Flexible and convenient upper rudder carrier and upper rudder carrier processing equipment

Abstract

The invention relates to the technical field of marine parts, and discloses a flexible and convenient upper rudder bearing and upper rudder bearing machining equipment, the flexible and convenient upper rudder bearing comprises a rudder bearing shell, a plurality of evenly distributed through holes are formed in the upper portion of the rudder bearing shell, and a plurality of thrust blocks are fixedly installed on the periphery of the rudder bearing shell; the rudder bearing frame is arranged above the rudder bearing shell; the radial bearing is arranged on the inner wall of the rudder bearing shell, and a rudderstock is sleeved with the radial bearing during installation; the axial bearing is arranged between the rudder bearing shell and the rudder bearing frame; the framework oil seal is arranged at the bottom of the joint of the radial bearing and the rudder bearing shell; and the protective sleeve is installed on the outer side of the rudder bearing shell, a plurality of blind holes are formed in the top of the protective sleeve, and the through holes are used in cooperation with the blind holes. By means of the prefabrication mode, the upper rudder bearing has a complete assembly state when being delivered to a shipyard, the shipyard only needs to connect and fix the rudder bearing shell and the rudder bearing frame through common bolts, and the installation period of a rudder system is greatly shortened.

Description

Technical Field

[0001] This invention relates to the field of marine parts technology, and more specifically to a portable upper rudder bearing and upper rudder bearing processing equipment. Background Technology

[0002] The rudder bearing is a key component of a ship's rudder system, primarily used to support the rudder stock and ensure its normal operation. The upper rudder bearing, as an important part of the rudder bearing system, is typically installed at the upper part of the rudder stock, playing a crucial role in transmitting the torque generated by the hydrodynamic forces of the rudder blades and supporting the weight of the rudder stock.

[0003] Traditional upper rudder bearing structures are large in size and occupy a lot of space, which is not conducive to the optimization of ship cabin layout and makes it difficult to meet the requirements of compact design.

[0004] On the other hand, conventional upper rudder bearings require on-site boring at the shipyard before installation. On-site boring is limited by tooling and its precision is not as high as that of machine tool machining. This makes it very easy for bearings to wear unevenly, thus prolonging the installation cycle of the rudder system. Summary of the Invention

[0005] To overcome the aforementioned shortcomings of the prior art, this invention provides a portable upper rudder bearing and upper rudder bearing machining equipment. This addresses the problems of traditional upper rudder bearings having large structural dimensions, occupying a lot of space, which is not conducive to optimizing the layout of ship cabins and makes it difficult to meet the requirements of compact design. Furthermore, conventional upper rudder bearings require on-site boring at the shipyard before installation. On-site boring is limited by tooling, and the accuracy is not as high as that of machine tool machining. It is also prone to bearing wear, which prolongs the installation cycle of the rudder system.

[0006] The present invention provides the following technical solution: a portable upper rudder bearing, comprising a rudder bearing housing, with multiple evenly distributed through holes on the upper part of the rudder bearing housing, and multiple thrust blocks fixedly installed around it; a rudder bearing frame, disposed on the upper part of the rudder bearing housing; a radial bearing, disposed on the inner wall of the rudder bearing housing, which is sleeved on the rudder stock during installation; an axial bearing, disposed between the rudder bearing housing and the rudder bearing frame; a skeleton oil seal, disposed at the bottom of the connection between the radial bearing and the rudder bearing housing; and a protective sleeve, installed on the outer side of the rudder bearing housing, with multiple blind holes on the top of the protective sleeve, the through holes and blind holes being used in conjunction.

[0007] A portable upper rudder bearing processing device includes a frame for installing modules required for assembling the rudder bearing housing and protective sleeve; a housing bolt feeding module, located above the frame, for installing bolts into through holes on the rudder bearing housing; a protective sleeve feeding and positioning module, located on one side of the housing bolt feeding module, for feeding and positioning the protective sleeve; a housing shifting module, located above the housing bolt feeding module and the protective sleeve feeding and positioning module, for moving the rudder bearing housing above the protective sleeve; and a bolt installation module, located behind the protective sleeve feeding and positioning module, for tightening the bolts in the through holes.

[0008] As a further embodiment of the present invention, the housing bolt feeding module includes: a slide block, slidably mounted on the top of the frame, a rotating frame rotatably mounted on the top of the slide block, and a bracket welded to the outer circumference of the rotating frame; a servo motor, fixedly mounted on the top of the slide block, with a bevel gear keyed to the output shaft of the servo motor; a bevel gear ring, fixedly mounted on the outer circumference of the rotating frame and meshing with the bevel gear; a housing positioning mechanism, disposed on the slide block and the frame, for fixing the angle of the rudder bearing housing; and a bolt feeding mechanism, disposed on the frame, for moving the bolt into the through hole.

[0009] As a further embodiment of the present invention, the housing positioning mechanism includes: a lifting frame, which is slidably mounted on one side of the slide block, and a positioning pin is fixedly mounted on the side of the lifting frame near the rotating frame; a first spring, which is fixedly mounted between the lifting frame and the slide block, for pushing the lifting frame to move upward; and a lower pressure frame, which is fixedly mounted on the top of the frame, and cooperates with the lifting frame to release the angle fixation of the rudder bearing housing.

[0010] As a further embodiment of the present invention, the bolt feeding mechanism includes: a vibratory feeder, fixedly installed above the frame; a fixed frame, fixedly installed above the frame, with a cylinder fixedly installed on one side of the fixed frame, and a movable seat that slides on the fixed frame fixedly installed at the movable end of the cylinder, the front end of the movable seat having a thrust groove that cooperates with the discharge port of the vibratory feeder; a slide, slidably installed above the movable seat, with its top located in a guide groove opened on the fixed frame; and a guide pipe, fixedly installed at the bottom of the fixed frame for guiding the bolts.

[0011] As a further embodiment of the present invention, the protective sleeve loading and positioning module includes: a conveyor belt, fixedly installed on the frame for loading the protective sleeve; guide rods, fixedly installed on the frame and located on both sides of the conveyor belt, with connecting frames slidably installed on the two guide rods on the same side, and a positioning frame rotatably installed between the two connecting frames, one end of the positioning frame being fixed to a servo motor output shaft installed on the connecting frame; a second spring, fixedly installed between the guide rods and the connecting frame for pushing the connecting frame downward; a second hydraulic cylinder, fixedly installed at the bottom of the frame, with a top frame fixedly installed on the top of the second hydraulic cylinder, the top of the top frame passing through the frame and contacting the connecting frame; a protective sleeve rotation mechanism, disposed on the frame for driving the protective sleeve to rotate; and a protective sleeve positioning mechanism, disposed on the frame for positioning the protective sleeve.

[0012] As a further embodiment of the present invention, the protective sleeve rotation mechanism includes: a first hydraulic cylinder, fixedly installed at the bottom of the frame, a mounting bracket fixedly installed at the top of the first hydraulic cylinder, a servo motor fixedly installed on the inner wall of the top of the mounting bracket, and a turntable fixedly installed through the output shaft of the servo motor; and a rubber ring fixedly installed on the outer circumference of the turntable.

[0013] As a further embodiment of the present invention, the protective sleeve positioning mechanism includes: two baffles, both disposed on the frame and located within the conveyor belt, one baffle being fixedly installed and the other being movably installed; a fixed rod, fixedly installed at the bottom of the frame; a mounting base, slidably installed on the outer circumference of the fixed rod, the movably installed baffle being fixed to the mounting base; a first electric push rod, fixedly installed at the top of the frame, the movable end of the first electric push rod being fixed to the mounting base; and a distance sensor, fixedly installed inside the movably installed baffle.

[0014] As a further embodiment of the present invention, the bolt mounting module includes: a fixed base, which is fixedly installed on the top of the frame, a positioning seat is slidably installed on one side of the fixed base, an electric drill is fixedly installed on one side of the positioning seat, and a hexagonal sleeve is installed on the output shaft of the electric drill; and a second electric push rod, which is fixedly installed on one side of the fixed base, with its movable end fixed to the positioning seat.

[0015] As a further embodiment of the present invention, the housing displacement module includes: a dual-axis linear module, which is fixedly installed on the top of the frame, and an electric gripper is fixedly installed on the movable end of the dual-axis linear module.

[0016] The technical effects and advantages of this invention are as follows: 1. The present invention enables the upper rudder bearing to be in a complete assembly state when delivered to the shipyard through a prefabrication mode. The shipyard only needs to connect and fix the rudder bearing housing to the rudder bearing frame with ordinary bolts, which greatly shortens the rudder system installation cycle.

[0017] 2. This invention achieves automated switching between positioning and release through mechanical linkage, requiring no additional power source, and has a simple and reliable structure.

[0018] 3. This invention achieves full automation of bolt feeding through automatic sorting by the vibratory feeder and precise pushing by the pusher plate, avoiding posture deviations caused by manual intervention and ensuring the coaxiality of the bolt and the through hole.

[0019] 4. The present invention utilizes the precision positioning function of the dual-axis linear module, allowing the electric gripper to accurately place the rudder bearing housing at the predetermined assembly position of the protective sleeve. The clamping force remains constant during the transfer process, preventing collision damage between the rudder bearing housing and precision structures such as the thrust block.

[0020] 5. The present invention achieves non-destructive rotational positioning of the protective sleeve by combining the first hydraulic cylinder with the servo motor, thus meeting the assembly coaxiality requirements of the through hole and the blind hole. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the rudder bearing in this invention.

[0022] Figure 2 This is a schematic cross-sectional view of the rudder bearing in this invention.

[0023] Figure 3 This is a three-dimensional structural diagram of the processing equipment in this invention.

[0024] Figure 4 This is a schematic diagram of the housing bolt feeding module structure of the processing equipment in this invention.

[0025] Figure 5 For the present invention Figure 4 A schematic diagram of a localized explosion structure.

[0026] Figure 6 This is an enlarged schematic diagram of the bolt feeding mechanism of the processing equipment in this invention.

[0027] Figure 7 For the present invention Figure 6 A schematic diagram of a localized explosion structure.

[0028] Figure 8 This is an enlarged structural schematic diagram of the housing displacement module of the processing equipment in this invention.

[0029] Figure 9 This is an enlarged structural diagram of the protective sleeve loading and positioning module of the processing equipment in this invention.

[0030] Figure 10 The processing equipment in this invention Figure 9 A partial sectional view of the frame structure.

[0031] Figure 11 The processing equipment in this invention Figure 10 A magnified schematic diagram of the first hydraulic cylinder.

[0032] Figure 12 The processing equipment in this invention Figure 10 A magnified schematic diagram of the second hydraulic cylinder.

[0033] Figure 13 For the present invention Figure 12 A schematic diagram of the overall exploded structure.

[0034] Figure 14 This is an enlarged structural schematic diagram of the protective sleeve positioning mechanism of the processing equipment in this invention.

[0035] Figure 15 This is an enlarged structural diagram of the bolt mounting module of the processing equipment in this invention.

[0036] The attached diagram is labeled as follows: 1. Protective sleeve; 101. Blind hole; 2. Rudder bearing housing; 201. Through hole; 3. Rudder bearing frame; 4. Thrust block; 5. Axial bearing; 6. Radial bearing; 7. Skeleton oil seal; 8. Frame; 9. Shell bolt feeding module; 10. Shell shifting module; 11. Protective sleeve feeding and positioning module; 12. Bolt installation module; 901. Slide; 902. Servo motor; 903. Rotating frame; 904. Lowering frame; 905. Bevel gear; 906. Bevel gear ring; 907. Card holder; 908. Lifting frame; 909. Positioning pin; 910. First spring; 911. Vibratory feeder; 912. Fixed frame; 913. Cylinder; 914. Guide groove; 915. Slide; 916. Thrust groove; 917. Moving seat; 918. Guide tube; 1001. Dual-axis linear module; 1002. Electric gripper; 1101. Conveyor belt; 1102. Guide rod; 1103. Connecting frame; 1104. Fixing rod; 1105. First hydraulic cylinder; 1106. Second hydraulic cylinder; 1107. Mounting bracket; 1108. Servo motor; 1109. Turntable; 1110. Rubber ring; 1111. Top frame; 1112. Second spring; 1113. Positioning frame; 1114. Servo motor; 1115. Mounting base; 1116. First electric push rod; 1117. Stop frame; 1118. Distance sensor; 1201, Fixed base; 1202, Electric drill; 1203, Hexagonal socket; 1204, Second electric push rod; 1205, Positioning base. Detailed Implementation

[0037] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Reference Figures 1-2 The present invention provides a portable upper rudder bearing, which is composed of a rudder bearing housing 2, a rudder bearing frame 3, a radial bearing 6, an axial bearing 5, a skeleton oil seal 7, a protective sleeve 1, etc., as detailed below: The rudder bearing housing 2 has multiple evenly distributed through holes 201 on its upper part, and multiple thrust blocks 4 are fixedly installed around it. The thrust blocks 4 are arranged in a ring array to bear the radial load transmitted by the rudder stock and limit its lateral displacement.

[0039] The axial bearing 5 is located between the rudder bearing housing 2 and the rudder bearing frame 3. It supports the weight of the ship's rudder stock, rudder handle and rudder blade. The weight is transferred through the rudder bearing housing 2 to the rudder stock protective sleeve 1 and then to the hull structure. The rudder bearing frame 3 and the axial bearing 5 are in contact with each other and immersed in clean grease. During rudder turning, relative sliding occurs between the rudder bearing frame 3 and the axial bearing 5. A very thin lubricating film is formed on the mating surface of the rudder bearing frame 3 and the axial bearing 5 to lubricate the friction pair and reduce friction and wear. The radial bearing 6 is installed on the inner wall of the rudder bearing housing 2. During installation, the radial bearing 6 is sleeved on the rudder stock to withstand the lateral force generated by the water pressure on the rudder blade when the ship turns the rudder. The gap between the radial bearing 6 bushing and the rudder stock is filled with grease through the oil cup or lubrication line. During the turning operation, the rudder stock and the bushing slide relative to each other. The lubricating grease in the gap between the bushing and the rudder stock can lubricate the friction pair and reduce friction and wear. The lateral force generated by the water pressure on the rudder blade when turning the rudder is transmitted to the rudder bearing housing 2 through the bushing and then to the hull through the rudder stock protective sleeve 1. like Figure 2 As shown, the skeleton oil seal 7 is located at the bottom of the connection between the radial bearing 6 and the rudder bearing housing 2. It is used to prevent oily waste from flowing out of the ship along the rudder stock and to prevent waves from splashing into the cabin when the ship is fully loaded. It is also used to prevent water from the outside of the ship from flowing into the cabin along the rudder stock.

[0040] The rudder bearing housing 2 and the rudder stock protective sleeve 1 are connected by ordinary bolts.

[0041] The top of the protective sleeve 1 has multiple blind holes 101, and the through holes 201 are used in conjunction with the blind holes 101. The diameter of the through holes 201 is the same as the diameter of the bolts used to assemble the rudder bearing housing 2 and the protective sleeve 1.

[0042] The upper rudder bearing is small in size, light in weight, has a long service life, high interchangeability, and is simple and easy to install. For conventional rudder stock with a small upper diameter and a large lower diameter, the installation method is no different from that of ordinary rudder bearings. It is only necessary to fit the rudder bearing housing 2 from the upper part of the rudder stock all the way into the rudder stock protective sleeve 1, which reduces the space of the rudder gear compartment and is suitable for the installation of rudder stocks of various shapes.

[0043] Both axial bearing 5 and radial bearing 6 are made of self-lubricating polymer materials, such as polytetrafluoroethylene composite material or ultra-high molecular weight polyethylene. These bearings work better with the addition of grease, but can also be used normally without the addition of additional lubricant. This is mainly because the solid lubricant is embedded in the polymer material, thereby achieving a self-lubricating effect. At the same time, it also reduces the friction and wear of the bearing, thereby extending the service life of the bearing and saving time and cost for repairing the rudder stock seal.

[0044] The axial bearing 5 and radial bearing 6 of this upper rudder bearing adopt the same size specifications as the same rudder stock diameter in the ship standard CB / T3282-2001. Therefore, the axial bearing 5 and radial bearing 6 of these two types of upper rudder bearings can be interchanged, which provides convenience for rudder bearing maintenance, saves the time of the ship entering the Urumqi for maintenance, and reduces maintenance costs.

[0045] During the production of the aforementioned upper rudder bearing, the individual parts can be processed in advance. Once the precision of each part has been inspected and approved, pre-assembly and debugging can be carried out. Since key components such as the rudder bearing housing 2, rudder bearing frame 3, and thrust block 4 are all precision machined by machine tools, their dimensional tolerances and geometric tolerances can be strictly controlled, completely eliminating the dependence of traditional on-site boring on tooling precision. During the pre-assembly process, technicians can simulate actual working conditions to test the fit clearance between the axial bearing 5 and the radial bearing 6 to ensure the stability of the lubricating film formation; at the same time, pressure tests are conducted on the sealing performance of the skeleton oil seal 7 to verify its barrier effect under different sea conditions.

[0046] The prefabrication method ensures that the upper rudder bearing is in a complete assembly state when delivered to the shipyard. The shipyard only needs to connect and fix the rudder bearing housing 2 to the rudder bearing frame 3 with ordinary bolts, which greatly shortens the rudder system installation cycle.

[0047] For subsequent maintenance, when the axial bearing 5 or radial bearing 6 reaches its service life limit, maintenance personnel can directly select spare parts that conform to the CB / T3282-2001 standard for replacement without re-measurement or custom processing, which significantly improves the operation and maintenance efficiency throughout the ship's entire life cycle.

[0048] Typically, the rudder bearing housing 2 and the protective sleeve 1 are machined as a single unit before leaving the factory. Therefore, an upper rudder bearing processing device is provided, mainly composed of a frame 8, a housing bolt feeding module 9, a protective sleeve feeding and positioning module 11, a housing displacement module 10, and a bolt installation module 12. The housing bolt feeding module 9, the protective sleeve feeding and positioning module 11, the housing displacement module 10, and the bolt installation module 12 are all installed on the frame 8, as shown in the reference. Figures 3-15 The specific structure is as follows: like Figures 4-7 As shown, the housing bolt feeding module 9 is used to install bolts into the through hole 201 on the rudder bearing housing 2. It mainly consists of a slide 901, a servo motor 902, a housing positioning mechanism, and a bolt feeding mechanism. The specific mechanism is as follows: The slide block 901 is slidably mounted on the top of the frame 8 via the guide rail and the ball screw module. The top of the slide block 901 is rotatably mounted with a rotating frame 903. A clamp 907 is welded to the outer circumference of the rotating frame 903, which can put the rudder bearing housing 2 into the rotating frame 903. At this time, the clamp 907 is located between the thrust blocks 4, thereby limiting the angle of the rudder bearing housing 2. The servo motor 902 is fixedly installed above the slide 901. The output shaft of the servo motor 902 is keyed to a bevel gear 905. A bevel gear ring 906 is fixedly installed on the outer circumference of the rotating frame 903 and meshes with the bevel gear 905. The servo motor 902 drives the bevel gear 905 to rotate, thereby driving the bevel gear ring 906 to rotate synchronously with the rotating frame 903, realizing the indexing and positioning of the rudder bearing housing 2, and ensuring that the through hole 201 is accurately connected to the subsequent bolt loading.

[0049] The housing positioning mechanism is mounted on the slide 901 and the frame 8, and is used to fix the angle of the rudder bearing housing 2, as shown in the reference. Figure 5 It mainly consists of a lifting frame 908, a first spring 910, and a lower pressure frame 904, as detailed below: The lifting frame 908 is slidably installed on one side of the slide block 901. A positioning pin 909 is fixedly installed on the side of the lifting frame 908 near the rotating frame 903. When the rudder bearing housing 2 is installed, the positioning pin 909 is inserted into the through hole 201 to position the through hole 201 on the rudder bearing housing 2, ensuring that the initial position of the through hole 201 is aligned with the bolt cutting position. The bottom of the lifting frame 908 is elastically connected to the slide 901 by a first spring 910. The first spring 910 always applies an upward thrust to the lifting frame 908, so that the positioning pin 909 tends to be inserted into the through hole 201, thereby ensuring that the rudder bearing housing 2 will not rotate during horizontal movement. The lower pressure frame 904 is fixedly installed on the top of the frame 8. When the slide block 901 drives the rudder bearing housing 2 to move along the guide rail to the lower pressure frame 904, the inclined surface of the lower pressure frame 904 contacts the rollers on both sides of the lifting frame 908, forcing the lifting frame 908 to move downward against the elastic force of the first spring 910. The positioning pin 909 then disengages from the through hole 201, releasing the angle lock on the rudder bearing housing 2. At this time, the servo motor 902 can drive the rotating frame 903 to perform indexing rotation, turning the next set of through holes 201 to the working position. The positioning and release are automatically switched through mechanical linkage, requiring no additional power source, and the structure is simple and reliable.

[0050] Furthermore, a bolt feeding mechanism is installed on the frame 8 to transfer bolts into the through hole 201, as shown in the reference. Figure 6 and Figure 7 It mainly consists of a vibratory feeder 911, a fixed frame 912, a slide 915, and a guide tube 918, as detailed below: Vibratory feeder 911 is fixedly installed above the frame 8. The bolts are arranged and oriented to convey the material to the outlet. Vibratory feeder 911 is existing technology. The model can be selected according to actual needs. Its structure and principle can be learned by those skilled in the art through technical manuals, and will not be described in detail here. The fixed frame 912 is welded to the top of the frame 8. A cylinder 913 is fixedly installed on the side of the fixed frame 912. A movable seat 917 is fixedly connected to the piston rod end of the cylinder 913. The movable seat 917 is slidably engaged with the fixed frame 912. A thrust groove 916 is opened at the front end of the movable seat 917. The thrust groove 916 is engaged with the discharge port of the vibrating plate 911. A single bolt of the discharge port of the vibrating plate 911 will be pushed into the thrust groove 916. Cylinder 913 is a power actuator that converts the pressure energy of compressed air into mechanical energy. In conjunction with a magnetic switch, proximity switch or photoelectric switch, it can achieve precise control of the extension and retraction displacement of the cylinder piston rod. The specific operating principle will not be elaborated here.

[0051] The slide 915 is slidably mounted above the movable seat 917 via a linear guide rail, and its top is located in the guide groove 914 opened on the fixed frame 912. When the bolt is discharged from the discharge port of the vibrating plate 911, the bolt will be caught by the slot at the front end of the slide 915. When the cylinder 913 drives the moving seat 917 to move, the slide 915 slides on the moving seat 917 under the action of the guide groove 914. At this time, the bolt will be driven by the moving seat 917 to move to the feed tube 918. At the same time, the bolt will be blocked by the thrust groove 916, disengage from the slide 915, enter the feed tube 918, and slide out from the feed tube 918. The guide tube 918 is fixedly installed at the bottom of the fixed frame 912. Its inlet end is aligned with the pushing trajectory of the moving seat 917, and its outlet end faces the through hole 201 of the rudder bearing housing 2. The guide tube 918 is provided with a guide groove to ensure that the bolts maintain an upward head posture during the transfer process.

[0052] When the bolt is pushed to the outlet end of the feed tube 918, the bolt falls into the through hole 201 under its own weight, completing a single feeding action.

[0053] The automatic sorting by the vibratory feeder 911 and the precise pushing by the guide groove 914 achieve full automation of bolt feeding, avoiding posture deviations caused by manual intervention and ensuring the coaxiality of the bolts and through holes 201.

[0054] The housing shifting module 10 is positioned above the housing bolt feeding module 9 and the protective sleeve feeding and positioning module 11, and is used to move the rudder bearing housing 2 above the protective sleeve 1, such as... Figure 8 As shown, it mainly consists of a dual-axis linear module 1001 and an electric gripper 1002, as detailed below: The dual-axis linear module 1001 is fixedly installed on the top of the frame 8, and the electric gripper 1002 is fixedly installed on the movable end of the dual-axis linear module 1001.

[0055] When it is necessary to move the rudder bearing housing 2 above the protective sleeve 1, the dual-axis linear module 1001 drives the electric gripper 1002 to move directly above the rotating frame 903. The gripping arm of the electric gripper 1002 retracts and descends to grip the rudder bearing housing 2 from the inner wall. After the gripping is completed, the dual-axis linear module 1001 drives the electric gripper 1002 to move along the Z-axis, causing the rudder bearing housing 2 to separate from the rotating frame 903, and performs a compound motion with the X-axis to smoothly move the rudder bearing housing 2 above the protective sleeve loading and positioning module 11.

[0056] Through the precise positioning function of the dual-axis linear module 1001, the electric gripper 1002 can accurately place the rudder bearing housing 2 into the predetermined assembly position of the protective sleeve 1. The clamping force is constant during the transfer process, avoiding collision damage between the rudder bearing housing 2 and precision structures such as the thrust block 4.

[0057] In addition, the dual-axis linear module 1001 and the electric gripper 1002 are both existing technologies. Their motion control accuracy can reach ±0.05mm, and their repeatability accuracy meets the assembly coaxiality requirements of the rudder bearing housing 2 and the protective sleeve 1. The specific model selection can be adapted according to the rudder bearing specifications. The details of their internal structure will not be elaborated here.

[0058] Specifically, the protective sleeve feeding and positioning module 11 is located on one side of the housing bolt feeding module 9, and is used for feeding and positioning the protective sleeve 1, such as... Figures 9-14As shown, it mainly consists of a conveyor belt 1101, a guide rod 1102, a second spring 1112, a second hydraulic cylinder 1106, a protective sleeve rotation mechanism, and a protective sleeve positioning mechanism, as detailed below: The conveyor belt 1101 is fixedly installed on the frame 8 and is used for feeding the protective sleeve 1. The protective sleeve 1 enters the conveyor belt 1101 from the external assembly line and is transported to the bolt mounting module 12. Guide rods 1102 are fixedly installed on the frame 8 and located on both sides of the conveyor belt 1101. Connecting frames 1103 are slidably installed on the two guide rods 1102 on the same side. A positioning frame 1113 is rotatably installed between the two connecting frames 1103. One end of the positioning frame 1113 is fixed to the output shaft of the servo motor 1114 installed on the connecting frame 1103. The second hydraulic cylinder 1106 is fixedly installed at the bottom of the frame 8. The top of the second hydraulic cylinder 1106 is fixedly installed with a top frame 1111. The top of the top frame 1111 passes through the frame 8 and contacts the connecting frame 1103. After the protective sleeve 1 is conveyed from the conveyor belt 1101 to the bolt mounting module 12, the connecting frame 1103 is lifted by the extended second hydraulic cylinder 1106, which drives the top frame 1111 to rise, so that the protective sleeve 1 can be conveyed to the bolt mounting module 12, at which point it will be blocked by the protective sleeve positioning mechanism. The second hydraulic cylinder 1106 retracts, causing the top frame 1111 to disengage from the connecting frame 1103. The protective sleeve 1 falls back under its own weight and rotates through the protective sleeve rotation mechanism, thereby causing the positioning frame 1113 to engage in the blind hole 101 at the top of the protective sleeve 1 and position the angle of the protective sleeve 1.

[0059] The second spring 1112 is fixedly installed between the guide rod 1102 and the connecting frame 1103 to push the connecting frame 1103 to move downward. When the second hydraulic cylinder 1106 is fully retracted, the connecting frame 1103 is stably positioned at a low position under the elastic force of the second spring 1112. At this time, the end of the positioning frame 1113 is embedded in the blind hole 101 to form a reliable circumferential constraint and prevent the protective sleeve 1 from rotating and shifting.

[0060] The protective sleeve rotation mechanism is mounted on the frame 8 and is used to drive the protective sleeve 1 to rotate circumferentially. (Refer to...) Figure 10 and Figure 11 It mainly consists of a first hydraulic cylinder 1105 and a rubber ring 1110, as detailed below: The first hydraulic cylinder 1105 is fixedly installed at the bottom of the frame 8. The top of the first hydraulic cylinder 1105 is fixedly installed with a mounting bracket 1107. The top inner wall of the mounting bracket 1107 is fixedly installed with a servo motor 1108. The output shaft of the servo motor 1108 passes through the mounting bracket 1107 and is fixedly installed with a turntable 1109. When it is necessary to rotate the protective sleeve 1, the first hydraulic cylinder 1105 extends, so that the turntable 1109 is inserted into the protective sleeve 1, thereby driving the protective sleeve 1 to rotate. The rubber ring 1110 is embedded on the outer circumference of the turntable 1109 and forms an interference fit with the inner wall of the protective sleeve 1. When the servo motor 1108 drives the turntable 1109 to rotate, the friction generated by the rubber ring 1110 is sufficient to drive the protective sleeve 1 to rotate synchronously, while avoiding scratches on the inner wall of the protective sleeve 1. When the end of the positioning frame 1113 is aligned with the blind hole 101, the servo motor 1108 stops running, completing the angle adjustment process.

[0061] By combining the first hydraulic cylinder 1105 with the servo motor 1108, the protective sleeve 1 is positioned without damage, thus meeting the coaxiality requirements for the assembly of the through hole 201 and the blind hole 101.

[0062] In addition, the first hydraulic cylinder 1105 and the second hydraulic cylinder 1106 are both actuators in the hydraulic system. They work in conjunction with magnetic switches, proximity switches or photoelectric switches to achieve precise control of the extension and retraction displacement of the hydraulic cylinder piston rod. Those skilled in the art can set them according to actual needs, which will not be elaborated here.

[0063] Furthermore, a protective sleeve positioning mechanism is installed on the frame 8 to position the protective sleeve 1, for reference. Figure 14 It mainly consists of two baffles 1117, a fixing rod 1104, a first electric push rod 1116, and a distance sensor 1118 (model: VL53L0X), as detailed below: Both baffles 1117 are mounted on the frame 8 and located inside the conveyor belt 1101. One of the baffles 1117 is fixedly installed and used to block and limit the material unloading when the rudder bearing housing 2 and the protective sleeve 1 are assembled. Another stop 1117 is movably installed. The side wall of the movably installed stop 1117 is fixedly installed with a mounting base 1115. The mounting base 1115 slides on the fixed rod 1104. At the same time, the fixed rod 1104 is fixedly installed on the frame 8. The first electric push rod 1116 is fixedly installed between the frame 8 and the mounting base 1115, and is used to drive the movable stop 1117 to move axially along the fixed rod 1104. The distance sensor 1118 is fixedly installed on the inner wall of the fixed bracket 1117 to detect the position status of the protective sleeve 1 in real time. When the protective sleeve 1 moves to the predetermined position with the conveyor belt 1101 and triggers the distance sensor 1118, the conveyor belt 1101 stops running.

[0064] When it is necessary to clear the assembled protective sleeve 1, the first electric push rod 1116 drives the movable baffle 1117 to move along the fixed rod 1104, thereby releasing the baffle 1117 from blocking the protective sleeve 1, so that the assembled protective sleeve 1 and the rudder bearing housing 2 can be smoothly unloaded to the subsequent work station.

[0065] Through real-time feedback from the distance sensor 1118 and precise drive from the first electric push rod 1116, the automatic positioning detection and flexible avoidance of the protective sleeve 1 are achieved, ensuring seamless connection between assembly rhythm and logistics transportation.

[0066] Specifically, the bolt mounting module 12 is located behind the protective sleeve feeding and positioning module 11 and is used to fasten the bolts in the through hole 201, as shown in the figure. Figure 15 It mainly consists of a fixed base 1201, a second electric push rod 1204, etc., as detailed below: The fixed base 1201 is fixedly installed on the top of the frame 8. The positioning base 1205 is slidably installed on one side of the fixed base 1201. The electric drill 1202 is fixedly installed on one side of the positioning base 1205. The output shaft of the electric drill 1202 is equipped with a hexagonal sleeve 1203. The second electric push rod 1204 is fixedly installed on one side of the fixed base 1201, and its movable end is fixed to the positioning base 1205. When the bolt needs to be tightened, the second electric push rod 1204 extends, driving the positioning seat 1205 to slide downward along the fixed seat 1201, so that the hexagonal sleeve 1203 at the front end of the electric drill 1202 is fitted into the bolt head. At this time, the electric drill 1202 starts and drives the hexagonal sleeve 1203 to rotate, screwing the bolt into the blind hole 101 (this is pre-tightening). Once the bolt is tightened, the electric drill 1202 stops operating, the second electric push rod 1204 retracts, driving the positioning seat 1205 to reset, and the hexagonal sleeve 1203 disengages from the bolt head, completing a single pre-tightening action.

[0067] After all the bolts in the through holes 201 have been pre-tightened, repeat the above action for a second tightening (this is the final tightening, and the tightening force is the preset torque). The protective sleeve 1 and the rudder bearing housing 2 form a complete assembly. At this time, the first electric push rod 1116 drives the movable stop 1117 to move downward, releasing the axial limit on the assembly. The conveyor belt 1101 restarts and transports the assembly to the next station. In addition, the hexagonal sleeve 1203 may be equipped with a magnetic structure inside, which can form an attractive force when it is fitted onto the bolt head, preventing the bolt from falling off or deviating during the screwing process and ensuring the stability of the tightening process; at the same time, it may also be equipped with a laser vision sensor (model Keyence IV series or Cognex In-Sight7000 series) to monitor the deviation between the bolt head position and the hexagonal sleeve 1203 in real time, and adjust the angle of the hexagonal sleeve 1203 in real time to ensure that the hexagonal sleeve 1203 can fit onto the bolt head.

[0068] It should be noted that the algorithms and software used by the laser vision sensor to identify the position of the bolt head can be obtained through technical manuals or existing technologies and can be purchased according to actual needs. This embodiment will not elaborate further.

[0069] The linear drive of the second electric push rod 1204, in conjunction with the rotary tightening of the electric drill 1202, enables automated bolt tightening. The tightening depth and torque value can be parameterized according to process requirements to meet the bolt assembly needs.

[0070] In addition, both the first electric push rod 1116 and the second electric push rod 1204 are used in conjunction with magnetic switches, proximity switches or photoelectric switches to achieve precise control of the push rod extension and retraction displacement. Those skilled in the art can set these according to actual needs, which will not be elaborated here.

[0071] The following is the specific operating principle of this processing equipment: When the equipment is started, the protective sleeve 1 is first conveyed to the conveyor belt 1101 by the external assembly line. The conveyor belt 1101 transports the protective sleeve 1 towards the bolt mounting module 12. At the same time, the rudder bearing housing 2 is placed on top of the rotating frame 903, so that the positioning pin 909 is inserted into the through hole 201. Meanwhile, the clamp 907 is located between the thrust blocks 4. Then, the ball screw module drives the slide 901 to move to the guide tube 918, so that the through hole 201 is aligned with the outlet end of the guide tube 918, preparing for bolt loading. During this process, the inclined surface of the lower pressure frame 904 contacts the rollers on both sides of the lifting frame 908, forcing the lifting frame 908 to move downward against the elastic force of the first spring 910, and the positioning pin 909 disengages from the through hole 201, releasing the angle lock on the rudder bearing housing 2.

[0072] Subsequently, after the vibratory feeder 911 is started, the internal bolts are arranged in an orderly manner along the spiral track under the action of electromagnetic vibration. After attitude screening, the bolts with hexagonal heads facing upwards are discharged from the discharge port one by one and fall into the slide 915. Subsequently, after receiving the corresponding sensor signal, the cylinder 913 actuates, pushing the moving seat 917 to move in the direction of the guide tube 918. The slide 915 slides relative to the moving seat 917 under the constraint of the guide groove 914. The bolt is disengaged from the slide 915 under the obstruction of the thrust groove 916, slides into the guide tube 918, and falls into the through hole 201 with its head facing upward under the guidance of the guide groove 914. Subsequently, cylinder 913 resets, and moving seat 917 returns to its initial position, waiting for the next pushing cycle.

[0073] After the first through hole 201 is loaded with bolts, the servo motor 902 drives the rotating frame 903 to rotate at a set angle so that the next through hole 201 is aligned with the guide tube 918. The above loading action is repeated until all through holes 201 are pre-loaded with bolts.

[0074] While the bolts are being pre-positioned on the rudder bearing housing 2, the protective sleeve 1 is being transported to the protective sleeve positioning mechanism. After the distance sensor 1118 detects that the protective sleeve 1 is in place, the conveyor belt 1101 stops running. The second hydraulic cylinder 1106 immediately actuates, the top frame 1111 descends, and the connecting frame 1103 moves downward under the action of the second spring 1112, so that the end of the positioning frame 1113 presses against the protective sleeve 1. If the positioning frame 1113 is not inserted into the blind hole 101, the first hydraulic cylinder 1105 extends, the turntable 1109 is inserted into the inner cavity of the protective sleeve 1, the rubber ring 1110 is pressed tightly against the inner wall of the protective sleeve 1, the servo motor 1108 drives the turntable 1109 to rotate slowly, causing the protective sleeve 1 to rotate circumferentially, so that one end of the positioning frame 1113 is inserted into the blind hole 101. At this time, the servo motor 1108 brakes and stops (the stopping time can be realized by using a displacement sensor), thus completing the circumferential positioning of the protective sleeve 1. At this time, the axis of the protective sleeve 1 is coaxial with the subsequent assembly station, and the phase angle between the blind hole 101 and the through hole 201 on the rudder bearing housing 2 meets the assembly requirements.

[0075] The housing shifting module 10 starts to operate, and the dual-axis linear module 1001 drives the electric gripper 1002 to move to directly above the rotating frame 903. The electric gripper 1002 descends and expands from the inner wall of the rudder bearing housing 2 to clamp. During the clamping process, the slide 901 will drive the rudder bearing housing 2 to move back, so that the rudder bearing housing 2 is away from the fixed frame 912. At this time, the lower pressure frame 904 still acts on the lifting frame 908, so that the positioning pin 909 on the lifting frame 908 does not contact the bolt. After clamping is completed, the dual-axis linear module 1001 drives the rudder bearing housing 2 to be vertically lifted, and then moves along the X-axis to above the protective sleeve 1; At this time, the second hydraulic cylinder 1106 starts to extend, thereby driving the connecting frame 1103 to move upward, and then causing the positioning frame 1113 to move out of the blind hole 101. Subsequently, the servo motor 1114 starts to drive the positioning frame 1113 to rotate, thereby making room for the assembly of the rudder bearing housing 2 and the protective sleeve 1. The rudder bearing housing 2 is then precisely lowered onto the top of the protective sleeve 1, with the through hole 201 corresponding to the blind hole 101 to achieve radial positioning.

[0076] When the bolt installation module 12 enters the working stage, the second electric push rod 1204 drives the positioning seat 1205 to descend. The laser vision sensor scans the bolt head position in real time and calculates the angular deviation between the hexagonal sleeve 1203 and the bolt head through the image processing algorithm. The electric drill 1202 performs micro-rotation compensation according to the feedback signal until the hexagonal sleeve 1203 and the bolt head are fully engaged. The magnetic structure generates an adsorption force, which firmly fixes the bolt head into the hexagonal sleeve 1203. The electric drill 1202 rotates at a preset speed, while the second electric push rod 1204 presses down at a constant feed speed, screwing the bolt into the blind hole 101. During the bolt tightening process, each bolt needs to be pre-tightened one by one; After the pre-tightening operation is completed, the bolts are tightened one by one according to the preset torque. When the torque sensor detects that the tightening torque has reached the set value, the electric drill 1202 immediately stops and reverses slightly to eliminate the influence of the elastic deformation of the thread pair. The second electric push rod 1204 drives the positioning seat 1205 to reset.

[0077] After the first bolt is tightened, the servo motor 1108 drives the turntable 1109 to rotate, which in turn rotates the bearing housing 2 and the protective sleeve 1 as a whole, so that the next bolt to be tightened can be moved into the working area of ​​the bolt installation module 12. The above tightening action is repeated until all bolts reach the tightening torque required by the process (during the entire tightening process, the speed, torque threshold, tightening angle and other parameters of the electric drill 1202 can be set through the human-machine interface to adapt to the assembly requirements of different bearing specifications).

[0078] After all bolts are tightened, the first electric push rod 1116 drives the movable stop 1117 to move down along the fixed rod 1104, releasing the axial obstruction to the assembly. The conveyor belt 1101 restarts and transports the assembly of the protective sleeve 1 and the rudder bearing housing 2 toward the fixed stop 1117. When the assembly triggers the proximity switch set inside the fixed stop 1117, an external robot or manual intervention will grab the finished product to the next inspection station or packaging station. The first electric push rod 1116 resets, the movable stop 1117 rises back to its initial height, and waits for the next protective sleeve 1 to be in place before the equipment enters the next working cycle.

[0079] Finally, the following points should be noted: In the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change. The electronic components and modules used in this invention can all be commonly used parts on the market that can achieve the specific functions in this case, and the specific models and sizes can be selected and adjusted according to actual needs; The accompanying drawings of the embodiments disclosed in this invention only involve structures relevant to the embodiments disclosed in this invention. Other structures can be referred to with common designs. Unless otherwise specified, the same embodiment and different embodiments of this invention can be combined with each other.

Claims

1. A portable upper rudder bearing, characterized in that, include: The rudder bearing housing (2) has multiple evenly distributed through holes (201) on its upper part and multiple thrust blocks (4) are fixedly installed around its perimeter. The rudder bearing bracket (3) is located above the rudder bearing housing (2); A radial bearing (6) is installed on the inner wall of the rudder bearing housing (2). During installation, the radial bearing (6) is fitted onto the rudder stock. An axial bearing (5) is disposed between the rudder bearing housing (2) and the rudder bearing frame (3); A skeleton oil seal (7) is located at the bottom of the connection between the radial bearing (6) and the rudder bearing housing (2); The protective sleeve (1) is installed on the outside of the rudder bearing housing (2). The top of the protective sleeve (1) has multiple blind holes (101), and the through hole (201) is used in conjunction with the blind hole (101).

2. A portable upper rudder bearing processing device, used for the portable upper rudder bearing as described in claim 1, characterized in that, include: The frame (8) is used to install the module required for assembling the rudder bearing housing (2) and the protective sleeve (1); The housing bolt loading module (9) is located above the frame (8) and is used to install bolts into the through hole (201) on the rudder bearing housing (2); The protective sleeve feeding and positioning module (11) is set on one side of the housing bolt feeding module (9) and is used for feeding and positioning the protective sleeve (1); The housing shifting module (10) is located above the housing bolt feeding module (9) and the protective sleeve feeding and positioning module (11) and is used to move the rudder bearing housing (2) above the protective sleeve (1); The bolt mounting module (12) is located on the rear side of the protective sleeve loading and positioning module (11) and is used to fasten the bolts in the through hole (201).

3. The portable upper rudder bearing processing equipment according to claim 2, characterized in that: The housing bolt feeding module (9) includes: The slide (901) is slidably installed above the frame (8). A rotating frame (903) is rotatably installed on the top of the slide (901). A card holder (907) is welded to the outer circumference of the rotating frame (903). A servo motor (902) is fixedly mounted on top of a slide (901), and the output shaft of the servo motor (902) is keyed to a bevel gear (905). A bevel ring (906) is fixedly installed on the outer circumference of the rotating frame (903) and meshes with a bevel gear (905); The housing positioning mechanism is set on the slide (901) and the frame (8) to fix the angle of the rudder bearing housing (2); And a bolt feeding mechanism, which is set on the frame (8), is used to transfer bolts into the through hole (201).

4. The portable upper rudder bearing processing equipment according to claim 3, characterized in that: The housing positioning mechanism includes: The lifting frame (908) is slidably mounted on one side of the slide block (901), and a positioning pin (909) is fixedly installed on the side of the lifting frame (908) near the rotating frame (903). The first spring (910) is fixedly installed between the lifting frame (908) and the slide (901) and is used to push the lifting frame (908) to move upward; The lower pressure frame (904) is fixedly installed above the frame (8) and cooperates with the lifting frame (908) to release the angle fixation of the rudder bearing housing (2).

5. The portable upper rudder bearing processing equipment according to claim 3, characterized in that: The bolt feeding mechanism includes: Vibratory feeder (911) is fixedly installed above the frame (8); A fixed frame (912) is fixedly installed on the top of the frame (8). A cylinder (913) is fixedly installed on one side of the fixed frame (912). A movable seat (917) that slides on the fixed frame (912) is fixedly installed on the movable end of the cylinder (913). A thrust groove (916) is provided at the front end of the movable seat (917). The thrust groove (916) is matched with the discharge port of the vibratory plate (911). The carriage (915) is slidably mounted above the movable seat (917), with its top located in the guide groove (914) opened on the fixed frame (912); The guide tube (918) is fixedly installed at the bottom of the fixing frame (912) and is used to guide the bolts.

6. The portable upper rudder bearing processing equipment according to claim 2, characterized in that: The protective sleeve loading and positioning module (11) includes: The conveyor belt (1101) is fixedly installed on the frame (8) and is used to feed the protective sleeve (1); Guide rods (1102) are fixedly installed on the frame (8) and located on both sides of the conveyor belt (1101). Connecting frames (1103) are slidably installed on the two guide rods (1102) on the same side. A positioning frame (1113) is rotatably installed between the two connecting frames (1103). One end of the positioning frame (1113) is fixed to the output shaft of the servo motor (1114) installed on the connecting frame (1103). The second spring (1112) is fixedly installed between the guide rod (1102) and the connecting frame (1103) to push the connecting frame (1103) to move downward; The second hydraulic cylinder (1106) is fixedly installed at the bottom of the frame (8). A top frame (1111) is fixedly installed on the top of the second hydraulic cylinder (1106). The top of the top frame (1111) passes through the frame (8) and contacts the connecting frame (1103). The protective sleeve rotation mechanism is installed on the frame (8) and is used to drive the protective sleeve (1) to rotate; And a protective sleeve positioning mechanism, which is set on the frame (8) for positioning the protective sleeve (1).

7. The portable upper rudder bearing processing equipment according to claim 6, characterized in that: The protective sleeve rotation mechanism includes: The first hydraulic cylinder (1105) is fixedly installed at the bottom of the frame (8). The top of the first hydraulic cylinder (1105) is fixedly installed with a mounting bracket (1107). The inner wall of the top of the mounting bracket (1107) is fixedly installed with a servo motor (1108). The output shaft of the servo motor (1108) passes through the mounting bracket (1107) and is fixedly installed with a turntable (1109). A rubber ring (1110) is fixedly installed on the outer circumference of the turntable (1109).

8. A portable upper rudder bearing processing device according to claim 6, characterized in that: The protective sleeve positioning mechanism includes: Two baffles (1117) are both set on the frame (8) and located inside the conveyor belt (1101). One baffle (1117) is fixedly installed and the other baffle (1117) is movably installed. The fixing rod (1104) is fixedly installed at the bottom of the frame (8); Mounting base (1115) is slidably mounted on the outer circumference of fixed rod (1104), and movable bracket (1117) is fixed to mounting base (1115); The first electric push rod (1116) is fixedly installed on the top of the frame (8), and the movable end of the first electric push rod (1116) is fixed to the mounting base (1115); The distance sensor (1118) is fixedly installed inside the movable bracket (1117).

9. A portable upper rudder bearing processing device according to claim 2, characterized in that: The bolt mounting module (12) includes: A fixed base (1201) is fixedly installed on the top of the frame (8). A positioning base (1205) is slidably installed on one side of the fixed base (1201). An electric drill (1202) is fixedly installed on one side of the positioning base (1205). A hexagonal sleeve (1203) is installed on the output shaft of the electric drill (1202). The second electric push rod (1204) is fixedly installed on one side of the fixed base (1201), and its movable end is fixed to the positioning base (1205).

10. A portable upper rudder bearing processing device according to claim 2, characterized in that: The housing shifting module (10) includes: A dual-axis linear module (1001) is fixedly installed on the top of the frame (8), and an electric gripper (1002) is fixedly installed on the movable end of the dual-axis linear module (1001).

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