: the barrel segment posture control system 5 adjusts the posture information according to the characteristics collected by the laser tracker 19 The feature point information generates a visual image and a translation increment in the second horizontal direction, the barrel segment posture control system 5 drives the two track-type mobile platforms to move synchronously along the second horizontal direction, and the laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment of the track-type mobile platform until the initial barrel segment reaches the specified position; step B3, longitudinal (Z-direction) posture fine adjustment: the barrel segment posture control system 5 generates a visual image and a longitudinal translation increment according to the feature point information collected by the laser tracker 19, and the barrel segment posture control system 5 drives the left and right roller brackets on the self-adjusting roller racks at both ends of the barrel segment to rotate synchronously inward or outward. When the left and right roller brackets on the self-adjusting roller racks at both ends are all turned inward, the barrel segment posture control system 5 generates a visual image and a longitudinal translation increment according to the feature point information collected by the laser tracker 19, and the barrel segment posture control system 5 drives the left and right roller brackets on the self-adjusting roller racks at both ends of the barrel segment to rotate synchronously inward or outward. When rotating, the two ends of the barrel section are raised, and when rotating outward, the two ends of the barrel section are lowered, and the laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment until the initial barrel section reaches the specified position; step B4, fine adjustment of the posture around the first horizontal (Rx direction): the barrel section posture control system 5 generates a visualization image and a rotation increment around the first horizontal direction according to the feature point information collected by the laser tracker 19. At this time, the rotation angles of the roller brackets of the self-adjusting roller racks at both ends of the barrel section are different, and the rotation angles of the left and right roller brackets of the same self-adjusting roller rack are equal and opposite, that is, the two side roller brackets on the self-adjusting roller rack at one end rotate inward, and the barrel section at this end is raised, and the two side roller brackets on the self-adjusting roller rack at the other end rotate inward. Rotate outward, the end barrel section is lowered to realize the rotation around the first horizontal direction, the laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment until the initial barrel section reaches the specified position; step B5, fine adjustment of the posture around the second horizontal (Ry direction): the barrel section posture control system 5 generates a visual image and a rotation increment around the second horizontal direction according to the feature point information collected by the laser tracker 19, the barrel section posture control system 5 drives all the rollers on the self-adjusting roller frames at both ends of the barrel section to rotate in the same direction and frequency, the barrel section rotates around its own axial direction, that is, rotates around the second horizontal direction, the laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment until the barrel section reaches the specified position;Step B6, fine adjustment of the longitudinal (Rz) posture: The barrel segment posture control system 5 generates a visual image and a rotation increment around the longitudinal direction according to the feature point information collected by the laser tracker 19. At this time, the rotation angles of the left and right roller brackets on the self-adjusting roller racks at both ends of the barrel segment remain unchanged, and the two self-adjusting roller racks can each translate left and right along the first horizontal direction, specifically, the self-adjusting roller rack at one end moves left along the first horizontal direction, and the other end moves right, so as to realize the barrel segment rotation around the longitudinal direction. The laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment until the initial barrel segment reaches the specified position. ;

[0070] like Figure 7 Combination Figure 9-11 As shown, step S3 also includes the following steps: step C1, the subsequent barrel segments are hoisted layer by layer from low to high and placed on the attitude adjustment platform 1. Before hoisting, the two attitude adjustment platforms 1 on the side to be hoisted are simultaneously rotated to the specified position, and the two attitude adjustment platforms 1 are horizontally aligned in the first horizontal direction and the second horizontal direction; step C2, the subsequent barrel segment to be installed is hoisted above the two attitude adjustment platforms 1, the axis of the subsequent barrel segment is adjusted, and the axial direction of the subsequent barrel segment is visually aligned with the center line of the two attitude adjustment platforms 1 along the second horizontal direction; step C3, the subsequent barrel segment is hoisted onto the rollers of the two attitude adjustment platforms 1, and the inclination angle of the self-adjusting roller frame is dynamically adjusted during the hoisting process to make the rollers fit tightly against the outer wall of the barrel segment.

[0071] like Figure 8 Combination Figure 9-11As shown, in step S4, the following steps are also included: step D1, fine adjustment of the relative posture in the first horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the laser tracker 19 collects the posture information of the subsequent barrel segment and transmits it to the barrel segment posture control system 5 in real time to fit the posture information of the barrel segment, generate a visual image and a translation increment in the first horizontal direction, the barrel segment posture control system 5 drives the self-adjusting roller frame on the posture adjustment platform 1 to move synchronously along the first horizontal direction, the laser tracker 19 synchronously monitors the movement process, and adjusts the servo motor movement increment of the posture adjustment platform 1 until the subsequent barrel segment reaches the specified position; step D2, fine adjustment of the relative posture in the second horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system 5 A visualization image and a translation increment in the second horizontal direction are generated based on the feature point information collected by the laser tracker 19, and the barrel segment posture control system 5 drives the track-type mobile platform to move synchronously along the second horizontal direction, and the laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment of the track-type mobile platform until the subsequent barrel segment reaches the specified position; step D3, longitudinal relative posture fine adjustment: based on the posture of the initial barrel segment and the preceding barrel segment, the barrel segment posture control system 5 generates a visualization image and a longitudinal translation increment based on the feature point information collected by the laser tracker 19, and the barrel segment posture control system 5 drives the roller brackets on both sides of the self-adjusting roller brackets at both ends of the barrel segment to rotate synchronously in opposite directions, and the laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement Increment, until the subsequent barrel segment reaches the specified position; step D4, fine adjustment of the relative posture around the first horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as the reference, the barrel segment posture control system 5 generates a visual image and a rotation increment around the first horizontal direction according to the feature point information collected by the laser tracker 19. At this time, the rotation angles of the roller brackets of the two self-adjusting roller racks are different, and the rotation angles of the left and right roller brackets of the same self-adjusting roller rack are equal and opposite. The laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment until the subsequent barrel segment reaches the specified position; step D5, fine adjustment of the relative posture around the second horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as the reference, the barrel segment posture control system 5 generates a visual image and a rotation increment around the first horizontal direction according to the feature point information collected by the laser tracker 19. The barrel segment posture control system 5 drives all rollers on the front and rear self-adjusting roller frames to rotate at the same frequency, and the laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment until the subsequent barrel segment reaches the specified position; step D6, fine-tuning the relative posture around the longitudinal direction: taking the posture of the initial barrel segment and the preceding barrel segment as the reference, the barrel segment posture control system 5 generates a visualization image and a rotation increment around the longitudinal direction according to the feature point information collected by the laser tracker 19. At this time, the left and right roller brackets of the two self-adjusting roller frames remain unchanged, and the two self-adjusting roller frames can each translate left and right along the first horizontal direction. The laser tracker 19 synchronously monitors and dynamically adjusts the servo motor movement increment until the subsequent barrel segment reaches the specified position.

[0072] In addition, the six-axis attitude adjustment process involved in step S2 and step S4 can be carried out synchronously or sequentially under the control of the barrel section attitude control system 5.

[0073] Example 2

[0074] In one embodiment, the support module 3 includes: a basic support platform 31, a first cantilever support unit first support column 3201, a first cantilever support unit first support base 3202, a second cantilever support unit second support column 3211 and a second cantilever support unit second support base 3212; the first cantilever support unit first support base 3202 and the second cantilever support unit second support base 3212 are installed on the basic support platform 31, the first cantilever support unit first support column 3201 is installed on the first cantilever support unit first support base 3202, and the second cantilever support unit second support column 3211 is installed on the second cantilever support unit second support base 3212.

[0075] The rotating module 2 includes: a first rotating column 2101, a second rotating column 2102, a third rotating column 2103, a fourth rotating column 2104, a first rotating cantilever 2201, a second rotating cantilever 2202, a third rotating cantilever 2203, a fourth rotating cantilever 2204, a fifth rotating cantilever 2205, a sixth rotating cantilever 2206, a seventh rotating cantilever 2207 and an eighth rotating cantilever 2208; the first rotating column 2101, the second rotating column 2102, the third rotating column 2103 and the fourth rotating column 2104 are installed on the side of the basic support platform 31; the first rotating column 2101 is connected to the first rotating cantilever 2201 and the fifth rotating cantilever 2205 which are arranged horizontally, the second rotating column 2102 is connected to the second rotating cantilever 2202 and the sixth rotating cantilever 2206 which are arranged horizontally, and the third rotating cantilever 2205 is connected to the second rotating column 2102 The rotating column 2103 is connected to the transversely arranged third rotating cantilever 2203 and the seventh rotating cantilever 2207, and the fourth rotating column 2104 is connected to the transversely arranged fourth rotating cantilever 2204 and the eighth rotating cantilever 2208; the first rotating cantilever 2201 and the third rotating cantilever 2203 are jointly supported by the top of the first support column 3201 of the first cantilever support unit, the fifth rotating cantilever 2205 and the seventh rotating cantilever 2207 are jointly supported by the supporting table in the middle of the first support column 3201 of the first cantilever support unit, the second rotating cantilever 2202 and the fourth rotating cantilever 2204 are jointly supported by the top of the second support column 3211 of the second cantilever support unit, and the sixth rotating cantilever 2206 and the eighth rotating cantilever 2208 are jointly supported by the supporting table in the middle of the second support column 3211 of the second cantilever support unit.

[0076] The posture adjustment platform 1 includes: a first posture adjustment unit self-adjusting roller frame 1101, a first posture adjustment unit track moving platform 1102, a second posture adjustment unit self-adjusting roller frame 1201, a second posture adjustment unit track moving platform 1202, a third posture adjustment unit self-adjusting roller frame 1301, a third posture adjustment unit track moving platform 1302, a fourth posture adjustment unit self-adjusting roller frame 1401, a fourth posture adjustment unit track moving platform 1402, a fifth posture adjustment unit self-adjusting roller frame 1501, a fifth posture adjustment unit track moving platform 1502, a sixth posture adjustment unit self-adjusting roller frame 1601, a sixth posture adjustment unit track moving platform The first posture adjustment unit track moving platform 1102 is installed on the first rotating cantilever 2201, the first posture adjustment unit self-adjusting roller frame 1101 is installed on the first posture adjustment unit track moving platform 1102, the second posture adjustment unit track moving platform 1202 is installed on the second rotating cantilever 2202, and the second posture adjustment unit self-adjusting roller frame 1201 is installed on the second posture adjustment unit track moving platform 1 202, the third posture adjustment unit track moving platform 1302 is installed on the third rotating cantilever 2203, the third posture adjustment unit self-adjusting roller frame 1301 is installed on the third posture adjustment unit track moving platform 1302, the fourth posture adjustment unit track moving platform 1402 is installed on the fourth rotating cantilever 2204, the fourth posture adjustment unit self-adjusting roller frame 1401 is installed on the fourth posture adjustment unit track moving platform 1402, the fifth posture adjustment unit track moving platform 1502 is installed on the fifth rotating cantilever 2205, and the fifth posture adjustment unit self-adjusting roller frame 1501 is installed on the fifth posture adjustment unit track moving platform 150 2, the sixth posture adjustment unit track moving platform 1602 is installed on the sixth rotating cantilever 2206, the sixth posture adjustment unit self-adjusting roller frame 1601 is installed on the sixth posture adjustment unit track moving platform 1602, the seventh posture adjustment unit track moving platform 1702 is installed on the seventh rotating cantilever 2207, the seventh posture adjustment unit self-adjusting roller frame 1701 is installed on the seventh posture adjustment unit track moving platform 1702, the eighth posture adjustment unit track moving platform 1802 is installed on the eighth rotating cantilever 2208, and the eighth posture adjustment unit self-adjusting roller frame 1801 is installed on the eighth posture adjustment unit track moving platform 1802.

[0077] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0078] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A working method of a multi-segment posture adjustment and transportation device, characterized in that: include: An attitude adjustment platform (1), a rotation module (2), a support module (3), a transfer device (4), and a barrel segment attitude control system (5); The rotating module (2) is supported by the supporting module (3); the posture adjustment platform (1) is mounted on the rotating module (2) for rotation; both ends of the barrel section are respectively placed on a posture adjustment platform (1); and a transfer device (4) is provided near the supporting module (3); The posture adjustment platform (1) comprises: a self-adjusting roller frame and a track moving platform; A first horizontal moving mechanism is arranged inside the self-adjusting roller frame, and the roller of the self-adjusting roller frame moves along a first horizontal direction via the first horizontal moving mechanism; the track moving platform is mounted on the rotating module (2), and the self-adjusting roller frame is mounted on the track moving platform and moves along a second horizontal direction via the track moving platform; A laser tracker (19) is arranged near the barrel section, the laser tracker (19) is connected to the barrel section posture control system (5) by signal, and the barrel section posture control system (5) is connected to the posture adjustment platform (1) and the rotation module (2) by signal; The working method of the multi-tube segment posture adjustment and transportation device comprises the following steps: Step S1, rough adjustment of the initial barrel segment posture: hoisting a single initial barrel segment onto a group of corresponding posture adjustment platforms (1) by means of the transfer device (4), and preliminarily observing and determining the initial state of each device on the posture adjustment platform (1) and the initial posture of the initial barrel segment during the hoisting process; Step S2, fine-tuning the initial barrel segment posture: based on the feedback information of the laser tracker (19) to the barrel segment posture control system (5), the barrel segment posture control system (5) controls the posture adjustment platform (1) to dynamically adjust the posture of the initial barrel segment, and uses the fine-tuned posture of the initial barrel segment as the posture adjustment reference of subsequent barrel segments; Step S3, rough adjustment of the relative posture of the barrel segment assembly: hoist the subsequent barrel segments one by one, and during the hoisting process, preliminarily observe the relative posture of the barrel segment to be installed and the initial barrel segment and perform rough adjustment; Step S4, fine adjustment of the relative posture of the barrel segment assembly: based on the feedback information of the laser tracker (19) to the barrel segment posture control system (5), the barrel segment posture control system (5) controls the posture adjustment platform (1) with signals to dynamically adjust the posture of the subsequent barrel segment to be installed relative to the initial barrel segment.

2. The working method of the multi-drum segment posture adjustment and transportation device according to claim 1 is characterized in that: The rotating module (2) comprises: a rotating column and a rotating cantilever; The rotating column is a columnar structure that can rotate about an axial direction and is provided with one or more columns, each of which is provided with a plurality of horizontally placed rotating cantilevers, and each of which is provided with the posture adjustment platform (1).

3. The working method of the multi-drum segment posture adjustment and transportation device according to claim 2 is characterized in that: The support module (3) comprises: a basic support platform (31) and a cantilever support; The cantilever support is mounted on the basic support platform (31), and one or more cantilever supports are provided; The cantilever support comprises: a support column and a support base; The support base is mounted on a basic support platform (31), the support column is mounted on the support base, one or more groove-shaped support surfaces are provided on the support column, and the multiple rotating cantilevers on each rotating column are supported by the top of the support column or the support surface.

4. The working method of the multi-drum segment posture adjustment and transportation device according to claim 1 is characterized in that: The rotating modules (2) are arranged in groups of two along the axial direction of the barrel section, and a plurality of groups are provided. The rotating modules (2) are provided with a plurality of attitude adjustment platforms (1) along the height direction, and the plurality of attitude adjustment platforms (1) on each group of two rotating modules (2) correspond one to one in height.

5. The working method of the multi-drum segment posture adjustment and transportation device according to claim 1 is characterized in that: Two rotatable roller brackets are arranged on the first horizontal direction moving mechanism, and rollers are installed on the roller brackets.

6. The working method of the multi-drum segment posture adjustment and transportation device according to claim 1 is characterized in that: Step S1 also includes the following steps: Step A1, rotating the two posture adjustment platforms (1) on the same side of the bottom layer to a specified position, and aligning the two posture adjustment platforms (1) in a first horizontal direction and a second horizontal direction; Step A2, hoisting the initial barrel segment to above the two attitude adjustment platforms (1) aligned in step A1, adjusting the axis of the initial barrel segment, and visually aligning the axial direction of the initial barrel segment with the center lines of the two attitude adjustment platforms (1) along the second horizontal direction; Step A3, hoisting the initial barrel section onto the rollers of the two posture adjustment platforms (1), and during the hoisting process, the posture of the roller bracket is adjusted by rotation, and the inclination angle of the self-adjusting roller bracket is dynamically adjusted so that the roller fits tightly with the outer wall of the barrel section, thereby achieving rough adjustment of the longitudinal position of the barrel section.

7. The working method of the multi-drum segment posture adjustment and transportation device according to claim 1 is characterized in that: Step S2 also includes the following steps: Step B1, fine adjustment of the first horizontal direction posture: the laser tracker (19) collects the initial barrel segment posture information and transmits it to the barrel segment posture control system (5) in real time to fit the barrel segment posture information, generate a visual image and a translation increment in the first horizontal direction, the barrel segment posture control system (5) drives the self-adjusting roller frame on the posture adjustment platform (1) to move synchronously along the first horizontal direction, and the laser tracker (19) synchronously monitors the movement process and adjusts the servo motor movement increment of the posture adjustment platform (1) until the initial barrel segment reaches the specified position; Step B2, fine adjustment of the second horizontal direction posture: the barrel segment posture control system (5) generates a visual image and a translation increment in the second horizontal direction according to the collected information of the laser tracker (19), the barrel segment posture control system (5) drives the track-type mobile platform to move synchronously along the second horizontal direction, and the laser tracker (19) synchronously monitors and dynamically adjusts the servo motor movement increment of the track-type mobile platform until the initial barrel segment reaches the specified position; Step B3, longitudinal posture fine adjustment: the barrel segment posture control system (5) generates a visual image and a longitudinal translation increment according to the collected information of the laser tracker (19), the barrel segment posture control system (5) drives the roller brackets on both sides of the self-adjusting roller bracket to rotate inward or outward synchronously, and the laser tracker (19) synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the rotation drive of the roller bracket until the initial barrel segment reaches the specified position; Step B4, fine adjustment of the posture around the first horizontal direction: the barrel section posture control system (5) generates a visual image and a rotation increment around the first horizontal direction according to the collected information of the laser tracker (19), so that the inclination angles of the roller brackets on the self-adjusting roller brackets along the front and rear ends of the barrel section are different, and the inclination angles of the left and right roller brackets of the same self-adjusting roller bracket are equal and opposite, and the laser tracker (19) synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the rotation drive of the roller bracket until the initial barrel section reaches the specified position; Step B5, fine adjustment of the posture around the second horizontal direction: the barrel segment posture control system (5) generates a visual image and a rotation increment around the second horizontal direction based on the collected information of the laser tracker (19), the barrel segment posture control system (5) drives all rollers on the self-adjusting roller frames along the front and rear ends of the barrel segment to rotate in the same direction and frequency, driving the barrel segment to rotate around the second horizontal direction, and the laser tracker (19) synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the roller rotation drive until the barrel segment reaches the specified position; Step B6, fine adjustment of the longitudinal posture: the barrel segment posture control system (5) generates a visual image and a longitudinal rotation increment based on the collected information of the laser tracker (19). At this time, the inclination angles of the left and right roller brackets of the two self-adjusting roller racks remain unchanged, and the bottoms of the two roller brackets can each be translated left and right along the first horizontal direction under the drive of the translation motor. The laser tracker (19) synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the translation drive of the roller bracket until the initial barrel segment reaches the specified position.

8. The working method of the multi-drum segment posture adjustment and transportation device according to claim 1 is characterized in that: Step S3 also includes the following steps: Step C1, subsequent cylinder sections are hoisted layer by layer from low to high and placed on the posture adjustment platform (1), and before hoisting, the two posture adjustment platforms (1) on the side to be hoisted are simultaneously rotated to a specified position, and the two posture adjustment platforms (1) are horizontally aligned in a first horizontal direction and a second horizontal direction; Step C2, hoisting the subsequent barrel section to be loaded above the two attitude adjustment platforms (1), adjusting the axis of the subsequent barrel section, and visually aligning the axial direction of the subsequent barrel section with the center lines of the two attitude adjustment platforms (1) along the second horizontal direction; Step C3, hoisting the subsequent barrel section onto the rollers of the two posture adjustment platforms (1), and dynamically adjusting the inclination angle of the self-adjusting roller frame during the hoisting process so that the rollers are closely fitted to the outer wall of the barrel section.

9. The working method of the multi-drum segment posture adjustment and transportation device according to claim 1 is characterized in that: Step S4 also includes the following steps: Step D1, fine adjustment of the relative posture in the first horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the laser tracker (19) collects the posture information of the subsequent barrel segment and transmits it to the barrel segment posture control system (5) in real time to fit the posture information of the barrel segment, generate a visual image and a translation increment in the first horizontal direction, the barrel segment posture control system (5) drives the self-adjusting roller frame on the posture adjustment platform (1) to move synchronously along the first horizontal direction, and the laser tracker (19) synchronously monitors the movement process and adjusts the movement increment of the servo motor of the posture adjustment platform (1) until the subsequent barrel segment reaches the specified position; Step D2, fine adjustment of the relative posture in the second horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system (5) generates a visual image and a translation increment in the second horizontal direction according to the collected information of the laser tracker (19), the barrel segment posture control system (5) drives the track-type mobile platform to move synchronously along the second horizontal direction, and the laser tracker (19) synchronously monitors and dynamically adjusts the motion increment of the servo motor of the track-type mobile platform until the subsequent barrel segment reaches the specified position; Step D3, longitudinal relative posture fine adjustment: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system (5) generates a visual image and a longitudinal translation increment according to the collected information of the laser tracker (19), the barrel segment posture control system (5) drives the roller brackets on both sides of the self-adjusting roller bracket to rotate inward or outward synchronously, and the laser tracker (19) synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the rotation drive of the roller bracket until the subsequent barrel segment reaches the specified position; Step D4, fine adjustment of the relative posture around the first horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system (5) generates a visual image and a rotation increment around the first horizontal direction according to the collected information of the laser tracker (19), so that the roller bracket inclination angles of the front and rear two self-adjusting roller brackets supporting the barrel segment are different, and the left and right roller bracket inclination angles of the same self-adjusting roller bracket are equal and opposite, and the laser tracker (19) synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the rotation drive of the roller bracket until the subsequent barrel segment reaches the specified position; Step D5, fine adjustment of the relative posture around the second horizontal direction: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system (5) generates a visual image and a rotation increment around the second horizontal direction according to the collected information of the laser tracker (19), the barrel segment posture control system (5) drives all rollers on the front and rear roller frames to rotate at the same frequency, driving the barrel segment to rotate around the second horizontal direction, and the laser tracker (19) synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the roller rotation drive until the subsequent barrel segment reaches the specified position; Step D6, fine adjustment of the relative longitudinal posture: taking the posture of the initial barrel segment and the preceding barrel segment as a reference, the barrel segment posture control system (5) generates a visual image and a rotation increment around the longitudinal direction according to the information collected by the laser tracker (19). At this time, the inclination angles of the left and right roller brackets of the two self-adjusting roller racks remain unchanged, and the bottoms of the two roller brackets can each be translated left and right along the first horizontal direction under the drive of the translation motor. The laser tracker (19) synchronously monitors and dynamically adjusts the movement increment of the servo motor that realizes the translation drive of the roller bracket until the subsequent barrel segment reaches the specified position.

Images