Adjustable clamping pressure and displacement combined rudder post rudder welding equipment

Abstract

The application discloses a combined rudder post rudder welding device capable of adjusting clamping pressure and displacement, relates to the ship assembling technical field and comprises a fixed truss and a base fixing pile for fixing a rudder post. A rudder post clamping assembly for clamping and adjusting the rudder post and two rudder blade clamping assemblies for clamping rudder blades are fixedly arranged on the fixed truss. Two rudder post clamping assemblies are connected through two moving adjusting assemblies fixedly arranged at two ends above the fixed truss horizontally. The rudder post clamping assembly comprises three clamping mechanical hands arranged at two ends of the fixed truss. The clamping mechanical hands are slidingly arranged on the moving adjusting assemblies and are arranged in the vertical direction in sequence from top to bottom.

Description

Technical Field

[0001] This invention relates to the field of ship assembly technology, and in particular to a combined rudder stock and rudder blade welding device with adjustable clamping pressure and displacement. Background Technology

[0002] In the shipbuilding industry, the rudder stock and rudder blade are critical pieces of equipment, and the rudder stock and rudder blade assembly welding unit is used to install and weld these components. The main function of the rudder stock and rudder blade assembly welding unit is to ensure the installation accuracy and welding quality of the rudder stock and rudder blade, which is crucial for the ship's maneuverability and safety.

[0003] Rudder stock and rudder blade assembly welding is the process of welding the rudder stock and rudder blade together. A common welding method is to directly open the bottom of the rudder stock to form a slot, then insert the rudder blade into the slot, adjust the position, and then weld the rudder stock and rudder blade together along the contact edge.

[0004] Traditional fixing methods directly fix the rudder stock and rudder blades, especially the rudder stock, which is usually fixed in the middle or at the part that doesn't contact the rudder blades. This leads to a problem: during welding, the contact area between the rudder stock and rudder blades is prone to wobbling. Therefore, it's necessary to fix both the contact area simultaneously. However, this presents another problem: directly pressing the welding area of ​​the rudder stock is difficult to control. On one hand, directly pressing the rudder stock will cause deformation of the groove at the welding point due to excessive force, resulting in unsatisfactory welding results. On the other hand, insufficient force will reduce the clamping force, causing relative displacement between the rudder stock and rudder blades, also resulting in suboptimal welding. Furthermore, during welding, the temperature of the area rises, causing softening, while the clamping force remains unchanged, leading to an unsatisfactory welding result.

[0005] To address this, we propose a combined rudder stock and rudder blade assembly and welding device with adjustable clamping pressure and displacement. Summary of the Invention

[0006] The purpose of this invention is to solve the problem of unsatisfactory welding results of rudder stock and rudder blade in the prior art, and to propose a combined rudder stock and rudder blade assembly and welding device with adjustable clamping pressure and displacement.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A combined rudder stock and rudder blade assembly and welding device with adjustable clamping pressure and displacement includes a fixed truss and a base fixing pile for fixing the rudder stock. The fixed truss is fixedly equipped with a rudder stock clamping assembly for clamping and adjusting the rudder stock and two rudder blade clamping assemblies for clamping the rudder blade. The two rudder stock clamping assemblies are respectively connected by two movable adjustment assemblies fixedly arranged at both ends of the fixed truss horizontally. The rudder stock clamping assembly includes three clamping manipulators arranged at both ends of the fixed truss. The clamping manipulators are slidably arranged on the movable adjustment assemblies and arranged sequentially from top to bottom along the vertical direction.

[0009] The rudder stock and rudder blade are fixed upside down during welding. The rudder stock clamping assembly and the base fixing pile are used to clamp the end of the rudder stock near the rudder blade and the end of the rudder stock away from the rudder blade, respectively. The clamping manipulator is used to clamp the end of the rudder stock located in the slot.

[0010] Preferably, the gripping manipulator includes a connecting block movably mounted on the moving adjustment assembly. A telescopic air cylinder a is fixedly connected to the connecting block. A mounting frame is fixedly mounted on the moving end of the telescopic air cylinder a. A telescopic air cylinder b with its moving end close to the rudder stick is fixedly mounted inside the mounting frame. A scissor structure is also fixedly mounted on the telescopic air cylinder b. The scissor structure includes a connecting block fixed to the moving end of the telescopic air cylinder b, a locking block that contacts the rudder stick and provides pressure, and a movable block for changing the stroke.

[0011] Preferably, the two movable adjustment components are symmetrically arranged, and the two rudder stick clamping components are also symmetrically arranged when clamping the rudder stick, with the plane of symmetry being the plane where the center plane of the rudder blade is located.

[0012] Preferably, a pressure sensor is fixedly installed at the output end of the telescopic air cylinder b;

[0013] The telescopic air cylinder b adjusts the pressure of each scissor structure on the rudder stock through a control mechanism. The initial pressure is denoted as p, and the adjusted pressure is denoted as Δp.

[0014]

[0015] Where t is time, e(t) is pressure error, Kp is proportional gain, the proportional control gain is used to control the direct proportional relationship between the output correction and the pressure error, and Ki is integral gain, Ki is used to control the integral control part to consider the accumulation of pressure error, eliminate steady-state error through integration, and accelerate the system response speed. Kd is the cumulative error, and Kd is the differential gain. The differential control part predicts the future pressure trend by measuring the rate of change of the pressure error and suppresses overshoot.

[0016] Preferably, the rudder blade clamping assembly includes a fixed beam fixedly mounted on a fixed truss. The fixed beam is provided with clamping plates a and b for clamping the rudder blade. Both clamping plates a and b are vertically arranged. Clamping plate a is fixedly mounted on the fixed beam by bolts. Clamping plate b is connected to a motor for driving the clamping plate b to move on the fixed beam via a lead screw at one end away from clamping plate a.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] This invention addresses the issue of inverted fixing of the rudder stock and rudder blade during welding. The rudder stock clamping assembly and base fixing stakes clamp the ends of the rudder stock closest to the rudder blade and furthest from the rudder blade, respectively. A clamping robot is used to clamp the end of the rudder stock located in the slot. Unlike typical pressing methods, the clamping robot first clamps the end of the rudder stock in the slot and then applies pressure pointing towards the rudder stock axis. This implementation offers the advantage of easily adjusting the pressure applied by the clamping robot. In actual operation, to maintain rudder stock stability, pressure exceeding the actual requirement is often used during clamping. However, for welding the rudder stock and rudder blade, the slot on the rudder stock can cause deformation at the point of pressure application due to excessive pressure. This results in overly close contact between the slot and the rudder blade at the point of pressure application, while other parts of the slot are raised, leading to decreased welding precision. Therefore, multiple gripping manipulators are used, and these manipulators work together to ensure that the rudder stock at the end of the slot is subjected to pressure from multiple points in the same direction during gripping. When the pressure on one point is too high and other points tend to lift up, the gripping manipulators will apply pressure to the point that tends to lift up or its adjacent area, thus curbing the tendency of that point to lift up. Regardless of the changes in the applied force, the relative position of the rudder stock slot and the rudder blade can tend to be stable when they come into contact. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a combined rudder stock and rudder blade welding device with adjustable clamping pressure and displacement proposed in this invention.

[0020] Figure 2 This is a schematic diagram of the base fixing pile structure of a combined rudder stock and rudder blade welding equipment with adjustable clamping pressure and displacement proposed in this invention.

[0021] Figure 3 This is a schematic diagram of the rudder blade clamping assembly and the moving adjustment assembly of a combined rudder post and rudder blade welding equipment with adjustable clamping pressure and displacement proposed in this invention.

[0022] Figure 4This invention proposes a combined rudder stock and rudder blade assembly and welding device with adjustable clamping pressure and displacement. Figure 3 Enlarged view at point B in the middle;

[0023] Figure 5 This is a schematic diagram of the fixed truss structure of a combined rudder stock and rudder blade assembly and welding equipment with adjustable clamping pressure and displacement proposed in this invention.

[0024] Figure 6 This invention proposes a combined rudder stock and rudder blade assembly and welding device with adjustable clamping pressure and displacement. Figure 5 Enlarged view of point A in the middle;

[0025] Figure 7 This is a schematic diagram of a combined rudder stock and rudder blade assembly of an adjustable clamping pressure and displacement rudder stock and rudder blade welding device proposed in this invention.

[0026] Figure 8 This is a schematic cross-sectional view of the rudder stock of a combined rudder stock and rudder blade welding device with adjustable clamping pressure and displacement proposed in this invention.

[0027] Figure 9 This invention presents a schematic diagram of the force applied during the welding of a combined rudder stock and rudder blade assembly and welding device with adjustable clamping pressure and displacement. Figure 1 ;

[0028] Figure 10 This invention presents a schematic diagram of the force applied during the welding of a combined rudder stock and rudder blade assembly and welding device with adjustable clamping pressure and displacement. Figure 2 .

[0029] In the picture:

[0030] 1. Fixed truss;

[0031] 2. Steering stick clamping assembly;

[0032] 3. Rudder blade clamping assembly; 31. Fixed beam; 32. Motor; 33. Clamping plate a; 34. Clamping plate b;

[0033] 4. Movable adjustment component;

[0034] 5. Clamping robot; 51. Connecting block; 52. Telescopic air cylinder a; 53. Mounting frame; 54. Telescopic air cylinder b; 55. Scissor structure; 56. Connecting block; 57. Clamping block; 58. Movable block;

[0035] 6. Base fixing stakes. Detailed Implementation

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0037] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] Reference Figure 1-2 A combined rudder stock and rudder blade welding device with adjustable clamping pressure and displacement includes a fixed truss 1 and a base fixing pile 6 for fixing the rudder stock. The base fixing pile 6 is located below the fixed truss 1 and is fixed. When the welding work starts, the rudder stock is directly inserted into the base fixing pile 6, and the base fixing pile 6 fixes the end of the rudder stock away from the rudder blade.

[0039] Reference Figure 1 , Figure 3 and Figure 4 Two rudder stick clamping assemblies 2 for clamping and adjusting the rudder stick and one rudder blade clamping assembly 3 for clamping the rudder blade are fixedly installed on the fixed truss 1. The two rudder stick clamping assemblies 2 are connected by two movable adjustment assemblies 4 fixedly installed at both ends of the fixed truss 1 horizontally. The rudder stick clamping assembly 2 includes three clamping manipulators 5 installed at both ends of the fixed truss 1. The clamping manipulators 5 are slidably mounted on the movable adjustment assemblies 4 and are arranged sequentially from top to bottom in the vertical direction. When welding the rudder stick and the rudder blade, the two need to be fitted together. The rudder blade needs to be inserted into the slot of the rudder stick and the rudder blade clamping assembly needs to be moved slowly. Component 3, the rudder blade clamping components 3 located on both sides of the rudder blade, move in a closed motion toward the rudder blade. Ideally, the rudder blade clamping components 3 on both sides of the rudder blade contact the two sides of the rudder blade and clamp the rudder blade. At the same time, when the rudder blade clamping components 3 move, the rudder rod clamping components 2 also start clamping. Multiple clamping manipulators 5 also contact the rudder rod. The multiple clamping manipulators 5 distributed on both sides of the rudder rod abut against the rudder rod. The part of the rudder rod at the slot is subjected to pressure from the multiple clamping manipulators 5. On the one hand, the position of the rudder rod is fixed. On the other hand, at the slot, because the rudder blade is embedded, the connection between the rudder blade and the rudder rod is also tighter.

[0040] Reference Figure 7 , Figure 8 and Figure 1During welding, the rudder stock and rudder blade are fixed upside down. The rudder stock clamping assembly 2 and the base fixing post 6 are used to clamp the end of the rudder stock near the rudder blade and the end of the rudder stock away from the rudder blade, respectively. The clamping robot 5 is used to clamp the end of the rudder stock located in the slot. Unlike the general pressing method, in this embodiment, the clamping robot 5 first clamps the end of the rudder stock located in the slot, and then applies pressure pointing towards the rudder stock axis. The advantage of this implementation is that it is easy to adjust the pressure of the clamping robot 5 on the rudder stock. In actual operation, in order to maintain the stability of the rudder stock, a pressure greater than actually needed is often used during the clamping process. However, for the welding of the rudder stock and rudder blade, because of the slot opened on the rudder stock,

[0041] Reference Figure 9 and Figure 10 During single-point pressure application, excessive pressure may cause deformation of the rudder stock at the pressure point. This results in excessively close contact between the rudder stock groove and the rudder blade at the pressure point, while other parts of the groove may be raised, thus reducing welding precision. Therefore, in this embodiment, multiple gripping robots 5 are used. These robots work together so that the end of the rudder stock located at the groove is subjected to pressure from multiple points in the same direction during gripping. When the pressure at one point is too high, and other points tend to rise, the gripping robots 5, which are also present, apply pressure to the point or its adjacent area, thus curbing the tendency to rise. Regardless of changes in the applied force, the relative position of the rudder stock groove and the rudder blade in contact tends to stabilize.

[0042] Reference Figure 3 and Figure 4The gripping manipulator 5 includes a connecting block 51 movably mounted on the moving adjustment assembly 4. A telescopic air cylinder a52 is fixedly connected to the connecting block 51. A mounting frame 53 is fixedly mounted on the moving end of the telescopic air cylinder a52. A telescopic air cylinder b54 with its moving end close to the rudder stick is fixedly mounted inside the mounting frame 53. A scissor structure 55 is also fixedly mounted on the telescopic air cylinder b54. The scissor structure 55 includes a connecting block 56 fixed to the moving end of the telescopic air cylinder b54, a locking block 57 that contacts the rudder stick and provides pressure, and a movable block 58 for changing the stroke. The gripping manipulator 5 grips the rudder stick mainly by the pressure of the scissor structure 55 on the rudder stick. First, when the clamping operation begins, the telescopic air cylinder a52 is activated and extends. The moving end of the telescopic air cylinder a52 drives the mounting frame 53, the telescopic air cylinder b54, and the scissor structure 55 to move together. The distance between the mounting frame 53, the telescopic air cylinder b54, and the scissor structure 55, which are at the same height at both ends, decreases until the scissor structure 55 contacts the rudder stock. When contact is made, the telescopic air cylinder b54 is activated. As the distance between the mounting frame 53 and the connecting block 56 increases, the included angle of the movable block 58 decreases, the length of the movable block 58 increases, and the included angle of the scissor structure 55 decreases. The scissor structure 55 clamps the rudder stock. The single scissor structure 55 changes from simply pressing against the rudder stock to pressing and clamping the rudder stock. Originally, multiple scissor structures 55 cooperated to clamp the rudder stock, but now each scissor structure 55 has a clamping function.

[0043] Reference Figure 1 The two movable adjustment components 4 are symmetrically arranged, and the two rudder stick clamping components 2 are also symmetrically arranged when clamping the rudder stick. The plane of symmetry is the plane at the center of the rudder blade.

[0044] A pressure sensor is fixedly installed at the output end of the telescopic air cylinder b54. The telescopic air cylinder b54 adjusts the pressure of each scissor structure 55 on the rudder stock through the control mechanism. The initial pressure is recorded as p, and the adjusted pressure is recorded as Δp.

[0045]

[0046] Where t is time, e(t) is pressure error, Kp is proportional gain, the proportional control gain is used to control the direct proportional relationship between the output correction and the pressure error, and Ki is integral gain, Ki is used to control the integral control part to consider the accumulation of pressure error, eliminate steady-state error through integration, and accelerate the system response speed. Kd is the cumulative error, and Kd is the differential gain. The differential control part predicts the future pressure trend and suppresses overshoot by measuring the rate of change of the pressure error.

[0047] The telescopic air cylinder b54 follows a regulation mechanism based on data feedback from a pressure sensor. The extension and retraction of the telescopic air cylinder b54 causes the scissor structure 55 to move, thus changing the distance between the scissor structure 55 and the rudder stock. When the scissor structure 55 and the rudder stock are in contact, the stress between them can be changed by altering the output power of the telescopic air cylinder b54. The optimal state for the rudder stock is to maintain a completely unchanged relative position with the rudder blade throughout the welding process. When the rudder blade remains stationary, the rudder stock should also remain stationary. This is because the temperature rise during welding causes a change in the hardness of the rudder stock. To prevent deformation of the rudder stock, a buffer zone is needed to prevent deformation. Therefore, Δp is set to ensure that the stress between the scissor structure 55 and the rudder stock remains constant during the welding process.

[0048] Furthermore, since the rudder stock tends to deform during the welding process, in most cases, this is to prevent the rudder stock from tilting up or from coming out of the clamp due to insufficient clamping force. In some cases, it is also necessary to prevent the rudder stock from retracting. In these cases, the clamping force applied to the inside of the rudder stock is not suitable for welding work. Therefore, this application is designed so that each scissor structure 55 has a clamping function for the rudder stock, and clamps it from the side of the groove. Whether the rudder stock retracts or tilts up, it can be stably clamped.

[0049] Reference Figure 1 , Figure 4 and Figure 5 The rudder blade clamping assembly 3 includes a fixed beam 31 fixedly mounted on a fixed truss 1. The fixed beam 31 is provided with clamping plates a33 and b34 for clamping the rudder blade. Both clamping plates a33 and b34 are vertically arranged. Clamping plate a33 is fixedly mounted on the fixed beam 31 by bolts. Clamping plate b34 is connected to a motor 32 via a screw rod at the end away from clamping plate a33. This motor 32 is used to drive clamping plate b34 to move on the fixed beam 31. By rotating the bolts, clamping plate a33 is moved, thereby adjusting the position of clamping plate a33. Under normal conditions, clamping plate a33 is in contact with the rudder blade, and the plane where clamping plate a33 is located is the position of the rudder blade. When the motor 32 is started, the motor drives clamping plate b34 to move until clamping plates a33 and b34 are respectively in contact with the two sides of the rudder blade, thus completing the fixation of the rudder blade.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A combined rudder stock and rudder blade assembly and welding device with adjustable clamping pressure and displacement, comprising a fixed truss (1) and a base fixing pile (6) for fixing the rudder stock, wherein two rudder stock clamping assemblies (2) for clamping and adjusting the rudder stock and a rudder blade clamping assembly (3) for clamping the rudder blade are fixedly arranged on the fixed truss (1), characterized in that, The two rudder stick clamping assemblies (2) are respectively connected by two movable adjustment assemblies (4) fixedly set at both ends of the fixed truss (1) horizontally. The rudder stick clamping assembly (2) includes three clamping manipulators (5) set at both ends of the fixed truss (1). The clamping manipulators (5) are slidably set on the movable adjustment assemblies (4) and arranged sequentially from top to bottom in the vertical direction. When the rudder and rudder blade are welded, the rudder and rudder blade are fixed upside down. The rudder clamping assembly (2) and the base fixing pile (6) are used to clamp the end of the rudder close to the rudder blade and the end of the rudder away from the rudder blade, respectively. The clamping manipulator (5) is used to clamp the end of the rudder located in the slot. The gripping manipulator (5) includes a connecting block (51) movably mounted on the moving adjustment assembly (4). A telescopic air cylinder a (52) is fixedly connected to the connecting block (51). A mounting bracket (53) is fixedly mounted on the moving end of the telescopic air cylinder a (52). A telescopic air cylinder b (54) with its moving end close to the rudder is fixedly mounted inside the mounting bracket (53). A scissor structure (55) is also fixedly mounted on the telescopic air cylinder b (54). The scissor structure (55) includes a connecting block (56) fixed to the moving end of the telescopic air cylinder b (54), a locking block (57) that contacts the rudder and provides pressure, and a movable block (58) for changing the stroke.

2. The combined rudder stock and rudder blade assembly and welding equipment with adjustable clamping pressure and displacement according to claim 1, characterized in that, The two movable adjustment components (4) are symmetrically arranged, and the two rudder stick clamping components (2) are also symmetrically arranged when clamping the rudder stick. The plane of symmetry is the plane where the center plane of the rudder blade is located.

3. The combined rudder stock and rudder blade assembly and welding equipment with adjustable clamping pressure and displacement according to claim 2, characterized in that, A pressure sensor is fixedly installed at the output end of the telescopic air cylinder b (54); The telescopic air cylinder b (54) adjusts the pressure of each scissor structure (55) for the rudder stock through the control mechanism. The initial pressure is recorded as p, and the adjusted pressure is recorded as Δp. Where t is time, e(t) is pressure error, Kp is proportional gain, the proportional control gain is used to control the direct proportional relationship between the output correction and the pressure error, and Ki is integral gain, Ki is used to control the integral control part to consider the accumulation of pressure error, eliminate steady-state error through integration, and accelerate the system response speed. Kd is the cumulative error, and Kd is the differential gain. The differential control part predicts the future pressure trend and suppresses overshoot by measuring the rate of change of the pressure error.

4. The combined rudder stock and rudder blade assembly and welding equipment with adjustable clamping pressure and displacement according to claim 1, characterized in that, The rudder blade clamping assembly (3) includes a fixed beam (31) fixedly mounted on a fixed truss (1). The fixed beam (31) is provided with a clamping plate a (33) and a clamping plate b (34) for clamping the rudder blade. The clamping plate a (33) and the clamping plate b (34) are both vertically mounted. The clamping plate a (33) is fixedly mounted on the fixed beam (31) by bolts. The clamping plate b (34) is connected to a motor (35) for driving the clamping plate b (34) to move on the fixed beam (31) by a screw rod at one end away from the clamping plate a (33).

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