High-precision positioning system for folding huge ship body

Abstract

The invention relates to the field of ships, in particular to a high-precision positioning system for folding a giant hull, which positions a movable section in a dock through a gantry crane and a positioning assembly, realizes automatic adjustment and positioning of the movable section before folding, and solves the problem of complicated operation of a traditional folding positioning mode. Meanwhile, flexible folding and splicing are achieved when the movable subsection and the fixed subsection are folded in a steel rope hoisting mode and through insertion matching of a conical block and a conical hole, and the probability of collision damage in the folding and approaching process is reduced; in addition, through four second infrared distance sensors and first infrared distance sensors arranged on a conical block, the relative position of a movable segment relative to a fixed segment is positioned, centering adjustment is carried out, the positioning precision is further improved, the adjacent segments are locked in cooperation with an insertion block, the welding deformation probability is reduced, and the welding quality is improved. And the positioning effect is further improved.

Description

Technical Field

[0001] The present invention relates to a positioning system, in particular to a high-precision positioning system for the合拢 of a giant hull applied in the ship field. Background Technique

[0002] When ship sections are being合拢, sectional positioning is required. During positioning, the existing positioning method is to manually operate various devices such as total stations, laser theodolites, and spirit levels for positioning, and multiple lines need to be drawn on the dock and the ship sections, calibrating multiple different types of合拢 reference lines. This not only makes the operation cumbersome, but during the multiple positioning adjustments, parameters such as the levelness, center alignment, and installation height of the ship sections are prone to interference during adjustment, further making the positioning adjustment process even more cumbersome.

[0003] The patent with the existing publication number CN113978650B discloses a control method for the rapid positioning of ship shafting section合拢. This method adopts a "three horizontal and one vertical, point-to-point" shafting rapid positioning control method. Using a laser theodolite, the theoretical dimension data of the sectional center line, deck reference projection line, deck projection anti-deformation parameter line, and upper and lower center projection lines of the shaft hole are drawn on the ground. Among them, the sectional center line is the vertical line, and the deck reference projection line, deck projection anti-deformation parameter line, and upper and lower center projection lines of the shaft hole are the horizontal lines. After the four lines are drawn, they present a "丰" shape, making the alignment during the shafting section合拢 more intuitive and faster, and more convenient for continuous tracking control during the welding process. All positioning parameters are converted into point-line alignment and point-position alignment, making the positioning reference unified throughout the shafting section合拢 positioning process, thereby simplifying the positioning process and improving the positioning accuracy and production efficiency of the shafting section合拢.

[0004] The above-mentioned existing technology has improved the method of calibrating the reference line and simplified the positioning process, but still relies on manual operation of various measuring devices for multiple times to calibrate the reference line, and requires personnel to perform multiple alignment adjustments during合拢. Summary of the Invention

[0005] Aiming at the above-mentioned existing technology, the technical problem to be solved by the present invention is that the existing合拢 positioning method is cumbersome in operation.

[0006] To solve the above problems, the present invention provides a high-precision positioning system for the合拢 of a giant hull, including a positioning component and a gantry crane; the positioning component includes a moving block and a fixed block arranged oppositely, the moving block is fixedly connected to the moving section, and the fixed block is fixedly connected to the fixed section; a conical block is fixedly connected to the side of the moving block facing the fixed block, the fixed block is provided with a conical hole for the conical block to insert, a first infrared distance sensor is fixedly connected to the inner wall of the front side of the conical block, and a plurality of second infrared distance sensors are fixedly connected to the conical side wall of the conical block and are evenly distributed in a circumferential manner;

[0007] It should be noted that the term "合拢" in the original text seems to be a specific technical term in the shipbuilding field, but it is not a common English word. If there is a more accurate English equivalent, it can be further optimized. Also, the reference number etc. are likely specific tags in a particular technical document format and are left unchanged as required.The upper end of the mobile segment is fixedly connected to a plurality of evenly distributed lifting eyes. The gantry crane includes a mobile frame with an electric drive roller and a plurality of mobile cranes slidably connected to the mobile frame. The mobile cranes are fixedly connected to a winding machine, and the winding machine winds a steel rope fixedly connected to the lifting eyes.

[0008] Both the gantry crane and the positioning assembly are connected to a control computer. The control computer is equipped with a closing positioning system. The closing positioning system includes a control module. The input ends of the control module are respectively connected to a center alignment monitoring module, an installation height monitoring module, a centering monitoring module and a gap monitoring module. The input ends of the center alignment monitoring module, the installation height monitoring module and the centering monitoring module are all connected to the second infrared distance sensor, and the input end of the gap monitoring module is connected to the first infrared distance sensor; the output end of the control module is connected to an adjustment module, and the output end of the adjustment module is connected to the gantry crane.

[0009] In the above-mentioned high-precision positioning system for giant hull assembly, three sets of positioning components are used in conjunction with a gantry crane to automatically position and adjust the ship sections.

[0010] As a further improvement of the present application, there are three positioning components, which are fixed at the joints of adjacent segments in an inverted triangle shape.

[0011] As a further improvement of the present application, a plurality of plug-in blocks are slidably connected in the conical block, and a plug-in hole for inserting the plug-in block is opened in the conical hole; a piston rod is fixedly connected to the inner side of the plug-in block, and the piston rod is slidably sleeved with a piston tube, and the inner ends of the plurality of piston tubes are all connected to the same piston cylinder, and the piston cylinder is filled with hydraulic oil, and a piston disk is slidably connected in the piston cylinder, and the piston disk is fixedly connected to the movable end of the electric push rod, and the fixed end of the electric push rod is fixedly connected to the moving block. The closing positioning system also includes a locking module connected to the output end of the control module, and the output end of the locking module is connected to the electric push rod.

[0012] As a further improvement of the present application, the lower end of the fixed segment is abutted against a cart, and a hydraulic adjustment frame is fixedly connected to the cart.

[0013] As a further improvement of the present application, the outer end face of the movable block facing the conical block and the closed end face of the movable segment are located in the same vertical plane, and the outer end face of the fixed block facing the conical block and the closed end face of the fixed segment are located in the same vertical plane; the movable block is fixedly connected to the movable segment by means of bolts, and the fixed block is fixedly connected to the fixed segment by means of bolts.

[0014] As a further improvement of the present application, the end of the plug-in block away from the piston rod is in the shape of a frustum, and the lower end of the piston rod is fixedly connected to a disc portion that is slidably connected to the inner wall of the piston tube.

[0015] As a further improvement of the present application, the conical hole includes a frustum cavity and a cylindrical cavity, the plug hole is opened on the inner wall of the cylindrical cavity, and the conical block includes a frustum portion abutting against the frustum cavity and a cylindrical portion abutting against the cylindrical cavity.

[0016] As a further improvement of the present application, the following steps are included when performing closing positioning:

[0017] Step 1, coarse positioning, includes the following sub-steps:

[0018] A1, leveling adjustment: The mobile segment is hoisted as a whole using the steel ropes of the gantry crane, and the four winders are controlled to release the same length of steel ropes, thereby making the mobile segment level.

[0019] A2, center alignment adjustment, uses two second infrared distance sensors facing horizontally toward the dock inner wall to measure the distances l1 and l2 between the multiple positioning components and the dock inner wall. Then, multiple mobile cranes are controlled to move synchronously along the width of the dock so that l1 = l2, thereby aligning the centerline of the moving segments with the dock centerline.

[0020] A3, installation height adjustment, uses a second infrared distance sensor facing the dock floor to detect the real-time height h1 of the positioning assembly from the dock floor. The positioning assembly is set to the installation height H1, and then the four winders are controlled to rewind synchronously, so that the positioning assembly moves to the set installation position, that is, h1 = H1;

[0021] Step 2: Pre-closing: First, start the electric drive roller at the lower end of the moving frame, so that the gantry crane drives the moving segment to move toward the fixed segment. Then, start the first infrared distance sensor to monitor the gap distance between the moving segment and the fixed segment in real time. The real-time gap distance s1 is obtained. When the conical block is inserted into the conical hole and before the conical block contacts the inner wall of the conical hole, s1 is greater than zero and less than half of the axial width of the conical block. Then, close the electric drive roller at the lower end of the moving frame.

[0022] Step 3: Fine-tune and activate the second infrared distance sensor. The four second infrared distance sensors measure the vertical distances between the tapered block and the inner cavity of the tapered hole as d1, d2, d3, and d4, respectively. Then, activate the winding machine of the gantry crane to make d1 = d2 = d3 = d4, that is, the tapered block is located in the center of the tapered hole.

[0023] Step 4: Start the electric drive roller at the lower end of the moving frame for the second time, so that the conical block is fully inserted into the conical hole, completing the positioning and closing of the moving segment and the fixed segment.

[0024] In summary, the present invention uses a gantry crane and four second infrared distance sensors distributed in a circle to adjust the horizontality, center alignment and installation height of the mobile segment, thereby realizing automatic coarse adjustment of the mobile segment before closing, replacing the traditional closing positioning method of using a variety of measuring equipment including laser theodolite, total station and level tube for manual auxiliary positioning, eliminating the need to carry out various dock and hull segment baseline marking and alignment operations, and overcoming the cumbersome problems of traditional closing positioning operations; at the same time, by adopting steel rope hoisting and utilizing the plug-in cooperation of the tapered block and the tapered hole, the flexibility of the steel rope and the guidance of the tapered block are utilized. The function is to enable the movable segment and the fixed segment to be flexibly closed and spliced when closing, thereby reducing the probability of collision damage that is easy to occur when the movable segment and the fixed segment are rigidly spliced by the traditional cart; in addition, by setting four second infrared distance sensors evenly distributed on the circumference of the conical block, in conjunction with the winding machine, the conical block is placed in the center of the conical hole before closing, thereby further improving the closing positioning accuracy, and utilizing the guiding effect of the conical block and the conical hole when they cooperate to improve the closing accuracy while reducing the probability of collision deformation, and replacing the traditional closing positioning with a hydraulic rod to fine-tune the segment, thereby reducing the difficulty of fine-tuning the segment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a module diagram of the closed positioning system in this application;

[0026] Figure 2 This is a schematic diagram of the internal structure of the dock in this application;

[0027] Figure 3 This is a schematic diagram of the transverse cross-sectional structure of the dock in this application;

[0028] Figure 4 for Figure 3 Schematic diagram of the enlarged structure at A in the middle;

[0029] Figure 5 This is a schematic diagram of the exploded structure of the positioning component in this application;

[0030] Figure 6 This is a schematic diagram of the hoisting of the mobile segment in this application;

[0031] Figure 7 This is a schematic diagram of the state where the tapered block is inserted into the tapered hole in this application;

[0032] Figure 8 This is a schematic diagram of the state in which the plug-in block is inserted into the plug-in hole in this application.

[0033] Description of the numbers in the figure:

[0034] 1. Dock; 2. Mobile section; 3. Lifting eye; 4. Steel rope; 5. Winding machine; 6. Mobile crane; 7. Gantry crane; 8. Cart; 9. Positioning assembly; 10. Mobile block; 11. Fixed block; 1101. Conical hole; 1102. Frustum cavity; 1103. Cylindrical cavity; 1104. Connecting hole; 12. Conical block; 1201. Frustum part; 1202. Cylindrical part; 13. First infrared distance sensor; 14. Second infrared distance sensor; 15. Connecting block; 16. Piston rod; 17. Disc part; 18. Piston tube; 19. Piston cylinder; 20. Piston disc; 21. Electric push rod; 22. Hydraulic adjustment frame; 23. Fixed section. DETAILED DESCRIPTION

[0035] The following describes two implementation methods of the present application in detail with reference to the accompanying drawings.

[0036] The first implementation method:

[0037] Figure 1-7 A high-precision positioning system for giant hull closure is shown, comprising positioning assemblies 9 and a gantry crane 7. Three positioning assemblies 9 are fixed in an inverted triangle shape at the joints between adjacent segments. The positioning assemblies 9 comprise a movable block 10 and a fixed block 11 arranged opposite each other. The movable block 10 is fixedly connected to the movable segment 2, and the fixed block 11 is fixedly connected to the fixed segment 23. A tapered block 12 is fixedly connected to the side of the movable block 10 facing the fixed block 11. The fixed block 11 has a tapered hole 1101 for inserting the tapered block 12. A first infrared distance sensor 13 is fixedly connected to the inner wall of the front side of the tapered block 12. A plurality of second infrared distance sensors 14, equidistantly distributed around the circumference, are fixedly connected to the tapered side walls of the tapered block 12.

[0038] See also Figure 2 and Figure 3 The upper end of the mobile segment 2 is fixedly connected to a plurality of evenly distributed lifting eyes 3. The gantry crane 7 includes a mobile frame with an electric drive roller and a plurality of mobile cranes 6 slidably connected to the mobile frame. The mobile crane 6 is fixedly connected to a winding machine 5, and the winding machine 5 winds a steel rope 4 fixedly connected to the lifting eyes 3.

[0039] See also Figure 1 and Figure 4Both the gantry crane 7 and the positioning assembly 9 are connected to the control computer. The control computer is equipped with a closing positioning system. The closing positioning system includes a control module. The input ends of the control module are respectively connected to the center alignment monitoring module, the installation height monitoring module, the centering monitoring module and the gap monitoring module. The input ends of the center alignment monitoring module, the installation height monitoring module and the centering monitoring module are all connected to the second infrared distance sensor 14, and the input end of the gap monitoring module is connected to the first infrared distance sensor 13; the output end of the control module is connected to the adjustment module, and the output end of the adjustment module is connected to the gantry crane 7.

[0040] Specifically, when performing closing positioning, the following steps are included:

[0041] Step 1, coarse positioning, includes the following sub-steps:

[0042] A1, leveling adjustment: The mobile segment 2 is hoisted as a whole by the steel rope 4 of the gantry crane 7, and the release length of the steel rope 4 is made the same by controlling the four winders 5, thereby making the mobile segment 2 level;

[0043] A2, center alignment adjustment, uses two second infrared distance sensors 14 facing horizontally toward the inner wall of the dock 1 to measure the distances l1 and l2 between the multiple positioning components 9 and the inner wall of the dock. Then, the multiple mobile cranes 6 are controlled to move synchronously along the width of the dock so that l1 = l2, thereby aligning the centerline of the mobile segment 2 with the centerline of the dock.

[0044] It should be noted that the two second infrared distance sensors 14 are two second infrared distance sensors 14 fixed on the two positioning components 9 at the upper end of the segment and facing the side wall of the dock 1;

[0045] A3, installation height adjustment: The second infrared distance sensor 14 facing the bottom plate of the dock 1 detects the real-time height h1 of the positioning assembly 9 from the bottom plate of the dock 1. The installation height of the positioning assembly 9 is set to H1, and then the four winders 5 are controlled to rewind synchronously, so that the positioning assembly 9 moves to the set installation position, that is, h1 = H1;

[0046] It should be noted that the second infrared distance sensor 14 used is the second infrared distance sensor 14 located below the positioning assembly 9 and facing the bottom plate of the dock 1;

[0047] Step 2: Pre-closing: First, start the electric drive roller at the lower end of the moving frame, so that the gantry crane 7 drives the moving segment 2 to move toward the fixed segment 23. Then, start the first infrared distance sensor 13 to monitor the gap distance between the moving segment 2 and the fixed segment 23 in real time. The real-time gap distance s1 is obtained. When the conical block 12 is inserted into the conical hole 1101 and before the conical block 12 abuts the inner wall of the conical hole 1101, s1 is greater than zero and less than half the axial width of the conical block 12. Then, close the electric drive roller at the lower end of the moving frame.

[0048] Step 3: Fine-tune by activating the second infrared distance sensor 14. The four second infrared distance sensors 14 measure the vertical distances between the tapered block 12 and the inner cavity of the tapered hole 1101 as d1, d2, d3, and d4, respectively. Then, the winding machine 5 of the gantry crane 7 is activated to ensure that d1 = d2 = d3 = d4, that is, the tapered block 12 is located in the center of the tapered hole 1101.

[0049] It should be noted that the number of the second infrared distance sensors is at least four;

[0050] Step 4: Start the electric drive roller at the lower end of the movable frame for the second time, so that the conical block 12 is completely inserted into the conical hole 1101, and the positioning and closing of the movable segment 2 and the fixed segment 23 are completed.

[0051] Compared with the traditional closing positioning system, the present invention adjusts the horizontality, center alignment and installation height of the mobile segment 2 through the gantry crane 7 and four second infrared distance sensors 14 distributed in a circle, so as to realize automatic coarse adjustment of the mobile segment 2 before closing, and replaces the traditional closing positioning using a variety of measuring equipment including laser theodolite, total station and level tube for manual auxiliary positioning, without the need to carry out various dock and hull segment baseline marking and alignment operations, thus overcoming the cumbersome problem of traditional closing positioning operation; at the same time, by adopting steel rope hoisting and utilizing the plug-in cooperation of the tapered block 12 and the tapered hole 1101, the flexibility of the steel rope and the guidance of the tapered block 12 are utilized. The function is to enable the movable segment 2 and the fixed segment 23 to be flexibly closed and spliced when closing, thereby reducing the probability of collision damage that is easy to occur when the conventional cart drives the movable segment 2 and the fixed segment 23 to be rigidly spliced; in addition, by setting four second infrared distance sensors that are evenly distributed on the circumference on the conical block 12, in conjunction with the winding machine 5, the conical block 12 is in the center position of the conical hole 1101 before closing, thereby further improving the closing positioning accuracy, and utilizing the guiding effect of the conical block 12 and the conical hole 1101 when they cooperate, thereby improving the closing accuracy and reducing the probability of collision deformation, and replacing the traditional closing positioning with the hydraulic rod to fine-tune the segment, thereby reducing the difficulty of fine-tuning the segment.

[0052] See also Figure 2The lower end of the fixed segment 23 abuts against the cart 8, and the hydraulic adjustment frame 22 is fixedly connected to the cart 8.

[0053] Specifically, after the folding is completed, a new pallet truck 8 is driven to the bottom of the movable segment 2 and the hydraulic adjustment frame 22 installed thereon is started to support the movable segment 2 .

[0054] See also Figure 3 The outer end surface of the moving block 10 facing the conical block 12 and the closed end surface of the moving segment 2 are located in the same vertical plane, and the outer end surface of the fixed block 11 facing the conical block 12 and the closed end surface of the fixed segment 23 are located in the same vertical plane; the moving block 10 is fixedly connected to the moving segment 2 by means of bolts, and the fixed block 11 is fixedly connected to the fixed segment 23 by means of bolts.

[0055] Specifically, the distance between the moving block 10 and the fixed block 11 is equal to the distance between the moving segment 2 and the fixed segment 23 when they are closed, and the positioning assembly 9 is easy to disassemble and reuse.

[0056] See also Figure 4 and Figure 5 The conical block 12 is a frustum-shaped structure with a front section and a narrow rear section, and the conical hole 1101 is adapted to the conical block 12.

[0057] Specifically, the tapered block 12, which is wide at the front and narrow at the back, is convenient for entering the tapered hole 1101, thereby improving the guiding effect. When the tapered block 12 slides in the tapered hole 1101, the second infrared distance sensor 14 can measure the distance between the tapered block 12 and the inner wall of the tapered hole 1101 multiple times, thereby facilitating multiple centering fine-tuning.

[0058] Second implementation method:

[0059] Figure 1 、 Figure 4 、 Figure 5 and Figure 8 A high-precision positioning system for giant hull closure is shown. Based on the first embodiment, multiple plug-in blocks 15 are slidably connected to the conical block 12, and a plug-in hole 1104 for inserting the plug-in block 15 is opened in the conical hole 1101. A piston rod 16 is fixedly connected to the inside of the plug-in block 15. The piston rod 16 is slidably sleeved with a piston tube 18. The inner ends of the multiple piston tubes 18 are all connected to the same piston cylinder 19. The piston cylinder 19 is filled with hydraulic oil. A piston disk 20 is slidably connected to the piston cylinder 19. The piston disk 20 is fixedly connected to the movable end of an electric push rod 21. The fixed end of the electric push rod 21 is fixedly connected to the moving block 10.

[0060] The closing and positioning system further includes a locking module connected to the output end of the control module, and the output end of the locking module is connected to the electric push rod 21.

[0061] Specifically, after the closing is completed, the electric push rod 21 is started, and the piston disc 20 pushes the hydraulic oil in the piston cylinder 19 into the piston tube 18, thereby pushing the piston rod 16 to move outward. The piston rod 16 drives the plug-in block 15 to be inserted into the plug-in hole 1104 in the tapered hole 1101, locking the tapered block 12 and the fixed block 11, thereby improving the stability of the closing seam of adjacent segments during welding, reducing welding deformation, and further improving the positioning effect.

[0062] See also Figure 4 and Figure 5 The end of the plug-in block 15 away from the piston rod 16 is in the shape of a truncated cone, and the lower end of the piston rod 16 is fixedly connected to a disc portion 17 that is slidably connected to the inner wall of the piston tube 18.

[0063] Specifically, the frustum-shaped plug-in block 15 is easier to enter the plug-in hole 1104. When the fixed block 11 and the conical block 12 are misaligned, the plug-in block 15 is used to squeeze the fixed block 11 to cause its circumferential offset, thereby further improving the closing accuracy.

[0064] See also Figure 4 and Figure 5 The conical hole 1101 includes a frustum cavity 1102 and a cylindrical cavity 1103, the plug hole 1104 is opened on the inner wall of the cylindrical cavity 1103, and the conical block 12 includes a frustum portion 1201 abutting against the frustum cavity 1102 and a cylindrical portion 1202 abutting against the cylindrical cavity 1103.

[0065] Specifically, when the cylindrical portion 1202 contacts the cylindrical cavity 1103 , the tapered hole 1101 provides a guiding function for the tapered block 12 .

[0066] In view of current actual needs, the protection scope of the above-mentioned implementation mode adopted in this application is not limited to this. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the protection scope of the present invention.

Claims

1. A high-precision positioning system for large-scale ship hull closure, characterized in that: The invention comprises a positioning assembly (9) and a gantry crane (7); the positioning assembly (9) comprises a moving block (10) and a fixed block (11) arranged relatively to each other, the moving block (10) being fixedly connected to the moving segment (2), and the fixed block (11) being fixedly connected to the fixed segment (23); the moving block (10) is fixedly connected to a conical block (12) on one side facing the fixed block (11); the fixed block (11) is provided with a conical hole (1101) for inserting the conical block (12); a first infrared distance sensor (13) is fixedly connected to the inner wall of the front side of the conical block (12); and a plurality of second infrared distance sensors (14) distributed equidistantly around the circumference are fixedly connected to the inner wall of the conical block (12); The upper end of the movable segment (2) is fixedly connected to a plurality of evenly distributed lifting lugs (3); the gantry crane (7) comprises a movable frame with an electric drive roller and a plurality of movable cranes (6) slidably connected to the movable frame; a winding machine (5) is fixedly connected to the movable crane (6); and the winding machine (5) winds a steel rope (4) fixedly connected to the lifting lugs (3); The gantry crane (7) and the positioning assembly (9) are both connected to a control computer, and the control computer is equipped with a closing positioning system. The closing positioning system includes a control module, and the input end of the control module is respectively connected to a center alignment monitoring module, an installation height monitoring module, a centering monitoring module and a gap monitoring module. The input ends of the center alignment monitoring module, the installation height monitoring module and the centering monitoring module are all connected to a second infrared distance sensor (14), and the input end of the gap monitoring module is connected to a first infrared distance sensor (13); the output end of the control module is connected to an adjustment module, and the output end of the adjustment module is connected to the gantry crane (7).

2. A high-precision positioning system for large-scale ship hull closure according to claim 1, characterized in that: A plurality of plug-in blocks (15) are slidably connected in the conical block (12), and a plug-in hole (1104) for inserting the plug-in block (15) is provided in the conical hole (1101); a piston rod (16) is fixedly connected to the inner side of the plug-in block (15), and the piston rod (16) is slidably sleeved with a piston tube (18), and the inner ends of the plurality of piston tubes (18) are all communicated with the same piston cylinder (19), and the piston cylinder (19) is filled with hydraulic oil. A piston disc (20) is slidably connected in the piston cylinder (19), and the piston disc (20) is fixedly connected to the movable end of an electric push rod (21), and the fixed end of the electric push rod (21) is fixedly connected to the moving block (10); the closing positioning system also includes a locking module connected to the output end of the control module, and the output end of the locking module is connected to the electric push rod (21).

3. A high-precision positioning system for large-scale ship hull closure according to claim 1, characterized in that: The number of the positioning components (9) is three and they are fixed at the joints of adjacent sections in an inverted triangle shape.

4. A high-precision positioning system for large-scale ship hull closure according to claim 1, characterized in that: The lower end of the fixed segment (23) is in contact with a cart (8), and a hydraulic adjustment frame (22) is fixedly connected to the cart (8).

5. The high-precision positioning system for large-scale ship closure according to claim 1, characterized in that: The outer end surface of the movable block (10) facing the conical block (12) and the closed end surface of the movable segment (2) are located in the same vertical plane, and the outer end surface of the fixed block (11) facing the conical block (12) and the closed end surface of the fixed segment (23) are located in the same vertical plane; the movable block (10) is fixedly connected to the movable segment (2) by means of bolts, and the fixed block (11) is fixedly connected to the fixed segment (23) by means of bolts.

6. A high-precision positioning system for large-scale ship hull closure according to claim 2, characterized in that: The end of the plug-in block (15) away from the piston rod (16) is in the shape of a truncated cone, and the lower end of the piston rod (16) is fixedly connected to a disc portion (17) that is slidably connected to the inner wall of the piston tube (18).

7. The high-precision positioning system for large-scale ship hull closure according to claim 2, characterized in that: The conical hole (1101) includes a frustum cavity (1102) and a cylindrical cavity (1103), the plug hole (1104) is opened on the inner wall of the cylindrical cavity (1103), and the conical block (12) includes a frustum portion (1201) abutting against the frustum cavity (1102) and a cylindrical portion (1202) abutting against the cylindrical cavity (1103).

8. The high-precision positioning system for large-scale ship hull closure according to claim 1, characterized in that: When performing closing positioning, the following steps are included: Step 1, coarse positioning, includes the following sub-steps: A1, horizontal adjustment, hoisting the moving segment (2) as a whole by the steel rope (4) of the gantry crane (7), and controlling the four winding machines (5) to make the release length of the steel rope (4) the same, thereby making the moving segment (2) achieve a horizontal state; A2, center alignment adjustment, using two second infrared distance sensors (14) facing horizontally toward the inner wall of the dock (1) to measure the distances l1 and l2 between the plurality of positioning components (9) and the inner wall of the dock, and then controlling the plurality of mobile cranes (6) to move synchronously along the width direction of the dock so that l1=l2, thereby making the center line of the moving segment (2) coincide with the center line of the dock; A3, installation height adjustment, by detecting the real-time height h1 of the positioning assembly (9) from the bottom plate of the dock (1) through the second infrared distance sensor (14) facing the bottom plate of the dock (1), the installation height of the positioning assembly (9) is set to H1, and then the four winding machines (5) are controlled to rewind synchronously, so that the positioning assembly (9) moves to the set installation position, that is, h1 = H1; Step 2, pre-closing, first start the electric drive roller at the lower end of the moving frame, so that the gantry crane (7) drives the moving segment (2) to move toward the fixed segment (23), then start the first infrared distance sensor (13), and monitor the gap distance between the moving segment (2) and the fixed segment (23) in real time, and obtain the real-time gap distance s1. When the conical block (12) is inserted into the conical hole (1101) and the conical block (12) abuts against the inner wall of the conical hole (1101), s1 is greater than zero and less than half of the axial width of the conical block (12), and the electric drive roller at the lower end of the moving frame is closed; Step 3: fine-tuning, starting the second infrared distance sensor (14), the four second infrared distance sensors (14) measuring the vertical distances between the conical block (12) and the inner cavity of the conical hole (1101) are d1, d2, d3 and d4 respectively, and then starting the winding machine (5) of the gantry crane (7) so that d1=d2=d3=d4, that is, the conical block (12) is located in the center of the conical hole (1101); Step 4: Start the electric drive roller at the lower end of the movable frame for the second time, so that the conical block (12) is completely inserted into the conical hole (1101), completing the positioning and closing of the movable segment (2) and the fixed segment (23).

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