Hoisting positioning method and system for ship movable ramp

Abstract

The invention provides a hoisting positioning method and system for a ship movable ramp. The hoisting positioning method comprises the steps that S1, three-dimensional actual measurement coordinates of a plurality of corresponding key points on the movable ramp and a ship body ramp opening are obtained; s2, based on the design model and the three-dimensional actual measurement coordinates, respectively constructing precision compensation models of the movable ramp and the ramp opening; s3, performing simulated assembly on the two precision compensation models in a virtual environment, iteratively adjusting the poses of the precision compensation models of the movable ramp according to a preset assembly tolerance, and calculating at least one group of positioning compensation parameters required for realizing final matching; s4, according to the positioning compensation parameters, prefabrication and installation of corresponding positioning accessories are completed before the movable ramp entity is hoisted, and / or a ramp opening is trimmed; and S5, the pretreated movable ramp is hoisted to a ramp opening, and one-time hoisting positioning is achieved. By adopting the technical scheme, the subsequent repeated trial assembly link can be eliminated, and the field operation time and human input are greatly reduced.

Description

Technical Field

[0001] This application belongs to the field of marine engineering technology, and in particular relates to a method and system for hoisting and positioning a ship's mobile ramp. Background Technology

[0002] In PCTC (Car Carrier Terminal) vessels, the retractable ramps connecting the various decks are crucial for ensuring vehicle passage. The deck hoisting and positioning process for PCTCs is complex, involving stringent requirements for sealing, functionality, and assembly clearance between the ramps and hull openings. Traditional hoisting and positioning methods heavily rely on the on-site experience and manual measurements of construction personnel, involving repeated trial hoists, shim fitting tests, and adjustments. This approach has numerous problems. For example, the matching quality between the ramps and openings is greatly affected by human factors, easily leading to positional deviations and difficulty in guaranteeing positioning accuracy. This can result in sealing failures, operational stagnation, or uneven load distribution, affecting not only functionality but also potentially causing safety hazards. Furthermore, the construction efficiency is low, costs are high, and the lengthy on-site commissioning cycle severely slows down the overall construction progress. Rework and repairs consume significant manpower and resources. Moreover, existing operating methods lack standardization and predictability, resulting in large fluctuations in work quality between different teams or projects, making it impossible to achieve stable batch construction.

[0003] Therefore, with the development of shipbuilding technology, higher requirements are placed on the construction accuracy and efficiency of PCTC ships, and there is an urgent need to improve the existing hoisting and positioning process to meet the needs of modern shipbuilding. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a method and system for hoisting and positioning a ship's movable ramp. This method can measure relevant data of the movable ramp and its opening using a total station, perform data simulation matching using computer software, calculate the thickness of the movable ramp's clamping plate, the thickness of the pin pad, the thickness of the high and low limit adjustment plate, the left and right margin of the ramp opening, and the installation position of the hinge eye plate, and pre-install key accessories of the movable ramp. This solves the problems of low hoisting and positioning accuracy, low efficiency, and great influence from human factors in the prior art, achieving high-precision and high-efficiency hoisting and positioning of the movable ramp, shortening the construction cycle, and reducing construction costs.

[0005] To achieve the above and other related objectives, in a first aspect, this application provides a method for hoisting and positioning a ship's mobile ramp, comprising the following steps:

[0006] S1: Obtain the three-dimensional measured coordinates of multiple corresponding key points on the openings of the activity ramp and the hull ramp;

[0007] S2: Based on the design model and the three-dimensional measured coordinates, construct accuracy compensation models for the active ramp and the ramp opening, respectively;

[0008] S3: Simulate the assembly of the two precision compensation models in a virtual environment, iteratively adjust the pose of the precision compensation model of the active ramp according to the preset assembly tolerance, and calculate at least one set of positioning compensation parameters required to achieve the final matching.

[0009] S4: Based on the positioning compensation parameters, before the physical hoisting of the movable ramp, complete the prefabrication and installation of the corresponding positioning accessories, and / or adjust the ramp opening;

[0010] S5: The pre-processed active ramp is hoisted to the ramp opening to achieve one-time hoisting and positioning.

[0011] In some implementations, the step of constructing the accuracy compensation model includes: importing the design three-dimensional model of the active ramp or ramp opening, and associating the imported three-dimensional measured coordinates and theoretical design coordinates of the corresponding key points to obtain its actual manufacturing deviation or installation deviation information.

[0012] In some embodiments, the positioning compensation parameters include the pad thickness parameter for constraining the vertical degree of freedom of the active ramp, the ramp opening trimming allowance parameter for constraining the horizontal degree of freedom, and the hinge installation position parameter for constraining the front-back degree of freedom.

[0013] In some embodiments, the pad thickness parameters include: the thickness of the clamping plate installed on the ramp opening for pressing the seal, the thickness of the pin pad for supporting the movable ramp, and the thickness of the high and low limit adjustment plate for adjusting the final height of the movable ramp.

[0014] In some embodiments, when calculating the thickness of the clamping plate, for installation locations with an angle θ relative to the horizontal plane, the thickness δ of the clamping plate is calculated according to the formula δ=ΔZ*cosθ based on the measured height deviation ΔZ between the movable ramp and the ramp opening at that location.

[0015] In some implementations, when calculating the thickness of the high and low limit adjustment plate, the height manufacturing negative tolerance value of the seal is further subtracted from the thickness value determined based on the simulated assembly.

[0016] In some implementations, the simulated assembly also includes an optimization and adjustment process: first, the height deviation between at least three reference points on the active ramp model and the corresponding points of the ramp opening is adjusted to zero; the residual deviation of the fourth point is calculated; and the residual deviation is distributed to the at least three reference points according to a preset rule so that the active ramp model and the ramp opening model achieve the best fit in the horizontal direction. Then, adjustments and parameter calculations are performed in other directions.

[0017] In some implementations, the key points include:

[0018] Deck edge point used to evaluate the matching degree between the active ramp and the ramp opening deck surface;

[0019] The seal installation location point used to evaluate the compression of the sealing assembly;

[0020] The installation points for load-bearing pins and high / low limit devices used to restrict the vertical freedom of the ramp.

[0021] The hinge mounting point used to restrict the forward and backward degrees of freedom of the active ramp.

[0022] In some embodiments, the preset assembly tolerances include: the height difference tolerance between the movable ramp and the ramp opening deck surface, the compression tolerance of the seal, and the lateral clearance tolerance between the ramp and the opening.

[0023] Secondly, this application provides a hoisting and positioning system for a ship's mobile ramp, comprising:

[0024] The measurement unit is used to measure the three-dimensional coordinates of key points on the active ramp and ramp opening.

[0025] The computing unit has built-in modeling software and simulation matching software, which are used to construct a precision compensation model based on the design model and the three-dimensional measured coordinates, and to calculate the simulation assembly and positioning compensation parameters.

[0026] The hoisting unit is used to hoist the movable ramp, which has completed the prefabrication and installation of accessories and the opening trimming, to the ramp opening and complete the positioning according to the calculated positioning compensation parameters.

[0027] The welding unit is used to weld and fix the positioned movable ramp accessories.

[0028] Compared with the prior art, the technical solution provided in this application has the following beneficial effects:

[0029] The hoisting and positioning method for ship ramps provided in this application can obtain actual three-dimensional data of the ramp and opening using a total station, and construct a precision compensation model. Virtual assembly and simulation adjustments are then performed in software, allowing for precise pre-calculation of all necessary adjustment shim thicknesses, bevel trimming amounts, and hinge positioning points. This guides the workshop in completing the precise prefabrication and installation of accessories before hoisting. In actual hoisting operations, the ramp can be hoisted and positioned in one go, eliminating the need for repeated trial assembly, repair, and adjustments. This directly reduces on-site operation time and manpower, lowers the costs and safety risks associated with repeated hoisting and welding adjustments, and ensures the ramp's sealing and smooth operation through digital means. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the measurement location of the 017 activity ramp provided in Example 1.

[0031] Figure 2 This is a schematic diagram of the measurement location of the 017 ramp opening provided in Example 1.

[0032] Figure 3 This is a schematic diagram of the simulated matching of the 017 activity ramp and the 017 ramp opening provided in Example 1.

[0033] Figure 4 This is a schematic diagram of the positioning and adjustment reference point for the 017 activity ramp provided in Example 1.

[0034] Figure 5 The diagram below shows the calculation of the non-horizontal clamping plate of the 017 active ramp provided in Example 1.

[0035] Figure 6 The diagram shows the structure of the 017 high and low limit and clamping device provided in Example 1.

[0036] Figure 7 The flowchart is provided for the method in Example 1.

[0037] Explanation of reference numerals in the attached figures:

[0038] 100. Movable ramp deck; 210. Ramp opening deck; 220. Pressure plate mounting base; 310. Rubber sealing strip; 320. Fireproof sealing strip; 330. Pressure plate; 410. High and low limit adjustment plate; 420. High and low limit adjustment plate mounting base; 430. High and low limit device; 500. Side sliding plate. Detailed Implementation

[0039] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0040] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] Example 1:

[0042] See Figures 1 to 7This embodiment provides a digital positioning method for hoisting a PCTC ship's movable ramp, which can be applied to the digital positioning of movable ramps on car carrier ships. This method calculates the thickness of the movable ramp's clamping plate, the thickness of the pin pad, the thickness of the height and low limit adjustment plate, the left and right margin of the ramp opening, and the installation position of the hinge eye plate through simulation matching analysis of the movable ramp and its opening. It can pre-install the movable ramp's clamping plate, pin pad, height and low limit adjustment plate, and hinge eye plate, and trim the left and right margin of the ramp opening, realizing one-time hoisting and positioning of the movable ramp, greatly improving the positioning efficiency of the movable ramp, shortening the construction cycle, and reducing construction costs.

[0043] The following section uses the digital positioning of the 017 mobile ramp as an example to describe in detail the hoisting and positioning method of the ship mobile ramp provided in this application.

[0044] S1: Obtain the three-dimensional measured coordinates of multiple corresponding key points on the openings of the activity ramp and the hull ramp.

[0045] In some implementations, key points include:

[0046] Deck edge point used to evaluate the matching degree between the active ramp and the ramp opening deck surface;

[0047] The seal installation location point used to evaluate the compression of the sealing assembly;

[0048] The installation points for load-bearing pins and high / low limit devices used to restrict the vertical freedom of the ramp.

[0049] Hinge mounting points used to restrict the forward and backward degrees of freedom of the active ramp;

[0050] For example, see Figure 1 and Figure 2 A high-precision total station was used to measure the completed 017 movable ramp and the 017 ramp opening on the hull. Key measurement points included: 1) For the movable ramp: measuring its deck edge opening (approximately 2000mm spacing), the upper center of the rubber sealing strip 310 (approximately 500mm spacing), the center point of the load-bearing pin (X, Z values), the front and rear center of the upper opening of the height and low limit device, the center of the double-ear plate, the center of the load-bearing pulley, and the horizontal point of the deck surface. 2) For the ramp opening: measuring its deck edge opening (approximately 500mm spacing), the 220 edge opening of the clamping plate installation position (approximately 500mm spacing), the pin pad installation position (X, Z values), the height and low limit device seat plate (X, Z values), and the mounting base position of the hinge eye plate.

[0051] The three-dimensional measured coordinates (X, Y, Z) of all key points were obtained through measurement.

[0052] S2: Based on the design model and three-dimensional measured coordinates, construct accuracy compensation models for the active ramp and the ramp opening, respectively.

[0053] In some implementations, the steps of constructing the accuracy compensation model include: importing the design 3D model of the active ramp or ramp opening, and associating the imported 3D measured coordinates and theoretical design coordinates of the corresponding key points to obtain information on their actual manufacturing deviations or installation deviations.

[0054] For example, on a computer, two independent accuracy compensation models are constructed using EcoBlock 3D accuracy management software. First, a new file, file 1, is created, importing the 3D design model of the 017 movable ramp; a new file, file 2, is created, importing the 3D design model of the 017 ramp opening. Then, the corresponding 3D measured coordinates and their theoretical design coordinates obtained in step S1 are correlated and imported into the respective models. Through comparative analysis, the software automatically determines the actual manufacturing accuracy of the 017 movable ramp, the pre-installation accuracy of the accessories, the actual mounting accuracy of the 017 ramp opening, and the positioning accuracy of the accessory installation base, thus forming a digital accuracy compensation model that can truly reflect the deviations of the physical entity.

[0055] S3: Simulate the assembly of two precision compensation models in a virtual environment. Based on the preset assembly tolerance, iteratively adjust the pose of the precision compensation model of the active ramp, and calculate at least one set of positioning compensation parameters required to achieve the final matching.

[0056] In some implementations, the preset assembly tolerances include: the height difference tolerance between the movable ramp and the ramp opening deck surface, the compression tolerance of the seal, and the lateral clearance tolerance between the ramp and the opening.

[0057] The positioning compensation parameters include the thickness parameters of the pads used to constrain the vertical freedom of the movable ramp, the trimming allowance parameters of the ramp opening used to constrain the horizontal freedom, and the hinge installation position parameters used to constrain the front-back freedom. The pad thickness parameters include: the thickness of the clamping plate installed on the ramp opening to press the seal, the thickness of the pin pad used to support the movable ramp, and the thickness of the height-limiting adjustment plate used to adjust the final height of the movable ramp.

[0058] In some embodiments, when calculating the thickness of the clamping plate, for installation locations with an angle θ relative to the horizontal plane, the thickness δ of the clamping plate is calculated according to the formula δ=ΔZ*cosθ, based on the measured height deviation ΔZ between the movable ramp and the ramp opening at that location. When calculating the thickness of the high / low limit adjustment plate, the negative tolerance value for the height of the sealing element is further subtracted from the thickness value determined based on the simulated assembly.

[0059] Furthermore, the simulation assembly also includes an optimization and adjustment process: first, adjust the height deviation between at least three reference points on the active ramp model and the corresponding points of the ramp opening to zero, calculate the residual deviation of the fourth point, and distribute the residual deviation to at least three reference points according to preset rules so that the active ramp model and the ramp opening model achieve the best fit in the horizontal direction, and then perform adjustments and parameter calculations in other directions.

[0060] For example, see Figure 3 On a computer, use EcoOTS outfitting simulation installation software to create a new matching project and import the active ramp accuracy compensation model and ramp opening accuracy compensation model generated in step S2 into it for simulation assembly analysis.

[0061] S31: Set process tolerance constraints, including: the height difference between the movable ramp deck 100 and the ramp opening deck 210 is designed to be ±10mm; the clamping plate is designed to be 8mm thick, with a minimum thickness of 3mm; the rubber sealing strip 310 is designed to have a compression amount of 15mm, with an allowable tolerance of ±6mm; the ramp opening is designed to have no allowance at the upper near center and a 10mm allowance at the far center in the left and right directions; the left and right clearance between the ramp and the opening deck is designed to be 20mm, with an upper tolerance of +10mm and a lower tolerance of 0mm; the hinge eye plate is installed on the base of the ramp opening and docks with the hull structure at the front and rear, and the clearance between the hinge eye plate and the base panel and the hull structure is required to be 0~2mm.

[0062] S32: Based on the above tolerances, adjust the positioning of the 017 activity ramp. See details below. Figure 4 .

[0063] The preferred adjustment is that the height deviation between the three reference points A, B, and C of the 017 activity ramp and the corresponding point of the 017 ramp opening is 0mm, i.e. =0, =0, =0, then check the height deviation between the fourth point D of the 017 activity ramp and the corresponding point of the 017 ramp opening. Then adjust = / 4, =-1* / 4, =-1* / 4, = / 4. After adjusting according to this rule, the four corners are fitted to the best state. Check the actual height deviation of all corresponding positions of the 017 movable ramp and the 017 ramp opening deck. If the deviation values ​​are all within ±10mm, the 017 ramp is leveled. If there is a slight deviation in some areas, make fine adjustments by moving and rotating according to the actual situation to ensure that all points meet the tolerance requirements. If local deformation makes it impossible to move and rotate through the movable ramp, make local cutting or fire correction.

[0064] After adjusting the height of the ramp, calculate the thickness of the clamping plate, height and low limit adjustment plate, and pin pad. For horizontal clamping plates, calculate according to the matching values. For non-horizontal clamping plates, calculate the thickness using the tilt angle θ. See details... Figure 5 The thickness of the non-horizontal clamping plate is δ = △Z * cosθ.

[0065] To ensure the smooth operation of the load-bearing pin, a 3mm negative tolerance is applied to the height of the fireproof strip. The thickness of the adjusting plate for the high and low limits is calculated based on this negative tolerance, i.e., the thickness is calculated by subtracting 3mm from the simulated value. The thickness of the pin pad is calculated based on the matching value. This ensures that the load-bearing pin can extend smoothly when the movable ramp is raised to its maximum height limit. After the lifting device slowly lowers the movable ramp, the load-bearing pin can rest on the pin pad, ensuring the height difference between the movable ramp and the ramp opening, and restoring the rubber compression from 5mm overpressure to the design compression. See details... Figure 6 .

[0066] The preferred adjustment is to set the lateral distance between the two reference points A and B of the 017 movable ramp and the corresponding measured points of the 017 ramp opening to 20mm. Then, check whether the lateral distance between the measured points of all deck edges near the center of the 017 movable ramp and the 017 ramp opening meets the tolerance requirement of 20+10 / 0mm. If it does not meet the requirement, perform a lateral movement or rotation. If it meets the requirement, calculate the lateral distance between the measured points of all deck edges at the far center to preliminarily determine the deck edge allowance of the 017 ramp opening at the far center. At the same time, check the deviation of the installation position of the double eye plate and the hinge eye plate. If the tolerance is not met, the 017 movable ramp needs to be moved or rotated to ensure that the installation tolerance of the hinge eye plate meets the design requirements. If the installation gap of the hinge eye plate meets the design tolerance requirements, the deck edge allowance of the 017 ramp opening is confirmed, and the installation position of the hinge eye plate is determined.

[0067] By adjusting the positioning of the 017 movable ramp, the thickness of the clamping plate, the pin pad, the height and low limit adjustment plate, the lateral allowance of the deck edge, and the installation position of the hinge eye plate were calculated. The height and low limit adjustment plate, the pin pad, and the clamping plate together restrict the vertical Z-degree of freedom of the movable ramp; the ramp opening trimming allowance restricts the lateral Y-degree of freedom; and the hinge eye plate restricts the longitudinal X-degree of freedom. These restrictions on the three degrees of freedom of the movable ramp determine its hoisting and positioning accuracy.

[0068] S4: Based on the positioning compensation parameters, before the actual hoisting of the movable ramp, complete the prefabrication and installation of the corresponding positioning accessories, and adjust the ramp opening.

[0069] For example, following the simulation and matching calculations in step three, the thickness of the 017 movable ramp clamping plate, the thickness of the pin pad, the thickness of the high and low limit adjustment plate, the left and right margin of the ramp opening, and the installation position of the hinge eye plate are calculated in advance. Before hoisting the 017 movable ramp, the ramp clamping plate, pin pad, high and low limit adjustment plate, and hinge eye plate are installed in advance, and the left and right margins of the ramp opening deck edge are trimmed. Then, the 017 movable ramp is hoisted and positioned. After positioning, the thickness of the left and right side slide plates is determined. After the 017 movable ramp is placed at the bottom, the thickness of the anti-wear pad is determined, and then the side slide plates and anti-wear pads are spot welded and installed.

[0070] S5: The pre-treated ramp is hoisted to the ramp opening to achieve one-time hoisting and positioning.

[0071] For example, using a hoisting unit, such as a crane, the 017 movable ramp, with the aforementioned accessories pre-installed, is lifted to the opening of the 017 ramp. Since the key positioning parameters have been pre-set, the ramp can be essentially hoisted and positioned in one go. Subsequently, based on the actual gap between the ramp and the lateral guide structure after positioning, the left and right side slide plates 500 are determined and installed. The movable ramp is lowered until the load-bearing pins are completely placed on the pin pads, and the anti-wear pads are determined and installed based on the bottom gap. Finally, welding equipment is used to weld and fix all installed accessories, such as the clamping plate, side slide plates 500, and anti-wear pads, and functional testing and inspection are performed.

[0072] Example 2:

[0073] This embodiment provides a hoisting and positioning system for a ship's mobile ramp, used to implement the hoisting and positioning method provided in Embodiment 1. The system specifically includes a measurement unit, a calculation unit, a hoisting unit, and a welding unit. The system provided in this embodiment is described below.

[0074] Measurement Unit: Specifically, this is a high-precision total station. This unit is responsible for performing step S1 in Example 1, and its hardware includes a distance measuring head, an angle encoder, a control panel, and a data storage / transmission interface. Its function is to accurately acquire the three-dimensional measured coordinates (X, Y, Z) of all key points on the active ramp and ramp opening. See also... Figure 1 and Figure 2 The operator uses the total station to perform non-contact scanning measurements on the ramps on the prefabrication site and the ramp openings on the hull sections, and transmits the collected coordinate data to the computing unit via a data cable or wireless network.

[0075] Computing Unit: The core consists of one or more high-performance industrial computer workstations, whose hardware includes multi-core processors, large-capacity memory, professional graphics cards, and data storage devices. This unit is equipped with and runs dedicated 3D precision management software, such as EcoBlock, and outfitting simulation and matching software, such as EcoOTS.

[0076] The function of this unit is to execute steps S2 and S3 of the method in Embodiment 1. Its workflow is as follows:

[0077] Data reception and processing: The computing unit receives three-dimensional measured coordinate data from the measurement unit through its network interface.

[0078] Accuracy Compensation Model Construction: Using EcoBlock software, load the design 3D model (such as CATIA or Tribon model file) of the movable ramp and ramp opening, and associate, compare and analyze the received measured coordinates with the theoretical design coordinates in the model to construct the accuracy compensation model of the movable ramp and the accuracy compensation model of the ramp opening, which reflect the actual manufacturing and installation deviations.

[0079] Simulation matching and parameter calculation: This involves using the EcoOTS software; see [link / reference]. Figure 3 The two precision compensation models mentioned above are imported into the same virtual assembly environment. Based on preset assembly tolerances, the software runs a built-in optimization algorithm to automatically and iteratively adjust the virtual pose of the active ramp model. Finally, the software calculates all the positioning compensation parameters required to achieve optimal matching, including pad thickness, trimming allowance, and hinge installation position, and generates a parameter report and a 3D visualization work instruction manual to guide construction.

[0080] Data output: The computing unit outputs the calculation results to the operation terminal through its display and network, and can send the instruction file to the subsequent execution unit.

[0081] Lifting unit: mainly includes shipyard gantry cranes or large crawler cranes and other lifting machinery, their supporting lifting tools, and the crane's central control system. The function of this unit is step S5 in the method of Embodiment 1.

[0082] The specific working method is as follows: Based on the positioning parameter report and work instructions issued by the calculation unit, the operator directs ground construction personnel to complete the prefabrication and installation of accessories such as clamping plates, pin pads, height and low limit adjustment plates, and hinge eye plates before hoisting, and to trim the ramp opening. Subsequently, the hoisting unit operator operates the crane to lift the pre-treated movable ramp to above the ramp opening. Based on the precise positioning coordinates and attitude data provided by the calculation unit, the operator fine-tunes the crane through the control system to achieve a one-time precise hoisting and positioning of the movable ramp, ensuring that its load-bearing pins are aligned with the pin pads and that the hinge eye plates are aligned with the base.

[0083] Welding Unit: Includes welding equipment such as manual arc welding machines, gas shielded welding machines, or automated welding robots. Its function is to perform final fixing and connection of the assembled accessories after they have been precisely positioned via the hoisting unit on the movable ramp.

[0084] Specifically, welders or welding robots perform continuous fillet or butt welding on the already spot-welded clamping plates, side slides, anti-wear pads, and other connecting parts according to process requirements. This ensures that all outfitting accessories form a strong metallurgical bond with the main hull structure, thereby completing the physical curing process of the entire positioning and installation.

[0085] In summary, compared with existing hoisting and positioning methods, the digital positioning method for the PCTC vessel's movable ramp provided in this application has the following advantages: By using a digital simulation matching method for the movable ramp and its opening, the thickness and installation position of key accessories of the movable ramp can be accurately calculated in advance. These key accessories can be accurately installed before the movable ramp is hoisted and positioned, ultimately achieving one-time hoisting and positioning of the movable ramp. After the movable ramp is hoisted and positioned, the thickness and installation position of other accessories can be quickly confirmed, thus improving the overall hoisting and positioning efficiency of the movable ramp. This method is characterized by intelligence, efficiency, convenience, and accuracy, thereby enhancing the company's construction level for car carriers.

[0086] Therefore, the technical solution provided in this application has high industrial application value because it effectively overcomes the various shortcomings of the prior art.

[0087] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for hoisting and positioning a ship's mobile ramp, characterized in that, Includes the following steps: S1: Obtain the three-dimensional measured coordinates of multiple corresponding key points on the openings of the activity ramp and the hull ramp; S2: Based on the design model and the three-dimensional measured coordinates, construct accuracy compensation models for the active ramp and the ramp opening, respectively; S3: Simulate the assembly of the two precision compensation models in a virtual environment, iteratively adjust the pose of the precision compensation model of the active ramp according to the preset assembly tolerance, and calculate at least one set of positioning compensation parameters required to achieve the final matching. S4: Based on the positioning compensation parameters, before the physical hoisting of the movable ramp, complete the prefabrication and installation of the corresponding positioning accessories, and / or adjust the ramp opening; S5: The pre-processed active ramp is hoisted to the ramp opening to achieve one-time hoisting and positioning.

2. The hoisting and positioning method for a ship's movable ramp according to claim 1, characterized in that, The steps for constructing the accuracy compensation model include: importing the design 3D model of the active ramp or ramp opening, and associating the imported 3D measured coordinates and theoretical design coordinates of the corresponding key points to obtain the actual manufacturing deviation or installation deviation information.

3. The hoisting and positioning method for a ship's movable ramp according to claim 1, characterized in that, The positioning compensation parameters include the pad thickness parameter for constraining the vertical degree of freedom of the active ramp, the ramp opening trimming allowance parameter for constraining the horizontal degree of freedom, and the hinge installation position parameter for constraining the front-back degree of freedom.

4. The hoisting and positioning method for a ship's movable ramp according to claim 3, characterized in that, The thickness parameters of the pads include: the thickness of the clamping plate installed on the ramp opening for pressing the seal, the thickness of the pin pad for supporting the movable ramp, and the thickness of the high and low limit adjustment plate for adjusting the final height of the movable ramp.

5. The hoisting and positioning method for a ship's movable ramp according to claim 4, characterized in that, When calculating the thickness of the clamping plate, for installation locations with an angle θ relative to the horizontal plane, the thickness δ of the clamping plate is calculated according to the formula δ=ΔZ*cosθ based on the measured height deviation ΔZ between the movable ramp and the ramp opening at that location.

6. The hoisting and positioning method for a ship's movable ramp according to claim 4 or 5, characterized in that, When calculating the thickness of the high and low limit adjustment plate, the negative tolerance value of the height of the sealing element is further subtracted from the thickness value determined based on the simulated assembly.

7. The hoisting and positioning method for a ship's movable ramp according to claim 1, characterized in that, The simulated assembly also includes an optimization and adjustment process: first, the height deviation between at least three reference points on the active ramp model and the corresponding points of the ramp opening is adjusted to zero; the residual deviation of the fourth point is calculated; and the residual deviation is distributed to the at least three reference points according to a preset rule so that the active ramp model and the ramp opening model achieve the best fit in the horizontal direction. Then, adjustments and parameter calculations are performed in other directions.

8. The hoisting and positioning method for a ship's movable ramp according to claim 1, characterized in that, The key points include: Deck edge point used to evaluate the matching degree between the active ramp and the ramp opening deck surface; The seal installation location point used to evaluate the compression of the sealing assembly; The installation points for load-bearing pins and high / low limit devices used to restrict the vertical freedom of the ramp. The hinge mounting point used to restrict the forward and backward degrees of freedom of the active ramp.

9. The hoisting and positioning method for a ship's movable ramp according to claim 1, characterized in that, The preset assembly tolerances include: the height difference tolerance between the movable ramp and the ramp opening deck surface, the compression tolerance of the seal, and the lateral clearance tolerance between the ramp and the opening.

10. A hoisting and positioning system for a ship ramp, used to implement the method according to any one of claims 1 to 9, characterized in that, include: The measurement unit is used to measure the three-dimensional coordinates of key points on the active ramp and ramp opening. The computing unit has built-in modeling software and simulation matching software, which are used to construct a precision compensation model based on the design model and the three-dimensional measured coordinates, and to calculate the simulation assembly and positioning compensation parameters. The hoisting unit is used to hoist the movable ramp, which has completed the prefabrication and installation of accessories and the opening trimming, to the ramp opening and complete the positioning according to the calculated positioning compensation parameters. The welding unit is used to weld and fix the positioned movable ramp accessories.

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