Stern shaft guide installation device and stern shaft installation method

Abstract

The present invention relates to the technical field of ship assembly, and discloses a stern shaft guide installation device and a stern shaft installation method, comprising a roller trolley, a support trolley, and a guide mechanism fixed at the front end of the stern shaft, wherein the guide mechanism comprises a front guide unit and a rear guide unit arranged side by side, each guide unit comprises a fixed plate arranged coaxially with the stern shaft, a plurality of servo telescopic rods radially installed on the fixed plate, and a plurality of distance measuring modules for detecting the distance between the center of the fixed plate and the wall of the stern tube, wherein the output end of the servo telescopic rod is fixed with a guide wheel in rolling contact with the wall of the stern tube, the driving end of the servo telescopic rod is connected to the distance measuring module through a control module, and the control module controls the telescopic length of the corresponding servo telescopic rod according to the distance data detected by each distance measuring module. The present invention improves the assembly efficiency of the stern shaft and the stern tube, and effectively prevents the stern shaft and the bearing from being damaged during the installation process.

Description

Technical Field

[0001] The invention relates to the technical field of ship assembly, in particular to a stern shaft guide installation device and a stern shaft installation method. Background Art

[0002] The stern shaft is a core component of the ship's power output, and its installation is one of the core technologies of ship assembly. The existing installation method generally uses a hand winch and a flatbed truck to work together, that is, a lifting ring is welded on the hull structure at the rear of the stern tube, and the stern shaft is lifted by the hand winch installed on the lifting ring. At the same time, a flatbed truck is carried under the stern shaft, and the stern shaft is gradually sent into the stern tube with the assistance of the flatbed truck.

[0003] However, the above installation method has limitations when installing a long stern shaft, especially for ultra-long stern shafts of up to 25-30 meters in large ships such as luxury cruise ships and high-end passenger and vehicle ships. When the weight of the stern shaft sent into the stern tube is greater than the weight of the external stern shaft, and the adjustable propeller hub installed at the rear end of the stern shaft cannot balance the internal weight, the stern shaft will lose balance, and the front end of the stern shaft will contact the inner wall of the stern tube and produce hard friction. As the stern shaft continues to advance, it will cause certain damage to the stern shaft and the oil pipe laid inside the stern tube. When the front end of the stern shaft reaches the front bearing position, it is necessary to lift the front end of the stern shaft at the front bearing position of the stern shaft with the help of tools such as crowbars, so that the stern shaft passes through the front bearing; the entire installation process is time-consuming and labor-intensive, with low assembly efficiency, and its safety is poor, and it is very easy to damage the stern shaft and the front bearing, affecting the sealing of the assembly positions of the two. Summary of the invention

[0004] In order to solve the above-mentioned deficiencies of the prior art, the present invention provides a stern shaft guide installation device and a stern shaft installation method, which improve the assembly efficiency of the stern shaft and the stern tube and effectively prevent the stern shaft and the bearing from being damaged during the installation process.

[0005] The technical scheme of the present invention is: a stern shaft guide installation device, comprising a roller trolley, a support trolley and a guide mechanism fixed at the front end of the stern shaft, the top of the roller trolley is provided with a rolling wheel for supporting the stern shaft, the top of the support trolley is provided with a clamp for clamping the rear end of the stern shaft, the bottom of the support trolley is provided with a driving assembly for driving the stern shaft to move axially along the stern tube, the guide mechanism comprises a front guide unit and a rear guide unit arranged side by side, each guide unit comprises a fixed disk arranged coaxially with the stern shaft, a plurality of servo telescopic rods radially installed on the fixed disk and a plurality of distance measuring modules for detecting the distance between the center of the fixed disk and the wall of the stern tube, the output end of the servo telescopic rod is fixed with a guide wheel that is in rolling contact with the wall of the stern tube, the driving end of the servo telescopic rod is connected to the distance measuring module through the control module, and the control module controls the telescopic length of the corresponding servo telescopic rod according to the distance data detected by each distance measuring module. The stern shaft before entering the stern tube is guided and installed by means of a roller trolley and a supporting trolley. After the stern shaft enters the stern tube, the guiding mechanism at the front end of the stern shaft completes the support of the front end of the stern shaft under the cooperation of the servo telescopic rods and the distance measuring modules of the rear guiding unit, thereby avoiding the stern shaft imbalance caused by the weight of the stern shaft inside the stern tube being greater than the weight of the external stern shaft. By switching between the servo telescopic rod on the front guiding unit and the servo telescopic rod on the rear guiding unit, the front end of the stern shaft is smoothly guided at the front bearing of the stern tube, thereby improving the assembly efficiency of the stern shaft and the stern tube, and effectively preventing the stern shaft and the bearing from being damaged during the installation process.

[0006] It comprises a cable conveying assembly for conveying the cable assembly axially along the stern tube, comprising a cable winch and a pipeline threading tractor, the cable assembly is coiled on the winch of the cable winch, a quick-connect connector is installed at the output end of the cable assembly, the pipeline threading tractor is detachably connected to the quick-connect connector, the winding speed of the cable winch is the same as the forward speed of the supporting trolley, and the unwinding speed of the cable winch is the same as the traction speed of the pipeline threading tractor.

[0007] The ranging module has a first threshold and a second threshold, the servo telescopic rod has a first elongation value and a second elongation value, the first threshold and the first elongation value correspond to the inner diameter value of the stern tube, and the second threshold and the second elongation value correspond to the inner diameter value of the stern tube front bearing.

[0008] The pipeline threading tractor includes a central body and three sets of driving wheel units radially arranged on the outside of the central body, a slip-on nut is fixed to the end of the central body, the quick-connect connector is threadedly connected to the slip-on nut, each driving unit includes an adjustable connecting rod mechanism movably connected to the central body and driving wheels installed at the front and rear ends of the adjustable connecting rod mechanism, and a DC motor and a battery assembly for powering the DC motor are installed on the driving wheel frames of at least two adjacent driving wheel units.

[0009] A limit plate is fixed to one end of the central body away from the movable nut, a sleeve is sleeved on the outer side of the central body, the sleeve and the limit plate are connected via a spring, each of the adjustable link mechanisms includes a swing rod, a connecting rod and an adjusting rod, two swing rods are hinged on the central body side by side, the other ends of the two swing rods are hinged on the connecting rod together, the connecting rod, the swing rod and the central body form a parallel four-link structure, one end of the adjusting rod is hinged to the outer side of the sleeve, and the other end of the adjusting rod is hinged to the middle of the swing rod arranged near the sleeve. By pressing down the connecting rod or pulling the sleeve in the direction close to the limit plate, the spring is squeezed so that the pipeline threading tractor can pass through the front bearing and rear bearing of the stern shaft with a smaller size. When the pipeline threading tractor enters the stern tube, under the reset action of the spring, each driving wheel rolls with the inner wall of the stern tube again, and moves along the axial direction of the stern tube under the drive of the DC motor, so that the cable assembly is transported from the front end of the stern tube to the rear end of the stern tube and connected to the guide mechanism at the front end of the stern shaft.

[0010] The driving assembly includes a vehicle track that slides in cooperation with the wheels of the supporting trolley and a forward steering gear that drives the wheels of the supporting trolley to rotate. A travel proximity switch is installed on the vehicle track to sense the supporting trolley position signal corresponding to the center of gravity position of the stern shaft reaching the rolling wheel. The travel proximity switch is communicatively connected to the control module.

[0011] The surface of the fixing plate of the front guide unit is provided with a plurality of lifting rings along the circumference, and the lifting rings are detachably connected to the pipe clamps fixed on the outside of the cable assembly via hanging chains. The lifting rings fix the cable assembly via hanging chains to prevent the cable from accidentally falling off during the installation of the stern shaft.

[0012] At least two camera and lighting modules are arranged on the fixed plate of the front guide unit, and the two camera and lighting modules are symmetrically installed on the back side of the fixed plate along the center, and each of the camera and lighting modules is connected to the control module for communication. The camera and lighting modules take pictures and record the environment in the stern tube during the entire installation process to perform risk inspection after assembly.

[0013] The technical solution of the present invention also includes: a stern shaft installation method, using the above-mentioned stern shaft guide installation device, comprising the following steps:

[0014] S1. Place the stern shaft on the roller trolley and the support trolley, and clamp the stern shaft by the clamp of the support trolley. Adjust the positions of the roller trolley and the support trolley until the stern shaft reaches the set through-shaft position. Fix the fixing plate of the rear guide unit to the front end of the stern shaft by bolts to realize the coaxial installation of the guide mechanism and the stern shaft.

[0015] S2. The cable assembly led out from the winch of the cable winch is connected to the end of the pipeline threading tractor. The driving wheel unit size of the pipeline threading tractor is adjusted to be inserted into the stern tube from the front bearing of the stern tube. The pipeline threading tractor is operated and the cable winch is operated to release the cable. When the pipeline threading tractor runs to the rear bearing of the stern tube, the cable winch and the pipeline threading tractor are turned off. The driving wheel unit size of the pipeline threading tractor is adjusted to be taken out from the rear bearing of the stern tube, and the cable assembly at the end of the pipeline threading tractor is disconnected, and the cable assembly is electrically connected to the control module of the guide mechanism.

[0016] S3, confirm that the servo telescopic rods of the guide mechanism are in the retracted state, control to turn on the camera lighting module, run the forward steering gear of the support vehicle and operate the cable winch to reel in the cable, and the support vehicle drives the stern shaft to enter the stern tube from the rear bearing of the stern tube;

[0017] S4, the support trolley reaches the travel proximity switch position of the track, the linkage control closes the forward steering gear and the cable winch, the control module controls the servo telescopic rod of the rear guide unit to extend to the first extension value, and adjusts the extension value of each servo telescopic rod according to the difference between the value detected by each distance measuring module of the rear guide unit and the first threshold value, until the deviation between the value detected by each distance measuring module and the first threshold value is no more than 3mm, the roller trolley under the stern shaft is removed, and the forward steering gear and the cable winch are controlled to continue to operate;

[0018] S5, when the value detected by the distance measuring module of the current guide unit reaches the second threshold value, the control module controls the servo telescopic rod of the front guide unit to extend to the second extension value, controls the servo telescopic rod of the rear guide unit to retract to the initial position, and adjusts the extension value of the servo telescopic rod according to the difference between the value detected by each distance measuring module of the front guide unit and the second threshold value, until the value detected by each distance measuring module deviates from the second threshold value by no more than 3 mm;

[0019] S6, when the value detected by the distance measuring module of the rear guide unit reaches the second threshold value, the control module controls the servo telescopic rod of the rear guide unit to extend to the second extension value adjusted by the servo telescopic rod of the front guide unit in S5;

[0020] S7. When the values ​​detected by the distance measuring modules of the rear guide unit exceed the first threshold, all servo telescopic rods are controlled to retract to the initial position, and the forward steering gear and the cable winch are controlled to be turned off. At this time, the stern shaft assembly is completed, the guide mechanism at the front end of the stern shaft and the support trolley at the rear end of the stern shaft are removed, and the installation images taken by the camera and lighting module are checked to check for installation risks.

[0021] In summary, the present invention mainly has the following beneficial effects:

[0022] This solution arranges a roller trolley, a support trolley and a guide mechanism. Before the stern shaft enters the stern tube, the roller trolley and the support trolley are used to complete the guide installation operation. After the stern shaft enters the stern tube, the guide mechanism at the front end of the stern shaft completes the support of the front end of the stern shaft with the cooperation of the servo telescopic rods and the distance measuring modules of the rear guide unit, thereby avoiding the stern shaft imbalance caused by the weight of the stern shaft inside the stern tube being greater than the weight of the external stern shaft. By switching between the servo telescopic rod on the front guide unit and the servo telescopic rod on the rear guide unit, the front end of the stern shaft is smoothly guided at the front bearing of the stern tube, thereby improving the assembly efficiency of the stern shaft and the stern tube, and effectively preventing the stern shaft and the bearing from being damaged during the installation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the present invention before the stern shaft is threaded;

[0024] Figure 2 It is a schematic diagram of the structure of the present invention when used for threading the stern shaft;

[0025] Figure 3 It is a structural schematic diagram of the guide mechanism in the present invention;

[0026] Figure 4 This is a front view of the guide mechanism of the present invention installed on the stern shaft;

[0027] Figure 5 It is a schematic diagram of the structure after the pipeline threading tractor is connected to the cable assembly in the present invention;

[0028] Figure 6 It is a front view of the supporting trolley in the present invention;

[0029] Figure 7 It is the front view of the roller trolley in the present invention.

[0030] Figure numerals: 1, stern tube; 101, front bearing; 102, rear bearing; 2, stern shaft; 3, support trolley; 301, clamp; 302, forward steering gear; 303, vehicle track; 4, roller trolley; 401, rolling wheel; 402, position detection signal light; 403, left and right adjustment jack; 404, lifting jack; 405, adjustable support leg; 5, guide mechanism; 501, fixed plate; 502, servo telescopic rod; 503, distance measurement module; 504 , guide wheel; 505, control module; 6, pipeline threading tractor; 601, central body; 602, driving wheel; 603, connecting rod; 604, swing rod; 605, adjusting rod; 606, sliding sleeve; 607, limit plate; 608, spring; 609, DC motor; 7, cable winch; 8, cable assembly; 801, quick connector; 9, travel proximity switch; 10, camera lighting module; 11, slip-on nut; 12, lifting ring; 13, pipe clamp. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0032] like Figure 1 and Figure 2 As shown, the present invention provides a stern shaft guide installation device, comprising a roller trolley 4, a support trolley 3 and a guide mechanism 5 fixed at the front end of the stern shaft 2, which are sequentially placed in a direction away from the stern tube 1. The structures of the roller trolley 4 and the support trolley 3 in this embodiment are the same as those of the roller trolley 4 and the support trolley 3 disclosed in CN108502099B. Figure 6 and Figure 7 As shown, the top of the roller trolley 4 has a rolling wheel 401 for supporting the stern shaft 2, the top of the support trolley 3 has a clamp 301 for clamping the rear end of the stern shaft 2, the roller trolley 4 and the support trolley 3 are equipped with a lifting jack 404 for driving the rolling wheel 401 / clamp 301 to rise and fall, and a left and right adjustment jack 403 for driving the rolling wheel 401 / clamp 301 to adjust left and right, and a position indicator indicating whether the stern shaft 2 has reached the through-shaft position is installed on the body of the support trolley 3 outside the rolling wheel 401 A detection signal light 402 is provided; further preferably, the bottom of the supporting trolley 3 has a driving assembly for driving the stern shaft 2 to move axially along the stern tube 1, specifically, the driving assembly includes a track 303 that slides with the wheels of the supporting trolley 3 and a forward steering gear 302 that drives the wheels of the supporting trolley 3 to rotate, and the bottom of the roller trolley 4 is installed with an adjustable supporting leg 405 for temporary parking, and before the stern shaft 2 enters the stern tube 1, the roller trolley 4 and the supporting trolley 3 are used to complete the guide installation operation of the stern shaft 2.

[0033] like Figure 3 As shown, the guide mechanism 5 includes a front guide unit and a rear guide unit arranged side by side, each guide unit includes a fixed plate 501 arranged coaxially with the stern shaft 2, a plurality of servo telescopic rods 502 radially mounted on the fixed plate 501, and a plurality of distance measuring modules 503 for detecting the distance between the center of the fixed plate 501 and the wall of the stern tube 1. Specifically, as shown in FIG. Figure 4As shown, the number of servo telescopic rods 502 on each guide unit is three, the angle between the axes of two adjacent servo telescopic rods 502 is 120°, the number of distance measuring modules 503 on each guide unit is three, the angle between the measurement center lines of two adjacent distance measuring modules 503 is 120°, and the distance measuring modules 503 and the servo telescopic rods 502 are arranged alternately; and the projection position of each distance measuring module 503 of the front guide unit on the fixed plate 501 of the rear guide unit is the same as that of each distance measuring module 503 of the rear guide unit. 03 are on the same array circumference, the projection position of each servo telescopic rod 502 of the front guide unit on the fixed plate 501 of the rear guide unit is on the same array circumference as each servo telescopic rod 502 of the rear guide unit, the fixed plate 501 of the rear guide unit is fixed to the front end face of the stern shaft 2 by bolts, the fixed plate 501 of the front guide unit is fixed to the fixed plate 501 of the rear guide unit by a column, and the output end of each servo telescopic rod 502 is fixed with a guide wheel 504 that is in rolling contact with the wall of the stern tube 1.

[0034] The driving end of the servo telescopic rod 502 is communicatively connected with the distance measuring module 503 via the control module 505. Specifically, the distance measuring module 503 has a first threshold value and a second threshold value, and the servo telescopic rod 502 has a first elongation value and a second elongation value. The first threshold value and the first elongation value correspond to the inner diameter value of the stern tube 1, and the second threshold value and the second elongation value correspond to the inner diameter value of the front bearing 101 of the stern tube 1. The control module 505 controls the telescopic length of the corresponding servo telescopic rod 502 according to the distance data detected by each distance measuring module 503.

[0035] The control module 505 is fixed to the middle of the fixed plate 501 of the rear guide unit. A through hole is opened in the middle of the fixed plate 501 of the front guide unit for the cable assembly 8 electrically connected to the control module 505 to pass through. In this embodiment, the servo telescopic rod 502 is an electric servo cylinder. In other embodiments, the servo telescopic rod 502 is a hydraulic cylinder. The control module 505 includes a servo valve for controlling the oil supply of the hydraulic cylinder, and the cable assembly 8 includes an oil supply pipeline connected to the oil circuit of the hydraulic cylinder. After the stern shaft 2 is introduced into the stern tube 1 together by the supporting trolley 3 and the roller trolley 4, the servo telescopic rod 502 of the rear guide unit in the guide mechanism 5 moves to complete the support of the front end of the stern shaft 2, and with the cooperation of the ranging module 503, the front end of the stern shaft 2 is automatically adjusted to the center position of the stern tube 1, thereby avoiding the imbalance of the stern shaft 2 caused by the weight of the stern shaft 2 inside the stern tube 1 being greater than the weight of the external stern shaft 2; further preferably, the fixed plate 501 of the front guide unit and the fixed plate of the rear guide unit The distance between 501 is smaller than the length of the front bearing 101 of the stern tube 1. When the front end of the stern shaft 2 reaches the front bearing 101 of the stern tube 1, the servo telescopic rod 502 on the front guide unit and the servo telescopic rod 502 on the rear guide unit are switched to achieve smooth guidance of the front end of the stern shaft 2 at the front bearing 101 of the stern tube 1. Compared with the traditional manual guiding operation using a crowbar, the assembly efficiency of the stern shaft 2 and the stern tube 1 is improved, and the stern shaft 2 and the front bearing 101 are effectively prevented from being damaged during the installation process.

[0036] like Figure 1 As shown, the guide installation device also includes a cable conveying assembly for conveying a cable assembly 8 axially along the stern tube 1, which is specifically composed of a cable winch 7 and a pipeline threading tractor 6. The cable assembly 8 is coiled on the winch of the cable winch 7, and a quick-connect connector 801 is installed at the output end of the cable assembly 8. The pipeline threading tractor 6 is detachably connected to the quick-connect connector 801, and a socket for mating with the quick-connect connector 801 is installed on the control module 505; the winding speed of the cable winch 7 is the same as the forward speed of the support trolley 3, and the unwinding speed of the cable winch 7 is the same as the traction speed of the pipeline threading tractor 6.

[0037] like Figure 5As shown, the pipeline threading tractor 6 includes a central body 601 and three sets of drive wheel 602 units radially arranged on the outside of the central body 601, a slip nut 11 is fixed to the end of the central body 601, and the quick connector 801 is threadedly connected to the slip nut 11. Each drive unit includes an adjustable connecting rod mechanism movably connected to the central body 601 and a drive wheel 602 installed at the front and rear ends of the adjustable connecting rod mechanism. A DC motor 609 and a battery assembly for powering the DC motor 609 are installed on the drive wheel 602 frame of at least two adjacent drive wheel 602 units; further preferably, the end of the central body 601 away from the movable nut is fixed There is a limit plate 607, and a sliding sleeve 606 is sleeved on the outer side of the central body 601. The sliding sleeve 606 and the limit plate 607 are connected via a spring 608. Each adjustable connecting rod mechanism includes a swing rod 604, a connecting rod 603 and an adjusting rod 605. There are two swing rods 604, which are hinged on the central body 601 side by side. The other ends of the two swing rods 604 are hinged on the connecting rod 603 together. The connecting rod 603, the swing rod 604 and the central body 601 form a parallel four-bar structure. One end of the adjusting rod 605 is hinged to the outer side of the sliding sleeve 606, and the other end of the adjusting rod 605 is hinged to the middle part of the swing rod 604 arranged near the sliding sleeve 606.

[0038] By pressing down the connecting rod 603 or pulling the sliding sleeve 606 in the direction close to the limit plate 607, the spring 608 is squeezed to allow the pipeline threading tractor 6 to pass through the smaller front bearing 101 and rear bearing 102 of the stern shaft 2. When the pipeline threading tractor 6 enters the stern tube 1, under the reset action of the spring 608, each driving wheel 602 rolls with the inner wall of the stern tube 1 again, and moves axially along the stern tube 1 under the drive of the DC motor 609, so as to transport the cable assembly 8 from the front end of the stern tube 1 to the rear end of the stern tube 1 and connect it to the guide mechanism 5 at the front end of the stern shaft 2.

[0039] like Figure 1 , Figure 2 and Figure 6 As shown, a travel proximity switch 9 is installed on the vehicle track 303, which is used to sense the position signal of the support trolley 3 corresponding to the center of gravity of the stern shaft 2 before reaching the rolling wheel 401, and the travel proximity switch 9 is in communication with the control module 505. Before the stern shaft 2 is unbalanced, it is always guided and installed through the support trolley 3 and the roller trolley 4. When it reaches the unbalanced position, the servo telescopic rod 502 of the front guide unit is controlled to be opened by the travel proximity switch 9 to support the front end of the stern shaft 2, which can minimize the distance used for support by the servo telescopic rod 502 and improve the service life of the guide mechanism 5.

[0040] To prevent the cable from being pulled off accidentally during the installation of the stern shaft 2, Figure 3 and Figure 5As shown, a plurality of lifting rings 12 are arranged circumferentially on the surface of the fixed plate 501 of the front guide unit, and the lifting rings 12 are detachably connected to the pipe clamp 13 fixed on the outside of the cable assembly 8 via a hanging chain. Preferably, the length of the hanging chain is less than the distance between the quick-connect connector 801 and the pipe clamp 13.

[0041] In order to capture and record the environment inside the stern tube 1 during the entire installation process, thereby implementing risk inspection after assembly, at least two camera and lighting modules 10 are provided on the fixed plate 501 of the front guide unit, and the two camera and lighting modules 10 are symmetrically installed on the back side of the fixed plate 501 along the center, and each of the camera and lighting modules 10 is communicatively connected to the control module 505.

[0042] When the stern shaft is installed using the stern shaft guide installation device, the following steps are included:

[0043] S1, place the stern shaft 2 on the roller trolley 4 and the supporting trolley 3, and clamp the stern shaft 2 by the clamp 301 of the supporting trolley 3, and adjust the position of the rolling wheel 401 above the roller trolley 4 and the clamp 301 above the supporting trolley 3 by running the lifting jack 404 and the left and right adjustment jack 403 on the roller trolley 4 and the supporting trolley 3, until the position detection signal light 402 lights up, indicating that the stern shaft 2 has reached the set through-shaft position, and fix the fixing plate 501 of the rear guide unit to the front end of the stern shaft 2 by bolts, so as to realize the coaxial installation of the guide mechanism 5 and the stern shaft 2;

[0044] S2, the cable assembly 8 led out from the winch of the cable winch 7 is connected to the end of the pipeline threading tractor 6, the unit size of the driving wheel 602 of the pipeline threading tractor 6 is adjusted to be inserted into the stern tube 1 from the front bearing 101 of the stern tube 1, the pipeline threading tractor 6 is operated and the cable winch 7 is operated to release the line, and when the pipeline threading tractor 6 runs to the rear bearing 102 of the stern tube 1, the cable winch 7 and the pipeline threading tractor 6 are turned off, the unit size of the driving wheel 602 of the pipeline threading tractor 6 is adjusted to be taken out from the rear bearing 102 of the stern tube 1, and the cable assembly 8 at the end of the pipeline threading tractor 6 is disconnected, and the cable assembly 8 is electrically connected to the control module 505 of the guide mechanism 5 (if the servo telescopic rod 502 uses a hydraulic cylinder, the oil supply pipe in the cable assembly 8 is connected to the oil circuit of the hydraulic cylinder through a joint);

[0045] S3, confirm that each servo telescopic rod 502 of the guide mechanism 5 is in a retracted state, control to open the camera lighting module 10, operate the forward steering gear 302 of the support trolley 3 and operate the cable winch 7 to reel in the cable, and the support trolley 3 drives the stern shaft 2 to enter the stern tube 1 from the rear bearing 102 of the stern tube 1;

[0046] S4, the support trolley 3 reaches the position of the travel proximity switch 9 of the track 303, and the linkage control closes the forward steering gear 302 and the cable winch 7, the control module 505 controls the servo telescopic rod 502 of the rear guide unit to extend to the first extension value, and adjusts the extension value of each servo telescopic rod 502 according to the difference between the value detected by each distance measuring module 503 of the rear guide unit and the first threshold value, until the deviation between the value detected by each distance measuring module 503 and the first threshold value is not greater than 3mm, the control module 505 corrects and stores the adjusted first extension value, removes the roller trolley 4 under the stern shaft 2, and controls the forward steering gear 302 and the cable winch 7 to continue to operate;

[0047] S5, the value detected by the distance measuring module 503 of the current guide unit reaches the second threshold value, the control module 505 controls the servo telescopic rod 502 of the front guide unit to extend to the second extension value, controls the servo telescopic rod 502 of the rear guide unit to retract to the initial position, and adjusts the extension value of the servo telescopic rod 502 according to the difference between the value detected by each distance measuring module 503 of the front guide unit and the second threshold value, until the value detected by each distance measuring module 503 deviates from the second threshold value by no more than 3 mm, and the control module 505 corrects and stores the adjusted second extension value;

[0048] S6, when the value detected by the distance measuring module 503 of the rear guide unit reaches the second threshold value, the control module 505 controls the servo telescopic rod 502 of the rear guide unit to extend to the second extension value adjusted by the servo telescopic rod 502 of the front guide unit in S5;

[0049] S7. When the values ​​detected by the distance measuring modules 503 of the rear guide unit all exceed the first threshold value, all the servo telescopic rods 502 are controlled to retract to the initial position, and the forward steering gear 302 and the cable winch 7 are controlled to be closed. At this time, the stern shaft 2 is assembled, and the guide mechanism 5 at the front end of the stern shaft 2 and the supporting trolley 3 at the rear end of the stern shaft 2 are removed. The installation image taken by the camera lighting module 10 is checked to check for installation risks.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A stern shaft installation method, characterized in that: The stern shaft is installed by using a stern shaft guide installation device, which includes a roller trolley, a support trolley and a guide mechanism fixed at the front end of the stern shaft, which are placed in sequence along the direction away from the stern tube. The top of the roller trolley is provided with a rolling wheel for supporting the stern shaft, the top of the support trolley is provided with a clamp for clamping the rear end of the stern shaft, and the bottom of the support trolley is provided with a driving assembly for driving the stern shaft to move axially along the stern tube. The driving assembly includes a vehicle track that slides with the wheel of the support trolley and a forward steering gear that drives the wheel of the support trolley to rotate. A travel proximity switch is installed on the vehicle track for sensing the position signal of the support trolley corresponding to the center of gravity position of the stern shaft before reaching the rolling wheel. The guide mechanism includes a pair of parallel arranged The invention provides a front guide unit and a rear guide unit, each of which includes a fixed plate coaxially arranged with the stern shaft, a plurality of servo telescopic rods radially mounted on the fixed plate, and a plurality of distance measuring modules for detecting the distance between the center of the fixed plate and the wall of the stern tube, the output end of the servo telescopic rod is fixed with a guide wheel in rolling contact with the wall of the stern tube, the driving end of the servo telescopic rod is communicatively connected with the distance measuring module via a control module, the distance measuring module has a first threshold value and a second threshold value, the servo telescopic rod has a first elongation value and a second elongation value, the first threshold value and the first elongation value correspond to the inner diameter value of the stern tube, and the second threshold value and the second elongation value correspond to the inner diameter value of the front bearing of the stern tube; the specific operation steps are as follows: S1. Place the stern shaft on the roller trolley and the support trolley, and clamp the stern shaft by the clamp of the support trolley. Adjust the positions of the roller trolley and the support trolley until the stern shaft reaches the set through-shaft position. Fix the fixing plate of the rear guide unit to the front end of the stern shaft by bolts to realize the coaxial installation of the guide mechanism and the stern shaft. S2. The cable assembly led out from the winch of the cable winch is connected to the end of the pipeline threading tractor. The driving wheel unit size of the pipeline threading tractor is adjusted to be inserted into the stern tube from the front bearing of the stern tube. The pipeline threading tractor is operated and the cable winch is operated to release the cable. When the pipeline threading tractor runs to the rear bearing of the stern tube, the cable winch and the pipeline threading tractor are turned off. The driving wheel unit size of the pipeline threading tractor is adjusted to be taken out from the rear bearing of the stern tube, and the cable assembly at the end of the pipeline threading tractor is disconnected, and the cable assembly is electrically connected to the control module of the guide mechanism. S3. Confirm that the servo telescopic rods of the guide mechanism are in the retracted state, run the forward steering gear of the support trolley and operate the cable winch to reel in the cable, and the support trolley drives the stern shaft to enter the stern tube from the rear bearing of the stern tube; S4, the support trolley reaches the travel proximity switch position of the track, the linkage control closes the forward steering gear and the cable winch, the control module controls the servo telescopic rod of the rear guide unit to extend to the first extension value, and adjusts the extension value of each servo telescopic rod according to the difference between the value detected by each distance measuring module of the rear guide unit and the first threshold value, until the deviation between the value detected by each distance measuring module and the first threshold value is no more than 3mm, the roller trolley under the stern shaft is removed, and the forward steering gear and the cable winch are controlled to continue to operate; S5, when the value detected by the distance measuring module of the current guide unit reaches the second threshold value, the control module controls the servo telescopic rod of the front guide unit to extend to the second extension value, controls the servo telescopic rod of the rear guide unit to retract to the initial position, and adjusts the extension value of the servo telescopic rod according to the difference between the value detected by each distance measuring module of the front guide unit and the second threshold value, until the value detected by each distance measuring module deviates from the second threshold value by no more than 3 mm; S6, when the value detected by the distance measuring module of the rear guide unit reaches the second threshold value, the control module controls the servo telescopic rod of the rear guide unit to extend to the second extension value adjusted by the servo telescopic rod of the front guide unit in S5; S7. When the values ​​detected by the distance measuring modules of the rear guide unit exceed the first threshold, all servo telescopic rods are controlled to retract to the initial position, and the forward servo and cable winch are controlled to be turned off. At this time, the stern shaft is assembled, the guide mechanism at the front end of the stern shaft and the support trolley at the rear end of the stern shaft are removed, and the installation image taken by the camera lighting module on the fixed plate of the front guide unit is checked to check for installation risks.

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