Ship block butt joint pose correction device and method

Abstract

The invention provides a ship block butt joint pose correction device and method, the ship block butt joint pose correction device comprises a workbench, a ship body block and ship body blocks, and the workbench, the ship body block and the ship body blocks are detachably connected through a stabilizing device movably installed on the side face of the workbench; and the movable measuring assembly is movably mounted on the upper side surface of the working table. The method is divided into different working conditions according to the specific structure of the height measuring device and the number of measuring assemblies so as to meet different working requirements. The beneficial effects are that through the arrangement of the workbench, the mobile measurement assembly slidably installed on the upper side of the workbench and the stabilizing device, on the premise that the height of a ship body block or subsection is adjusted in advance, pose positioning in the width direction of the ship body is achieved through the stabilizing device, and through the measurement of the ship body block height pose state and fine adjustment, the ship body block height pose state can be accurately measured. Accurate butt joint of the ship body block and the ship body subsections is achieved.

Description

Technical Field

[0001] The invention relates to a device and method for correcting the posture of segmented docking of a ship, and belongs to the technical field of shipbuilding. Background Art

[0002] The docking of ship sections is a crucial step in the shipbuilding process. Any deviation may affect the accuracy of the docking. The docking accuracy determines the quality and efficiency of the overall shipbuilding to a large extent. At present, most of the docking of ship sections in my country is still in the manual docking process. Usually, the sections are hoisted from the transport vehicle by hoisting equipment, and then moved to the slipway or the closure. The sections are clamped and fixed with adjacent sections or hull structures by clamps. This process requires a lot of manpower and energy, and the docking accuracy is poor and the efficiency is low.

[0003] The existing Chinese patent CN107161280B discloses a hull segment docking device, which discloses a technical solution for the hull segment docking device, including "a second electromagnet, a first electromagnet, a first support rod, an insulating plate, a first cylinder", etc. The first magnet and the second magnet are energized to generate magnetic clamping of the hull, and the third magnet and the fourth magnet are energized to generate magnetic clamping of the segment. Since the contact surfaces of the first magnet and the third magnet with the hull or the whole section are located in the same plane, when the segment is displaced to the left, it can be directly aligned with the right side of the whole section. The hull segment docking device uses the second electromagnet, the first electromagnet, the first support rod, the insulating plate, the first cylinder, etc. to perform the docking of the ship segments. However, by adsorbing the four magnets on both sides of the hull and the segment respectively, although the movement trajectory of the hull when displaced left and right can be determined, it is impossible to determine whether the hull deck and the segment deck are in the same horizontal plane, and the docking of the whole section and the segment cannot be completed, so it is necessary to improve this device. Summary of the invention

[0004] Purpose of the invention: In view of the deficiencies in the prior art, the present invention provides a device and method for correcting the posture of segmented docking of a ship to solve the problems raised in the above-mentioned background technology.

[0005] Technical solution: A ship segment docking posture correction device, comprising a workbench, a hull section and a hull section, wherein the workbench, the hull section and the hull section are all detachably connected via a stabilizing device movably installed on the side of the workbench; It also includes a mobile measuring assembly movably installed on the side of the workbench, the mobile measuring assembly includes an electric slider slidably connected to the side of the workbench through a toothed guide rail arranged on the side of the workbench, and a measuring rod assembly with one end installed on the side of the electric slider and the other end in contact with the side of the hull section or the hull segment, a gear meshing with the toothed guide rail is arranged inside the electric slider, and the gear is driven to rotate by a servo motor arranged on the outside of the electric slider.

[0006] The present invention provides a workbench, a mobile measuring assembly slidably installed on the upper side of the workbench, and a stabilizing device. On the premise that the height of the hull section or section is adjusted in advance, the stabilizing device is used to realize the posture positioning in the width direction of the hull, and then the height posture state of the hull section is measured to perform fine adjustments to achieve accurate docking of the hull section and the hull section.

[0007] A horizontal slide groove is provided on the side of the workbench, and the stabilizing device can be slidably installed in the slide groove. The stabilizing device includes an insulator slidably installed in the slide groove and an electromagnetic stabilizing block fixedly installed on the side of the insulator and tightly fitted and fixed to the hull section or hull section by magnetic attraction. The insulator is fixedly connected to the slider in the slide groove, and the insulator is connected to the electromagnetic stabilizing block by at least two connecting rods hinged at any end in the same direction. The bottom of the insulator is fixedly connected to the attitude adjustment trolley, and the attitude adjustment trolley is used for support and lateral position adjustment.

[0008] The movement of the attitude adjustment trolley drives the movement of the stabilizing device. At the same time, there is freedom in the up and down directions between the electromagnetic stabilizing block and the insulator. In the process of the hull section or segment being close to each other, as well as in the process of adjusting the height of the hull section and segment, the hull section and segment are kept in contact with each other through the follow-up method, thereby supporting the hull section and segment and ensuring the stability of the attitude in the width direction.

[0009] At least one mobile measuring assembly is provided, and the measuring rod assembly includes a transverse telescopic mechanism installed perpendicularly to the side of the electric slider and a vertical telescopic mechanism installed at the other end of the transverse telescopic mechanism. A height measuring device is provided at one end of the vertical telescopic mechanism close to the hull section or the hull section, and the vertical telescopic mechanism is hingedly connected to the height measuring device via a cross axis.

[0010] Connecting the height measuring device and the vertical telescopic mechanism through a cross axis can achieve the fit of the height measuring device when it contacts the flat deck on the hull section or hull section. When the deck is in an inclined state, it can also stick to the deck surface to measure accurate height data, providing data support for further posture correction and improving correction accuracy.

[0011] The number of the movable measuring assemblies is two, and during measurement, the height measuring devices are mounted on the side surface of the hull section or the hull segment.

[0012] Setting up two measurement assemblies can provide more measurement methods, and a more suitable measurement method can be selected according to measurement requirements.

[0013] The lateral telescopic mechanism comprises a fixed sleeve, in which a lateral electric telescopic cylinder is arranged, and a telescopic rod of the lateral electric telescopic cylinder is fixedly connected to the vertical telescopic mechanism to push out or retract the vertical telescopic mechanism.

[0014] Through the action of the lateral telescopic mechanism, the vertical telescopic mechanism can be controlled to be retracted or extended, and the working and non-working or position transfer states can be switched to avoid interference with other work caused by continuous extension.

[0015] The vertical telescopic mechanism includes a bending sleeve, one end of which is fixedly connected to the telescopic rod of the transverse electric telescopic cylinder, and the other end is provided with a vertical electric telescopic cylinder and a rotating motor in the bending part in the direction of the hull section or the hull section, the output end of the rotating motor is fixedly connected to the end of the vertical electric telescopic cylinder, and the telescopic rod of the vertical electric telescopic cylinder is hinged to the height measuring device through a cross axis.

[0016] By setting a vertical electric telescopic cylinder and a rotary motor, the height measuring device can be lifted up and down and rotated in the direction to adapt to different measurement schemes matched with different numbers of mobile measuring assemblies.

[0017] The height measuring device includes a measuring rod and at least three height detection sensors arranged on the measuring rod, the three height detection sensors construct a measuring surface, the measuring rod is arranged as a multi-frame structure, the measuring rod is an electromagnetic adsorption rod, and the vertical telescopic mechanism is hinged to the center of gravity of the measuring rod through a cross axis.

[0018] The measuring rod is set as a frame structure, and a height detection sensor is set on the frame structure to combine them to construct a measuring surface. The horizontality of the current hull section or hull section is judged through the data of different height detection sensors, thereby providing data support for the next step of height posture adjustment.

[0019] Any of the height measuring devices comprises a measuring rod and at least two height detection sensors arranged on the measuring rod, wherein the measuring rod is an electromagnetic adsorption rod, and the four height detection sensors of the two height measuring devices form a measuring surface.

[0020] By setting up two separate mobile measuring assemblies, if a structural failure occurs during application, it is only necessary to replace and repair the individual components without replacing the entire assembly, while also achieving accurate measurement results.

[0021] The mobile measuring assemblies are set as two, and any one of the height measuring devices includes a measuring rod and at least three height detection sensors arranged on the measuring rod. The measuring rod is set as a multi-frame structure, and the measuring rod is an electromagnetic adsorption rod. During measurement, the height measuring devices are respectively installed on the side surfaces of the hull section and the hull segment to respectively construct the hull section measurement surface and the hull segment measurement surface.

[0022] By setting up two mobile assemblies for measuring the hull section and the hull sections respectively, after the height and posture of the hull section are measured and adjusted, the height and posture of the hull section can be continuously monitored. If the height and posture of the hull section changes, the height and posture of the hull section can be adjusted in real time within a stable range to ensure the accuracy of the docking of the sections.

[0023] A control method for a ship segmented docking posture correction device, characterized in that: the following working conditions are divided according to the specific structure of the height measuring device and the number of measuring assemblies: Working condition A: a single mobile measuring assembly is provided, and the measuring rod in the height measuring device is provided as a frame structure, including at least three height detection sensors installed on the measuring rod; Measure the current hull section height data, take the average value of the data, adjust the hull section posture to the average value height through the posture adjustment trolley, fix the hull section position through the stabilization device, control the height measurement device to detach from the hull section, move to the hull section, measure the hull section height data, take the average value of the data, and adjust the hull section posture to be the same as the hull section height through the posture adjustment trolley; Working condition B: two mobile measuring assemblies are provided, and the measuring rod in any height measuring device is provided as a single rod-shaped structure, including at least two height detection sensors installed on the measuring rod; The height detection sensors on the two measuring rods measure the current height data of the hull section, take the average value of the data, adjust the posture of the hull section to the average value height through the posture adjustment trolley, fix the position of the hull section through the stabilizing device, control the height measurement device to separate from the hull section, move to the hull section, measure the height data of the hull section, take the average value of the data, and adjust the posture of the hull section to be the same as the height of the hull section through the posture adjustment trolley; Working condition C: two mobile measuring assemblies are provided, and the measuring rods in the two height measuring devices are both provided as frame structures, including at least three height detection sensors installed on the measuring rods; First, measure the current height data of the hull section, take the average value of the data, adjust the position of the hull section to the average height through the attitude adjustment vehicle, and fix the position of the hull section through the stabilization device; Then measure the height data of the hull sections, take the average value of the data, and adjust the posture of the hull sections to be the same as the height of the total hull section through the posture adjustment vehicle.

[0024] The working condition A is specifically: The hull block is transported to one side of the workbench by the attitude adjustment trolley, and the hull segment is transported to the other end of the same side of the workbench by the attitude adjustment trolley, so that the sides of the hull block and the hull segment are fitted with the stabilizing device, and the electromagnetic stabilizing block in the stabilizing device is energized to generate magnetism, so as to fix the position of the hull block; Start the electric slide above the workbench and move it to the position above the hull section, control the transverse electric telescopic cylinder in the transverse telescopic mechanism to extend and drive the vertical telescopic mechanism to extend toward the hull section, and after reaching the middle position of the upper side of the hull section, control the vertical electric telescopic cylinder in the vertical telescopic mechanism to extend and drive the height measuring device to move downward to fit with the upper side of the hull section, so that the measuring rod is energized to generate magnetism, and the measuring rod is stably installed on the upper side of the hull section; Record the height detection sensor readings Y1, Y2, Y3...Y n , the hull section reference height is calculated, Y 基准 =(Y1+ Y2+ Y3+…Y n ) / n Use the attitude adjustment trolley to adjust the hull section to the readings of the sensors at various heights, Y1, Y2, Y3…Y n With Y 基准 The difference △Y≤1mm; The measuring rod is powered off to disconnect the measuring rod from the upper side of the hull section. The vertical electric telescopic cylinder is retracted to drive the height measuring device to move upward. The electric slider is moved to the top of the hull section. The same steps are repeated to measure the height of the hull section to obtain the height readings of the hull section y1, y2, y3…y n ; The hull is adjusted to each height by the attitude adjustment vehicle to detect the readings of the sensors y1, y2, y3…y n With Y 基准 The difference △y≤1mm, that is, the hull section and the hull section are at the same reference height.

[0025] The working condition B is specifically: The hull block is transported to one side of the workbench by the attitude adjustment trolley, and the hull segment is transported to the other end of the same side of the workbench by the attitude adjustment trolley, so that the sides of the hull block and the hull segment are fitted with the stabilizing device, and the electromagnetic stabilizing block in the stabilizing device is energized to generate magnetism, so as to fix the position of the hull block and the hull segment; Start the two electric slides above the workbench and move them to the position above the hull section. Control the transverse electric telescopic cylinder in the transverse telescopic mechanism to extend and drive the vertical telescopic mechanism to extend toward the hull section. After reaching the middle position of the upper side of the hull section, control the vertical electric telescopic cylinder in the vertical telescopic mechanism to extend and drive the height measuring device to move downward to fit with the upper side of the hull section. Any one of the measuring rods is controlled by a rotary motor to rotate 90° and be perpendicular to the other measuring rod. The measuring rod is energized to generate magnetism, and the measuring rod is stably installed on the upper side of the hull section. Record the readings of the height detection sensors on the two measuring rods at this time, Y1, Y2, Y3…Y n , the hull section reference height is calculated, Y 基准 =(Y1+ Y2+ Y3+…Y n ) / n Use the attitude adjustment trolley to adjust the hull section to the readings of the sensors at various heights, Y1, Y2, Y3…Y n With Y 基准 The difference △Y≤1mm; The power of the measuring rod is cut off to disconnect the measuring rod from the upper side of the hull section. The vertical electric telescopic cylinder is controlled to retract to drive the height measuring device to move upward. At the same time, the rotating measuring rod is controlled by the rotary motor to rotate 90° in any direction to be parallel to the other measuring rod. The electric slider is controlled to move to the top of the hull section. The same steps are repeated to measure the height of the hull section to obtain the height readings of the hull section y1, y2, y3…y n ; The hull is adjusted to each height by the attitude adjustment vehicle to detect the readings of the sensors y1, y2, y3…y n With Y 基准 The difference △y≤1mm, that is, the hull section and the hull section are at the same reference height.

[0026] The working condition C is specifically: The hull block is transported to one side of the workbench by the attitude adjustment trolley, and the hull segment is transported to the other end of the same side of the workbench by the attitude adjustment trolley, so that the sides of the hull block and the hull segment are fitted with the stabilizing device, and the electromagnetic stabilizing block in the stabilizing device is energized to generate magnetism, so as to fix the position of the hull block; Move the electric slider close to the side of the hull section to the top of the hull section, control the transverse electric telescopic cylinder in the transverse telescopic mechanism to extend and drive the vertical telescopic mechanism to extend toward the hull section, and after reaching the middle position of the upper side of the hull section, control the vertical electric telescopic cylinder in the vertical telescopic mechanism to extend and drive the height measuring device to move downward to fit with the upper side of the hull section, so that the measuring rod is energized to generate magnetism, and the measuring rod is stably installed on the upper side of the hull section; Record the height detection sensor readings Y1, Y2, Y3...Y n , the hull section reference height is calculated, Y 基准 =(Y1+ Y2+ Y3+…Y n ) / n Use the attitude adjustment trolley to adjust the hull section to the readings of the sensors at various heights, Y1, Y2, Y3…Y n With Y 基准 The difference △Y≤1mm; Move the electric slider near the side of the hull section to the top of the hull section, repeat the same steps to measure the height of the hull section, and obtain the hull section height readings y1, y2, y3…y n ; The hull is adjusted to each height by the attitude adjustment vehicle to detect the readings of the sensors y1, y2, y3…y n With Y 基准 The difference △y≤1mm, that is, the hull section and the hull section are at the same reference height; During the process, the height detection sensor adsorbed on the hull section monitors the height of the hull section in real time. When changes occur, real-time adjustments are made to ensure that the position of the hull section is stable at △Y≤1mm.

[0027] Beneficial effect: The present invention provides a workbench, a mobile measuring assembly slidably installed on the upper side of the workbench, and a stabilizing device. On the premise of pre-adjusting the height of the hull section or segment, the stabilizing device is used to realize the posture positioning in the width direction of the hull, and then fine-tuning is performed by measuring the height posture state of the hull section to realize the precise docking of the hull section and the hull segment.

[0028] The movement of the attitude adjustment trolley drives the movement of the stabilizing device. At the same time, there is freedom in the up and down directions between the electromagnetic stabilizing block and the insulator. In the process of the hull section or segment being close to each other, as well as in the process of adjusting the height of the hull section and segment, the hull section and segment are kept in contact with each other through the follow-up method, thereby supporting the hull section and segment and ensuring the stability of the attitude in the width direction.

[0029] Connecting the height measuring device and the vertical telescopic mechanism through a cross axis can achieve the fit of the height measuring device when it contacts the flat deck on the hull section or hull section. When the deck is in an inclined state, it can also stick to the deck surface to measure accurate height data, providing data support for further posture correction and improving correction accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention, in which only a supporting connection structure between a posture adjustment trolley and an insulator is shown.

[0032] Figure 2 It is a side view of the overall structure of the present invention.

[0033] Figure 3 This is a structural diagram of the electric slider of the present invention.

[0034] Figure 4 This is a structural diagram of the stabilizing device of the present invention.

[0035] Figure 5 This is a structural diagram of a height measuring device used for the measuring rod with a multi-frame structure of the present invention.

[0036] Figure 6 It is a structural diagram of the transverse telescopic mechanism of the present invention.

[0037] Figure 7 It is a structural diagram of the vertical telescopic mechanism of the present invention.

[0038] Figure 8 This is a structural diagram of a height measuring device used for the single-rod-shaped measuring rod of the present invention. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] like Figures 1 to 8 As shown, a ship segment docking posture correction device comprises a workbench 1, a hull section 2 and a hull section 3, wherein the workbench 1, the hull section 2 and the hull section 3 are all detachably connected via a stabilizing device 4 movably installed on the side of the workbench 1; It also includes a mobile measuring assembly 5 movably installed on the upper side of the workbench 1, the mobile measuring assembly 5 includes an electric slider 51 slidably connected to the upper side of the workbench 1 through a toothed guide rail 11 arranged on the upper side of the workbench 1, and a measuring rod assembly with one end installed on the side of the electric slider 51 and the other end in contact with the upper side of the hull section 2 or the hull section 3, the electric slider 51 is internally provided with a gear meshing with the toothed guide rail 11, and the gear is driven to rotate by a servo motor 52 arranged on the outer side of the electric slider 51.

[0043] The present invention provides a workbench 1, a mobile measuring assembly 5 slidably installed on the upper side of the workbench 1, and a stabilizing device 4. On the premise that the height of the hull section 2 or the section is adjusted in advance, the stabilizing device 4 is used to realize the posture positioning in the width direction of the hull, and then the height posture state of the hull section 2 is measured to perform fine adjustments to realize the precise docking of the hull section 2 and the hull section 3.

[0044] A horizontal slide groove 12 is opened on the side of the workbench 1, and the stabilizing device 4 can be slidably installed in the slide groove 12. The stabilizing device 4 includes an insulator 41 slidably installed in the slide groove 12 and an electromagnetic stabilizing block 42 fixedly installed on the side of the insulator 41 and tightly fitted and fixed to the hull section 2 or the hull section 3 by magnetic attraction. The insulator 41 is fixedly connected to the slider in the slide groove 12, and the insulator 41 is connected to the electromagnetic stabilizing block 42 by at least two connecting rods 43 hinged at any end in the same direction. The bottom of the insulator 41 is fixedly connected to the attitude adjustment trolley, and is supported and laterally adjusted by the attitude adjustment trolley.

[0045] The movement of the attitude adjustment trolley drives the stabilization device 4 to move. At the same time, there is freedom in the up and down directions between the electromagnetic stabilization block 42 and the insulator 41. In the process of the hull section 2 or the sections being close to each other, as well as in the process of adjusting the height of the hull section 2 and the sections, the hull section 2 and the sections are kept in contact with each other by following up, thereby supporting the hull section 2 and the sections and ensuring the stability of the attitude in the width direction.

[0046] At least one mobile measuring assembly 5 is provided, and the measuring rod assembly includes a transverse telescopic mechanism 53 installed perpendicularly to the side of the electric slider 51 and a vertical telescopic mechanism 54 installed at the other end of the transverse telescopic mechanism 53. A height measuring device 55 is provided at one end of the vertical telescopic mechanism 54 close to the hull section 2 or the hull section 3. The vertical telescopic mechanism 54 is hingedly connected to the height measuring device 55 via a cross shaft 56.

[0047] Connecting the height measuring device 55 and the vertical telescopic mechanism 54 via a cross shaft 56 can achieve the fit of the height measuring device 55 when in contact with the flat deck on the hull section 2 or the hull section 3. When the deck is in an inclined state, it can also stick to the deck surface to measure accurate height data, thereby providing data support for further posture correction and improving the correction accuracy.

[0048] The number of the movable measuring assemblies 5 is two. During measurement, the height measuring devices 55 are installed on the upper side of the hull section 2 or the hull section 3 .

[0049] Setting up two measurement assemblies can provide more measurement methods, and a more suitable measurement method can be selected according to measurement requirements.

[0050] The lateral telescopic mechanism 53 includes a fixed sleeve 531 , in which a lateral electric telescopic cylinder 532 is disposed. The telescopic rod of the lateral electric telescopic cylinder 532 is fixedly connected to the vertical telescopic mechanism 54 to push out or retract the vertical telescopic mechanism 54 .

[0051] Through the action of the lateral telescopic mechanism 53, the vertical telescopic mechanism 54 can be controlled to be retracted or extended, and the working and non-working or position transfer states can be switched to avoid interference with other operations caused by continuous extension.

[0052] The vertical telescopic mechanism 54 includes a bending sleeve 541, one end of which is fixedly connected to the telescopic rod of the transverse electric telescopic cylinder 532, and the other end is bent in the direction of the hull section 2 or the hull section 3, in which a vertical electric telescopic cylinder 542 and a rotating motor 543 are arranged. The output end of the rotating motor 543 is fixedly connected to the end of the vertical electric telescopic cylinder 542, and the telescopic rod of the vertical electric telescopic cylinder 542 is hinged to the height measuring device 55 through a cross shaft 56.

[0053] By providing a vertical electric telescopic cylinder 542 and a rotary motor 543 , the height measuring device 55 can be lifted up and down and rotated in a certain direction to adapt to different measurement schemes matched with different numbers of mobile measuring assemblies 5 .

[0054] The height measuring device 55 includes a measuring rod 551 and at least three height detection sensors 552 arranged on the measuring rod 551. The three height detection sensors 552 construct a measuring surface. The measuring rod 551 is arranged as a multi-frame structure. The measuring rod 551 is an electromagnetic adsorption rod. The vertical telescopic mechanism 54 is hinged to the center of gravity of the measuring rod 551 through a cross axis 56.

[0055] The measuring rod 551 is set as a frame structure, and a height detection sensor 552 is set on the frame structure, so that they are combined to construct a measuring surface. The horizontality of the current hull section 2 or hull section 3 is judged by the data of different height detection sensors 552, thereby providing data support for the next step of height posture adjustment.

[0056] Any of the height measuring devices 55 comprises a measuring rod 551 and at least two height detection sensors 552 arranged on the measuring rod 551 . The measuring rod 551 is an electromagnetic adsorption rod. The four height detection sensors 552 of the two height measuring devices 55 form a measuring surface.

[0057] By providing two separate mobile measuring assemblies 5, if a structural failure occurs during application, only separate components need to be replaced and repaired, and the entire assembly does not need to be replaced, while achieving an accurate measurement effect.

[0058] The mobile measuring assembly 5 is set to two, and any one of the height measuring devices 55 includes a measuring rod 551 and at least three height detection sensors 552 arranged on the measuring rod 551. The measuring rod 551 is set to a multi-frame structure, and the measuring rod 551 is an electromagnetic adsorption rod. During measurement, the height measuring devices 55 are respectively installed on the side surfaces of the hull section 2 and the hull section 3 to construct the measuring surface of the hull section 2 and the measuring surface of the hull section 3 respectively.

[0059] By setting up two mobile assemblies for measuring the hull section 2 and the hull section 3 respectively, after the height posture of the hull section 2 is measured and adjusted, the height posture of the hull section 2 can be continuously monitored. If the height posture of the hull section 2 changes, the height posture of the hull section 2 can be adjusted in real time within a stable range to ensure the accuracy of the section docking.

[0060] A control method for a ship segment docking posture correction device according to any one of claims 1 to 9, which is divided into the following working conditions according to the specific structure of the height measuring device 55 and the number of measuring assemblies: Working condition A: a single mobile measuring assembly 5 is provided, and a measuring rod 551 in a height measuring device 55 is provided as a frame structure, including at least three height detection sensors 552 installed on the measuring rod 551; Measure the height data of the current hull section 2, take the average value of the data, adjust the posture of the hull section 2 to the average value height through the posture adjustment trolley, fix the position of the hull section 2 through the stabilizing device 4, control the height measuring device 55 to separate from the hull section 2, move to the hull section 3, measure the height data of the hull section 3, take the average value of the data, and adjust the posture of the hull section 3 to be the same as the height of the hull section 2 through the posture adjustment trolley; Working condition B: two mobile measuring assemblies 5 are provided, and the measuring rod 551 in any height measuring device 55 is provided as a single rod-shaped structure, including at least two height detection sensors 552 installed on the measuring rod 551; The height data of the current hull section 2 is measured by the height detection sensors 552 on the two measuring rods 551, and the data average is taken. The posture of the hull section 2 is adjusted to the average height by the posture adjustment vehicle, and the position of the hull section 2 is fixed by the stabilizing device 4. The height measuring device 55 is controlled to be separated from the hull section 2 and moved to the hull section 3, and the height data of the hull section 3 is measured. The data average is taken, and the posture of the hull section 3 is adjusted to be the same as the height of the hull section 2 by the posture adjustment vehicle; Working condition C: two mobile measuring assemblies 5 are provided, and the measuring rods 551 in the two height measuring devices 55 are both provided as frame structures, including at least three height detection sensors 552 installed on the measuring rods 551; Firstly, the height data of the current hull section 2 is measured, and the average value of the data is taken. The posture of the hull section 2 is adjusted to the average height by the posture adjustment vehicle, and the position of the hull section 2 is fixed by the stabilizing device 4. Then measure the height data of hull section 3, take the average value of the data, and adjust the posture of hull section 3 to the same height as the total hull section 2 through the posture adjustment vehicle.

[0061] The working condition A is specifically: The hull section 2 is transported to one side of the workbench 1 by the posture adjustment trolley, and the hull section 3 is transported to the other end of the same side of the workbench 1 by the posture adjustment trolley, so that the sides of the hull section 2 and the hull section 3 are fitted with the stabilizing device 4, and the electromagnetic stabilizing block 42 in the stabilizing device 4 is energized to generate magnetism, so as to fix the position of the hull section 2; Start the electric slide block 51 above the workbench 1 and move it to the position above the hull section 2, control the lateral electric telescopic cylinder 532 in the lateral telescopic mechanism 53 to extend and drive the vertical telescopic mechanism 54 to extend toward the hull section 2, and after reaching the middle position of the upper side of the hull section 2, control the vertical electric telescopic cylinder 542 in the vertical telescopic mechanism 54 to extend and drive the height measuring device 55 to move downward to fit with the upper side of the hull section 2, so that the measuring rod 551 is energized to generate magnetism, and the measuring rod 551 is stably installed on the upper side of the hull section 2; Record the readings Y1, Y2, Y3...Y of the height detection sensor 552 at this time n , calculate the reference height of hull section 2, Y 基准 =(Y1+ Y2+ Y3+…Y n ) / n The hull section 2 is adjusted to the readings Y1, Y2, Y3...Y of each height detection sensor 552 by the posture adjustment trolley. n With Y 基准 The difference △Y≤1mm; The measuring rod 551 is powered off to disconnect the measuring rod 551 from the upper side of the hull section 2, the vertical electric telescopic cylinder 542 is retracted to drive the height measuring device 55 to move upward, and the electric slider 51 is controlled to move to the top of the hull section 3. The same steps are repeated to measure the height of the hull section 3 to obtain the height readings y1, y2, y3…y of the hull section 3. n ; The hull segment 3 is adjusted to the readings y1, y2, y3, ...y of each height detection sensor 552 by the attitude adjustment vehicle. n With Y 基准 The difference △y≤1mm, that is, the hull section 2 and the hull section 3 are at the same reference height.

[0062] The working condition B is specifically: The hull section 2 is transported to one side of the workbench 1 by the posture adjustment trolley, and the hull section 3 is transported to the other end of the same side of the workbench 1 by the posture adjustment trolley, so that the sides of the hull section 2 and the hull section 3 are fitted with the stabilizing device 4, and the electromagnetic stabilizing block 42 in the stabilizing device 4 is energized to generate magnetism, so as to fix the positions of the hull section 2 and the hull section 3; Start the two electric slides 51 above the workbench 1 and move them to the position above the hull section 2, control the lateral electric telescopic cylinder 532 in the lateral telescopic mechanism 53 to extend and drive the vertical telescopic mechanism 54 to extend toward the hull section 2, and after reaching the middle position of the upper side of the hull section 2, control the vertical electric telescopic cylinder 542 in the vertical telescopic mechanism 54 to extend and drive the height measuring device 55 to move downward to fit with the upper side of the hull section 2, wherein any one of the measuring rods 551 is controlled by the rotating motor 543 to rotate 90° and be perpendicular to the other measuring rod 551, so that the measuring rod 551 is energized to generate magnetism, and the measuring rod 551 is stably installed on the upper side of the hull section 2; Record the readings Y1, Y2, Y3, ... Y of the height detection sensors 552 on the two measuring rods 551 at this time. n , calculate the reference height of hull section 2, Y 基准 =(Y1+ Y2+ Y3+…Y n ) / n The hull section 2 is adjusted to the readings Y1, Y2, Y3...Y of each height detection sensor 552 by the posture adjustment trolley. n With Y 基准 The difference △Y≤1mm; The measuring rod 551 is powered off to disconnect the measuring rod 551 from the upper side of the hull section 2, and the vertical electric telescopic cylinder 542 is retracted to drive the height measuring device 55 to move upward. At the same time, the rotating measuring rod 551 is rotated 90° in any direction by the rotating motor 543 to be parallel to the other measuring rod 551. The electric slider 51 is controlled to move to the top of the hull section 3, and the same steps are repeated to measure the height of the hull section 3 to obtain the height readings y1, y2, y3…y of the hull section 3. n ; The hull segment 3 is adjusted to the readings y1, y2, y3, ...y of each height detection sensor 552 by the attitude adjustment vehicle. n With Y 基准 The difference △y≤1mm, that is, the hull section 2 and the hull section 3 are at the same reference height.

[0063] The working condition C is specifically: The hull section 2 is transported to one side of the workbench 1 by the posture adjustment trolley, and the hull section 3 is transported to the other end of the same side of the workbench 1 by the posture adjustment trolley, so that the sides of the hull section 2 and the hull section 3 are fitted with the stabilizing device 4, and the electromagnetic stabilizing block 42 in the stabilizing device 4 is energized to generate magnetism, so as to fix the position of the hull section 2; Move the electric slider 51 near the side of the hull section 2 to the top of the hull section 2, control the lateral electric telescopic cylinder 532 in the lateral telescopic mechanism 53 to extend and drive the vertical telescopic mechanism 54 to extend toward the hull section 2, and after reaching the middle position of the upper side of the hull section 2, control the vertical electric telescopic cylinder 542 in the vertical telescopic mechanism 54 to extend and drive the height measuring device 55 to move downward to fit with the upper side of the hull section 2, so that the measuring rod 551 is energized to generate magnetism, and the measuring rod 551 is stably installed on the upper side of the hull section 2; Record the readings Y1, Y2, Y3...Y of the height detection sensor 552 at this time n , calculate the reference height of hull section 2, Y 基准 =(Y1+ Y2+ Y3+…Y n ) / n The hull section 2 is adjusted to the readings Y1, Y2, Y3...Y of each height detection sensor 552 by the posture adjustment trolley. n With Y 基准 The difference △Y≤1mm; Move the electric slider 51 near the side of the hull section 3 to the top of the hull section 3, repeat the same steps to measure the height of the hull section 3, and obtain the height readings y1, y2, y3...y of the hull section 3. n ; The hull segment 3 is adjusted to the readings y1, y2, y3, ...y of each height detection sensor 552 by the attitude adjustment vehicle. n With Y 基准 The difference △y≤1mm, that is, the hull section 2 and the hull section 3 are at the same reference height; During the process, the height detection sensor 552 adsorbed on the hull section 2 monitors the height of the hull section 2 in real time, and makes real-time adjustments when changes occur to ensure that the position of the hull section 2 is stable at △Y≤1mm.

[0064] 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.

[0065] 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. A ship segment docking posture correction device, characterized in that: The invention comprises a workbench (1), a hull section (2) and a hull segment (3), wherein the workbench (1), the hull section (2) and the hull segment (3) are all detachably connected via a stabilizing device (4) movably mounted on the side of the workbench (1); The invention also comprises a mobile measuring assembly (5) movably mounted on the upper side of the workbench (1), the mobile measuring assembly (5) comprising an electric slider (51) slidably connected to the upper side of the workbench (1) via a toothed guide rail (11) arranged on the upper side of the workbench (1), and a measuring rod assembly having one end mounted on the side of the electric slider (51) and the other end in contact with the upper side of the hull section (2) or the hull section (3), the electric slider (51) having a gear meshing with the toothed guide rail (11) arranged inside, the gear being driven to rotate by a servo motor (52) arranged outside the electric slider (51).

2. The ship segment docking posture correction device according to claim 1 is characterized in that: The workbench (1) is provided with a horizontal slide groove (12) on the side, and the stabilizing device (4) is slidably installed in the slide groove (12). The stabilizing device (4) comprises an insulator (41) slidably installed in the slide groove (12) and an electromagnetic stabilizing block (42) fixedly installed on the side of the insulator (41) and tightly fitted and fixed to the hull section (2) or the hull section (3) by magnetic attraction. The insulator (41) is fixedly connected to the slider in the slide groove (12), and the insulator (41) and the electromagnetic stabilizing block (42) are connected by at least two connecting rods (43) hinged at any end in the same direction. The bottom of the insulator (41) is fixedly connected to a posture adjustment trolley, and is supported and laterally adjusted by the posture adjustment trolley.

3. The ship segment docking posture correction device according to claim 1 is characterized in that: At least one movable measuring assembly (5) is provided, and the measuring rod assembly comprises a transverse telescopic mechanism (53) installed perpendicularly to the side of the electric slider (51) and a vertical telescopic mechanism (54) installed at the other end of the transverse telescopic mechanism (53), and a height measuring device (55) is provided at one end of the vertical telescopic mechanism (54) close to the hull section (2) or the hull section (3), and the vertical telescopic mechanism (54) and the height measuring device (55) are hingedly connected via a cross shaft (56).

4. The device for correcting the position of a ship in section docking according to claim 3 is characterized in that: The mobile measuring assembly (5) is provided in two parts, and during measurement, the height measuring device (55) is installed on the upper side of the hull section (2) or the hull section (3).

5. The ship segment docking posture correction device according to any one of claims 3 or 4, characterized in that: The transverse telescopic mechanism (53) comprises a fixed sleeve (531), a transverse electric telescopic cylinder (532) is arranged in the fixed sleeve (531), and a telescopic rod of the transverse electric telescopic cylinder (532) is fixedly connected to the vertical telescopic mechanism (54) to push out or retract the vertical telescopic mechanism (54).

6. The device for correcting the position of a ship in sections according to claim 5 is characterized by: The vertical telescopic mechanism (54) comprises a bending sleeve (541), one end of the bending sleeve (541) being fixedly connected to the telescopic rod of the transverse electric telescopic cylinder (532), and the other end of the bending sleeve (541) being provided with a vertical electric telescopic cylinder (542) and a rotating motor (543) in a portion bent in the direction of the hull section (2) or the hull section (3), the output end of the rotating motor (543) being fixedly connected to the end of the vertical electric telescopic cylinder (542), and the telescopic rod of the vertical electric telescopic cylinder (542) being hinged to the height measuring device (55) via a cross shaft (56).

7. The device for correcting the position of a ship in sections according to claim 3 is characterized by: The height measuring device (55) comprises a measuring rod (551) and at least three height detection sensors (552) arranged on the measuring rod (551), the three height detection sensors (552) forming a measuring surface, the measuring rod (551) being arranged as a multi-frame structure, the measuring rod (551) being an electromagnetic adsorption rod, and the vertical telescopic mechanism (54) being hinged to the center of gravity of the measuring rod (551) via a cross shaft (56).

8. The device for correcting the position of a ship in sections according to claim 4 is characterized by: Any of the height measuring devices (55) comprises a measuring rod (551) and at least two height detection sensors (552) arranged on the measuring rod (551), wherein the measuring rod (551) is an electromagnetic adsorption rod, and the four height detection sensors (552) of the two height measuring devices (55) form a measuring surface.

9. The device for correcting the position of a ship in sections according to claim 7, characterized in that: The mobile measuring assembly (5) is provided in two pieces, and any one of the height measuring devices (55) comprises a measuring rod (551) and at least three height detection sensors (552) arranged on the measuring rod (551), the measuring rod (551) being provided in a multi-frame structure, the measuring rod (551) being an electromagnetic adsorption rod, and during measurement, the height measuring devices (55) are respectively installed on the upper side of the hull section (2) and the hull segment (3), respectively constructing the measurement surface of the hull section (2) and the measurement surface of the hull segment (3).

10. A control method for the ship segment docking posture correction device according to any one of claims 1 to 9, characterized in that: According to the specific structure of the height measuring device (55) and the number of measuring assemblies, the following working conditions are classified: Working condition A: a single mobile measuring assembly (5) is provided, wherein the measuring rod (551) in the height measuring device (55) is provided as a frame structure, and includes at least three height detection sensors (552) mounted on the measuring rod (551); Measure the height data of the current hull section (2), take the average value of the data, adjust the posture of the hull section (2) to the average height by using the posture adjustment vehicle, fix the position of the hull section (2) by using the stabilizing device (4), control the height measuring device (55) to separate from the hull section (2), move to the hull section (3), measure the height data of the hull section (3), take the average value of the data, and adjust the posture of the hull section (3) to be the same as the height of the hull section (2) by using the posture adjustment vehicle; Working condition B: two mobile measuring assemblies (5) are provided, and the measuring rod (551) in any one of the height measuring devices (55) is provided as a single rod-shaped structure, including at least two height detection sensors (552) mounted on the measuring rod (551); The height data of the current hull section (2) is measured by the height detection sensors (552) on the two measuring rods (551), the data average is taken, the posture of the hull section (2) is adjusted to the average height by the posture adjustment vehicle, the position of the hull section (2) is fixed by the stabilizing device (4), the height measuring device (55) is controlled to be separated from the hull section (2), and moved to the hull section (3), the height data of the hull section (3) is measured, the data average is taken, and the posture of the hull section (3) is adjusted to be the same as the height of the hull section (2) by the posture adjustment vehicle; Working condition C: two mobile measuring assemblies (5) are provided, and the measuring rods (551) in the two height measuring devices (55) are both provided as frame structures, including at least three height detection sensors (552) installed on the measuring rods (551); First, the height data of the current hull section (2) is measured, and the average value of the data is obtained. The posture of the hull section (2) is adjusted to the average height by the posture adjustment vehicle, and the position of the hull section (2) is fixed by the stabilizing device (4); Then measure the height data of the hull section (3), take the average value of the data, and adjust the posture of the hull section (3) to be the same as the height of the hull section (2) through the posture adjustment vehicle.

11. The control method of the ship segment docking posture correction device according to claim 10 is characterized in that: The working condition A is specifically: The hull section (2) is transported to one side of the workbench (1) by means of a posture adjustment trolley, and the hull section (3) is transported to the other end of the same side of the workbench (1) by means of a posture adjustment trolley, so that the sides of the hull section (2) and the hull section (3) are fitted with the stabilizing device (4), and the electromagnetic stabilizing block (42) in the stabilizing device (4) is energized to generate magnetism, thereby fixing the position of the hull section (2); The electric slide block (51) above the start-up workbench (1) is moved to a position above the hull section (2), and the transverse electric telescopic cylinder (532) in the transverse telescopic mechanism (53) is controlled to extend to drive the vertical telescopic mechanism (54) to extend in the direction of the hull section (2). After reaching the middle position of the upper side of the hull section (2), the vertical electric telescopic cylinder (542) in the vertical telescopic mechanism (54) is controlled to extend to drive the height measuring device (55) to move downward to fit the upper side of the hull section (2), so that the measuring rod (551) is energized to generate magnetism, and the measuring rod (551) is stably installed on the upper side of the hull section (2); Record the readings Y1, Y2, Y3…Y of the height detection sensor (552) at this time. n , the base height of the hull section (2) is calculated, <h2 style=";text-align:left;direction:ltr">Y<h2 style=";text-align:left;direction:ltr"> 基准 <h2 style=";text-align:left;direction:ltr"> =( Y1+ Y2+ Y3+…Y<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> ) / n The hull section (2) is adjusted by the attitude adjustment trolley to the readings Y1, Y2, Y3…Y of each height detection sensor (552). n With Y 基准 The difference △Y≤1mm; The measuring rod (551) is powered off to disconnect the measuring rod (551) from the upper side of the hull section (2), the vertical electric telescopic cylinder (542) is retracted to drive the height measuring device (55) to move upward, the electric slider (51) is controlled to move to the top of the hull section (3), and the same steps are repeated to measure the height of the hull section (3), thereby obtaining the height readings y1, y2, y3, ... y of the hull section (3). n ; The hull segments (3) are adjusted by the attitude adjustment vehicle to the readings y1, y2, y3, ...y of each height detection sensor (552). n With Y 基准 The difference △y is ≤1mm, that is, the hull section (2) and the hull section (3) are located at the same reference height.

12. The control method of the ship segment docking posture correction device according to claim 10, characterized in that: The working condition B is specifically: The hull section (2) is transported to one side of the workbench (1) by means of a posture adjustment trolley, and the hull section (3) is transported to the other end of the same side of the workbench (1) by means of a posture adjustment trolley, so that the sides of the hull section (2) and the hull section (3) are fitted with the stabilizing device (4), and the electromagnetic stabilizing block (42) in the stabilizing device (4) is energized to generate magnetism, thereby fixing the positions of the hull section (2) and the hull section (3); The two electric slide blocks (51) above the start-up workbench (1) are moved to a position above the hull section (2), and the transverse electric telescopic cylinder (532) in the transverse telescopic mechanism (53) is controlled to extend to drive the vertical telescopic mechanism (54) to extend in the direction of the hull section (2). After reaching the middle position of the upper side of the hull section (2), the vertical electric telescopic cylinder (542) in the vertical telescopic mechanism (54) is controlled to extend to drive the height measuring device (55) to move downward to fit the upper side of the hull section (2), wherein any one of the measuring rods (551) is controlled to rotate 90 degrees by the rotating motor (543) to be in a vertical state with the other measuring rod (551), so that the measuring rod (551) is energized to generate magnetism, and the measuring rod (551) is stably mounted on the upper side of the hull section (2); Record the readings Y1, Y2, Y3, ... Y of the height detection sensors (552) on the two measuring rods (551) at this time. n , the base height of the hull section (2) is calculated, <h2 style=";text-align:left;direction:ltr">Y<h2 style=";text-align:left;direction:ltr"> 基准 <h2 style=";text-align:left;direction:ltr"> =( Y1+ Y2+ Y3+…Y<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> ) / n The hull section (2) is adjusted by the attitude adjustment trolley to the readings Y1, Y2, Y3…Y of each height detection sensor (552). n With Y 基准 The difference △Y≤1mm; The measuring rod (551) is powered off to disconnect the measuring rod (551) from the upper side of the hull section (2), and the vertical electric telescopic cylinder (542) is retracted to drive the height measuring device (55) to move upward. At the same time, the rotating measuring rod (551) is controlled by the rotating motor (543) to rotate 90 degrees in any direction to be parallel to the other measuring rod (551). The electric slider (51) is controlled to move to the top of the hull section (3), and the same steps are repeated to measure the height of the hull section (3) to obtain the height readings y1, y2, y3, ... y of the hull section (3). n ; The hull segments (3) are adjusted by the attitude adjustment vehicle to the readings y1, y2, y3, ...y of each height detection sensor (552). n With Y 基准 The difference △y is ≤1mm, that is, the hull section (2) and the hull section (3) are located at the same reference height.

13. The control method of the ship segment docking posture correction device according to claim 10, characterized in that: The working condition C is specifically: The hull section (2) is transported to one side of the workbench (1) by means of a posture adjustment trolley, and the hull section (3) is transported to the other end of the same side of the workbench (1) by means of a posture adjustment trolley, so that the sides of the hull section (2) and the hull section (3) are fitted with the stabilizing device (4), and the electromagnetic stabilizing block (42) in the stabilizing device (4) is energized to generate magnetism, thereby fixing the position of the hull section (2); The electric slider (51) on one side close to the hull section (2) is moved to the top of the hull section (2), and the transverse electric telescopic cylinder (532) in the transverse telescopic mechanism (53) is controlled to extend to drive the vertical telescopic mechanism (54) to extend in the direction of the hull section (2). After reaching the middle position of the upper side of the hull section (2), the vertical electric telescopic cylinder (542) in the vertical telescopic mechanism (54) is controlled to extend to drive the height measuring device (55) to move downward to fit with the upper side of the hull section (2), so that the measuring rod (551) is energized to generate magnetism, and the measuring rod (551) is stably installed on the upper side of the hull section (2); Record the readings Y1, Y2, Y3…Y of the height detection sensor (552) at this time. n , the base height of the hull section (2) is calculated, <h2 style=";text-align:left;direction:ltr">Y<h2 style=";text-align:left;direction:ltr"> 基准 <h2 style=";text-align:left;direction:ltr"> =( Y1+ Y2+ Y3+…Y<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> ) / n The hull section (2) is adjusted by the attitude adjustment trolley to the readings Y1, Y2, Y3…Y of each height detection sensor (552). n With Y 基准 The difference △Y≤1mm; Move the electric slider (51) on one side of the hull section (3) to the top of the hull section (3), repeat the same steps to measure the height of the hull section (3), and obtain the height readings y1, y2, y3, ... y of the hull section (3). n ; The hull segments (3) are adjusted by the attitude adjustment vehicle to the readings y1, y2, y3, ...y of each height detection sensor (552). n With Y 基准 The difference △y is ≤1mm, that is, the hull section (2) and the hull section (3) are located at the same reference height; During the process, the height detection sensor (552) adsorbed on the hull section (2) monitors the height of the hull section (2) in real time, and makes real-time adjustments when changes occur, thereby ensuring that the position of the hull section (2) is stable at △Y≤1mm.

Images