An omnidirectional anti-eccentric load hydraulic bearing device for a ship section docking trolley

Abstract

This invention discloses an omnidirectional anti-eccentric load hydraulic bearing device for a docking trolley of ship sections, comprising a docking trolley body and a lifting mechanism. The lifting mechanism is fixedly installed on the docking trolley body, and a curved movable bearing head assembly is installed at the top of the telescopic part of the lifting mechanism, which contacts the bottom of the ship section. A rotatable anti-eccentric load component is provided between the docking trolley body and the lifting mechanism. The anti-eccentric load component includes a bearing robotic arm, and the axis of the lifting mechanism is located on the symmetrical center plane of the bearing robotic arm. The bearing robotic arm is inclinedly connected to the outer diameter of the lifting mechanism and the upper surface of the docking trolley body. Beneficial effects: This invention achieves full fit between the docking trolley and different curved surfaces of the ship's bottom, ensuring that the eccentric load is transferred to the lifting mechanism on the docking trolley body; it achieves coplanar calibration of the eccentric load and the bearing robotic arm of the anti-eccentric load component, ensuring that the direction of the eccentric load and the axis of the bearing robotic arm of the anti-eccentric load component are in the same plane, thereby improving the bearing capacity of the eccentric load.

Description

Technical Field

[0001] This invention relates to a core device of a ship section docking trolley, and particularly to an omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley, belonging to the technical field of shipbuilding equipment. Background Technology

[0002] In shipbuilding, the docking of ship sections is one of the key processes. Ship sections are large and heavy, requiring transportation and positioning by docking trolleys. Traditional docking trolleys mostly use rigid supports, which have two main problems: First, when the weight of the section is too large, it will generate a large bending moment on the support arm, which can easily lead to deformation and breakage of the support arm over long-term use, affecting the service life of the equipment and docking accuracy; second, the contact surfaces of ship sections have a certain degree of flatness error, and the rigid support surfaces cannot fit completely, resulting in uneven stress, which may cause surface damage to the section or docking misalignment.

[0003] In existing technologies, docking equipment uses lead screws for support and adjustment of the z-axis degree of freedom, but this cannot effectively counteract bending moments at multiple angles; while the hinged head bearing structure mostly adopts mechanical solid structures, making it difficult to achieve a perfect fit with the contact surface of the main section.

[0004] Chinese patent CN18953637A discloses a heavy-load, four-degree-of-freedom ship section docking, positioning, and attitude adjustment device. The device comprises a mobile platform frame, a bottom mobile platform, a main mobile platform, a Z-axis lifting support platform, and a ball-joint lifting platform, arranged from bottom to top, forming a Z-axis load adjustment mechanism to achieve Z-axis lifting of the main mobile platform 3 under heavy load. The load adjustment system includes the main mobile platform, Z-axis lifting support platform, ball-joint lifting platform, X-axis moving hydraulic system, bottom mobile platform, mobile platform frame, Y-axis moving hydraulic system, platform frame guide rail, and Z-axis lifting hydraulic system. The X-axis moving hydraulic system, Y-axis moving hydraulic system, and Z-axis lifting hydraulic system have mutually orthogonal motion directions, jointly achieving three-degree-of-freedom motion of the main mobile platform. During lifting, the load direction can have a certain angle with the vertical direction, ranging from 5° to 10°. Since the three hydraulic systems XYZ move in mutually orthogonal directions, and the load direction may have a certain angle with the vertical direction when the mechanism is lifted, the Z-axis lifting hydraulic system needs to bear a large bending moment. The huge eccentric load is the main cause of the failure of the Z-axis lifting hydraulic system. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to address the problems existing in the prior art by providing an omnidirectional anti-eccentric load hydraulic bearing device for a ship section docking trolley that can effectively offset heavy-load bending moments and achieve adaptive and precise fitting, thereby improving the stability and accuracy of ship section docking.

[0006] Technical Solution: An omnidirectional anti-eccentric load hydraulic bearing device for a ship section docking trolley, comprising a docking trolley body and a lifting mechanism, wherein the lifting mechanism is fixedly installed on the docking trolley body, and a curved flexible bearing head assembly is installed at the top of the telescopic part of the lifting mechanism, the curved flexible bearing head assembly being in contact with the bottom of the ship section; a rotatable anti-eccentric load component is provided between the docking trolley body and the lifting mechanism; the anti-eccentric load component includes a bearing mechanical arm, the axis of the lifting mechanism is located on the symmetrical center plane of the bearing mechanical arm, and the bearing mechanical arm is inclinedly connected to the outer diameter of the lifting mechanism and the upper surface of the docking trolley body.

[0007] This invention uses multiple docking trolleys to simultaneously lift and dock sections of a ship. Due to the low flatness accuracy of the contact surface between the ship's bottom and the docking trolleys, and the existence of off-center loading, this invention installs a curved, flexible bearing head assembly on top of the lifting mechanism of the docking trolley. This achieves full fit between the docking trolley and the different curved surfaces of the ship's bottom, ensuring that the off-center load is transferred to the lifting mechanism on the docking trolley body. Furthermore, by adjusting the position of the anti-off-center loading assembly, the off-center load and the bearing manipulator arm of the anti-off-center loading assembly are coplanarly aligned, ensuring that the direction of the off-center load and the axis of the bearing manipulator arm of the anti-off-center loading assembly are in the same plane. The off-center load is completely transmitted to the docking trolley body along the bearing manipulator arm of the anti-off-center loading assembly, improving the off-center load bearing capacity.

[0008] In a preferred embodiment, in order to adjust the anti-eccentric load component according to the direction of the eccentric load, a load-bearing ring is provided between the load-bearing robotic arm and the lifting mechanism. The load-bearing ring is fitted onto the outer diameter of the lifting mechanism, and the load-bearing robotic arm is hinged to the outer circumference of the load-bearing ring. The docking trolley body is provided with a self-rotating rotating rail assembly. The rotating rail assembly is coaxial with the lifting mechanism, and the bottom end of the load-bearing robotic arm is hinged to the rotating rail assembly.

[0009] The autonomous rotation of the rotating circular rail assembly drives the bearing robotic arm and the bearing ring to rotate together around the central axis of the lifting mechanism. The lifting mechanism transmits the off-center load to the bearing robotic arm through the bearing ring, and then the bearing robotic arm transmits it to the docking trolley body through the rotating circular rail assembly. Since the off-center load borne by the bearing robotic arm and the lifting mechanism is in the same plane, the bearing capacity of the anti-off-center load assembly can be effectively improved.

[0010] In a preferred embodiment, to preliminarily determine the angular direction of the eccentric load, circumferential pressure components are evenly distributed along the inner diameter circumference of the bearing ring, and the bearing ring contacts the outer diameter of the lifting mechanism through the circumferential pressure components.

[0011] First, adjust the positioning of the bearing ring in the lifting mechanism. Evenly distributed circumferential pressure components are then applied, with each group set with the same initial pressure. Based on the measured pressure changes of each circumferential pressure component, the angular direction of the off-center load is initially determined. The rotating rail assembly is adjusted according to the measured pressure values ​​to ensure that the pressure value of the circumferential pressure component located on the side of the bearing robotic arm is maximized.

[0012] In a preferred embodiment, to further improve the load-bearing capacity of the eccentric load, the outer diameter of the load-bearing ring is provided with a connecting portion extending outward and downward, and the load-bearing robotic arm is hinged to the end of the connecting portion. The connection between the load-bearing robotic arm and the load-bearing ring via the connecting portion increases the anti-eccentric load arm of the load-bearing robotic arm, further improving the load-bearing capacity of the eccentric load.

[0013] In a preferred embodiment, to accurately determine whether the off-center load is coplanar with the axis of the bearing robotic arm, the bearing robotic arm includes a telescopic bearing arm body and a six-dimensional force sensor. The telescopic end of the bearing arm body is hinged to the outer diameter of the bearing ring. The bottom of the bearing arm body is fixedly mounted on the rotating circular rail assembly via the six-dimensional force sensor.

[0014] By measuring with a six-dimensional force sensor, when the lateral off-center load component is zero, it can be determined that the direction of the off-center load and the axis of the bearing arm body are in the same plane, and the off-center load is transmitted completely along the bearing arm body. When the lateral off-center load component is not zero, it indicates that the position of the bearing arm body is not accurate, and it is necessary to continue driving the rotating circular rail assembly to rotate along the direction of the lateral off-center load component until the position where the lateral off-center load component reaches zero is reached.

[0015] In a preferred embodiment, to improve the overall stability of the anti-eccentric load assembly and further enhance the accuracy of identifying the eccentric load direction, a support adjustment rod assembly is provided between the bearing ring and the rotating rail assembly. The support adjustment rod assembly includes opposing bearing rods, symmetrical detection rods, and pressure sensors. Both the opposing bearing rods and the symmetrical detection rods are telescopic structures, with their bottoms mounted on the rotating rail assembly and their tops connected to the outer diameter of the bearing ring. Pressure sensors are installed between the opposing bearing rods and the symmetrical detection rods and the rotating rail assembly. The opposing bearing rods are located on the symmetrical center plane of the bearing robotic arm and are positioned opposite each other on the other side of the lifting mechanism. The number of symmetrical detection rods is at least two, symmetrically arranged on both sides of the opposing bearing rods.

[0016] By setting support adjustment rod assemblies on opposite sides of the load-bearing robotic arm, the stability of the entire anti-eccentric load assembly can be effectively improved. In the actual load-bearing process, if the eccentric load direction shifts momentarily or for a short time, the support adjustment rod assembly can also play a supporting role, thus improving the reliability of the entire anti-eccentric load assembly. The pressure sensor can monitor the changes in the eccentric load force in a timely manner, so as to adjust the posture of the anti-eccentric load assembly in a timely manner.

[0017] A preferred embodiment achieves full fit between the docking trolley and the different curved surfaces of the ship's bottom, ensuring that the off-center load is transferred to the lifting mechanism on the docking trolley body. The curved, flexible bearing head assembly includes a bearing base and omnidirectional support units. The omnidirectional support units are arranged in an array on the bearing base, and each omnidirectional support unit is a hydraulic spring structure. The oil circuits of all omnidirectional support units are connected in series to form a closed-loop hydraulic system. The bearing base is movably connected to the top of the telescopic part of the lifting mechanism via a spherical bearing. The hydraulic springs with interconnected oil circuits enable a tight fit between the omnidirectional support units and the segmented curved surfaces of the ship under load; the movable connection via the spherical bearing can adapt to large changes in curvature.

[0018] In a preferred embodiment, to improve the load-bearing capacity of the curved flexible bearing head assembly, a retractable locking cylinder is provided between the bearing base and the lifting mechanism body. The number of locking cylinders is at least three, with their cylinder bodies evenly distributed along the circumferential direction of the end of the lifting mechanism body. The piston rod of the locking cylinder is hinged to the bottom of the bearing base. The locking cylinders directly transfer the load to the lifting mechanism body, improving the load-bearing capacity of the curved flexible bearing head assembly. When the curved flexible bearing head assembly is in contact with the bottom of the ship section, the locking cylinders are in the unlocked state, allowing the bearing base to adaptively adjust its angle, and the locking cylinders extend and retract accordingly. After docking is completed, the locking cylinders lock to form a rigid connection, further improving the load-bearing capacity.

[0019] In a preferred embodiment, to ensure a tight fit between the segments and facilitate maintenance, the omnidirectional support unit includes a load-bearing contact block, a hydraulic spring, and a spherical hinge joint. The load-bearing contact block is connected to the top of the hydraulic spring via the spherical hinge joint. The omnidirectional support unit is mounted on the load-bearing base via the hydraulic spring. The surface of the load-bearing contact block is a wear-resistant and non-slip contact surface.

[0020] In a preferred embodiment, to enable docking of the docking trolley with the ship sections, the docking trolley body includes a base, a slide, a lateral movement assembly, and a traveling mechanism. The slide is laterally movable on the base via the lateral movement assembly, and a lifting mechanism is installed at the center of the slide. The traveling mechanism is located at the bottom of the base and drives the entire docking trolley body to move longitudinally. The lateral movement component includes a sliding guide rail, a drive screw, and a drive motor. Two sliding guide rails are parallel to each other and are fixedly mounted on the base in the lateral direction along the docking trolley body. Two drive screws are parallel to each other and rotatably mounted above the sliding guide rails. The drive motor is mounted on the side of the base and is driven by the drive screws. The slide table is slidably mounted on the sliding guide rails and is driven by the drive screws. The walking mechanism includes a drive gear and a rack and pinion guide rail driven by a motor. The drive gear is rotatably mounted on the bottom of the base, and the drive gear meshes with the rack and pinion guide rail to drive the docking trolley body to move.

[0021] A spatial rectangular coordinate system OXYZ is established. The docking trolley body is divided into a lifting mechanism along the Z-axis, a lateral movement component moving along the Y-axis, and a traveling mechanism moving along the X-axis. The lifting mechanism, driven by a motor, can perform upward and downward movements along the Z-axis. The lateral movement component, moving along the Y-axis, includes a base and a slide. The base is equipped with a pair of sliding guides, a drive screw, and a drive motor. After the drive motor drives the drive screw, the screw pair on the slide engages with the drive screw, causing the slide to move along the sliding guides. The traveling mechanism, moving along the X-axis, includes multiple sets of drive gears and rack and pinion guides. Driven by a motor, these gears mesh, causing the docking trolley to move along the rack and pinion guides. In summary, the docking trolley can achieve precise adjustment of three degrees of freedom of movement.

[0022] Beneficial effects: This invention uses multiple docking trolleys to simultaneously lift and dock sections of the ship. Since the flatness accuracy of the contact surface between the ship's bottom and the docking trolleys is not high, and there is an off-center load problem, this invention installs a curved, flexible bearing head assembly on the top of the lifting mechanism of the docking trolley. This achieves full fit between the docking trolley and the different curved surfaces of the ship's bottom, ensuring that the off-center load is transferred to the lifting mechanism on the docking trolley body. Furthermore, by adjusting the position of the anti-off-center load assembly, the off-center load and the bearing manipulator arm of the anti-off-center load assembly are coplanarly aligned, ensuring that the direction of the off-center load and the axis of the bearing manipulator arm of the anti-off-center load assembly are in the same plane. The off-center load is completely transmitted to the docking trolley body along the bearing manipulator arm of the anti-off-center load assembly, improving the off-center load bearing capacity. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the anti-eccentric load component structure of the present invention; Figure 3 This is a top view of the anti-eccentric load component of the present invention; Figure 4 This is a schematic diagram of the curved flexible bearing head assembly structure of the present invention; Figure 5 This is a schematic diagram of the omnidirectional support unit structure of the present invention; Figure 6 This is a schematic diagram of the docking trolley body structure of the present invention; Figure 7This is a schematic diagram of the structure of the docking trolley body walking mechanism of the present invention; Figure 8 This is a schematic diagram of the structure of the docking trolley supporting the docking segment of the present invention. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] like Figure 1 and 8 As shown, an omnidirectional anti-eccentric load hydraulic bearing device for a docking trolley of a ship section includes a docking trolley body 1 and a lifting mechanism 2. The lifting mechanism 2 is fixedly installed on the docking trolley body 1. A curved flexible bearing head assembly 3 is installed at the top of the telescopic part of the lifting mechanism 2. The curved flexible bearing head assembly 3 contacts the bottom of the ship section. A rotatable anti-eccentric load assembly 4 is provided between the docking trolley body 1 and the lifting mechanism 2. The anti-eccentric load assembly 4 includes a bearing mechanical arm 41. The axis of the lifting mechanism 2 is located on the symmetrical center plane of the bearing mechanical arm 41. The bearing mechanical arm 41 is inclinedly connected to the outer diameter of the lifting mechanism 2 and the upper surface of the docking trolley body 1.

[0029] This invention uses multiple docking trolleys to simultaneously lift and dock sections of a ship. Due to the low flatness accuracy of the contact surface between the ship's bottom and the docking trolleys, and the existence of off-center loading, this invention installs a curved, flexible bearing head assembly 3 on the top of the lifting mechanism 2 on the docking trolley. This achieves full fit between the docking trolley and the different curved surfaces of the ship's bottom, ensuring that the off-center load is transferred to the lifting mechanism 2 on the docking trolley body 1. Furthermore, by adjusting the position of the anti-off-center loading assembly 4, the off-center load and the bearing robotic arm 41 of the anti-off-center loading assembly 4 are coplanarly aligned, ensuring that the direction of the off-center load and the axis of the bearing robotic arm 41 of the anti-off-center loading assembly 4 are in the same plane. The off-center load is completely transmitted to the docking trolley body 1 along the bearing robotic arm 41 of the anti-off-center loading assembly 4, improving the off-center load bearing capacity.

[0030] like Figure 1 and 2 As shown, in order to adjust the anti-eccentric load component 4 according to the direction of the eccentric load, a bearing ring 42 is provided between the bearing robotic arm 41 and the lifting mechanism 2. The bearing ring 42 is fitted on the outer diameter of the lifting mechanism 2, and the bearing robotic arm 41 is hinged to the outer diameter circumference of the bearing ring 42. The docking trolley body 1 is provided with a self-rotating rotating rail assembly 43. The rotating rail assembly 43 is coaxial with the lifting mechanism 2, and the bottom end of the bearing robotic arm 41 is hinged to the rotating rail assembly 43.

[0031] The autonomous rotation of the rotating circular rail assembly 43 drives the bearing robotic arm 41 and the bearing ring 42 to rotate together around the central axis of the lifting mechanism 2. The lifting mechanism 2 transmits the off-center load to the bearing robotic arm 41 through the bearing ring 42, and then the bearing robotic arm 41 transmits it to the docking trolley body 1 through the rotating circular rail assembly 43. Since the off-center load borne by the bearing robotic arm 41 and the lifting mechanism 2 is in the same plane, the bearing capacity of the anti-off-center load assembly 4 can be effectively improved.

[0032] like Figure 2 As shown, in order to preliminarily determine the angular direction of the eccentric load, circumferential pressure components 421 are evenly distributed in the circumferential direction of the inner diameter of the bearing ring 42, and the bearing ring 42 contacts the outer diameter of the lifting mechanism 2 through the circumferential pressure components 421.

[0033] First, adjust the positioning of the bearing ring 42 on the lifting mechanism 2. The evenly distributed circumferential pressure components 421 are set with the same initial pressure for each group. Based on the measured changes in pressure values ​​of each circumferential pressure component 421, the angular direction of the off-center load is initially determined. The rotating circular rail assembly 43 is adjusted according to the measured pressure values ​​to ensure that the pressure value of the circumferential pressure component 421 located on one side of the bearing robotic arm 41 is maximized.

[0034] To further improve the load-bearing capacity of the eccentric load, the outer diameter of the load-bearing ring 42 is provided with a connecting portion 422 extending outward and downward, and the load-bearing mechanical arm 41 is hinged to the end of the connecting portion 422. The load-bearing mechanical arm 41 is connected to the load-bearing ring 42 through the connecting portion 22, which can increase the anti-eccentric load arm of the load-bearing mechanical arm 41 and further improve the load-bearing capacity of the eccentric load.

[0035] In order to accurately determine whether the off-center load force is coplanar with the axis of the bearing robotic arm 41, the bearing robotic arm 41 includes a telescopic bearing arm body 411 and a six-dimensional force sensor 412. The telescopic end of the bearing arm body 411 is hinged to the outer diameter of the bearing ring 42. The bottom of the bearing arm body 411 is fixedly mounted on the rotating circular rail assembly 43 through the six-dimensional force sensor 412.

[0036] The six-dimensional force sensor 411 measures that when the lateral load component is zero, it can be determined that the direction of the load and the axis of the bearing arm body 411 are in the same plane, and the load is transmitted completely along the bearing arm body 411. When the lateral load component is not zero, it indicates that the position of the bearing arm body 411 is inaccurate, and it is necessary to continue to drive the rotating circular rail assembly 43 to rotate along the direction of the lateral load component until the lateral load component reaches zero.

[0037] like Figure 2 and 3 As shown, in order to improve the overall stability of the anti-eccentric load component 4 and further improve the identification accuracy of the eccentric load direction, a support adjustment rod assembly 44 is provided between the bearing ring 42 and the rotating rail assembly 43. The support adjustment rod assembly 44 includes opposing bearing rods 441, symmetrical detection rods 442, and pressure sensors 443. Both the opposing bearing rods 441 and the symmetrical detection rods 442 are telescopic structures, with their bottoms mounted on the rotating rail assembly 43 and their tops connected to the outer diameter of the bearing ring 42. Pressure sensors 443 are installed between the opposing bearing rods 441 and the symmetrical detection rods 442 and the rotating rail assembly 43. The opposing bearing rods 441 are located on the symmetrical center plane of the bearing robotic arm 41 and are oppositely arranged on the other side of the lifting mechanism 2. There are at least two symmetrical detection rods 442, symmetrically arranged on both sides of the opposing bearing rods 441.

[0038] By setting support adjustment rod assemblies 44 on opposite sides of the load-bearing robotic arm 41, the stability of the entire anti-eccentric load assembly 4 can be effectively improved. In the actual load-bearing process, if the eccentric load direction shifts momentarily or for a short time, the support adjustment rod assemblies 44 can also play a supporting role, thus improving the reliability of the entire anti-eccentric load assembly 4. The pressure sensor 443 can monitor the change of eccentric load force in a timely manner, so as to adjust the posture of the anti-eccentric load assembly 4 in a timely manner.

[0039] In order to ensure that the eccentric load force concentrated in the lifting mechanism 2 can be fully transmitted along the bearing arm body 411 on the bearing robotic arm 41 to the entire docking trolley body 1, it is necessary to ensure that the direction of the eccentric load force and the axis of the bearing arm body 411 are in the same plane. The specific operation steps are as follows: 4 stages, such as... Figure 3 As shown: 1. Adjust the two symmetrically arranged detection rods 442 so that their horizontal coordinates are the same: Using the plane containing the upper surface of the docking trolley body 1 as the reference plane, the center point of the lifting mechanism 2 as the origin of the coordinate system, and the projection of the axis of the bearing arm body 411 on the bearing robotic arm 41 onto the reference plane as the positive X-axis, with the projection of the opposing bearing rod 441 always located in the negative X-axis direction and coaxially opposed to the bearing robotic arm 41, establish a rectangular coordinate system XOY fixed to the robotic arm. Let the circumferential angular coordinates of the two symmetrically arranged detection rods 442 be respectively... and The two detection rods are always symmetrically distributed about the X-axis, satisfying the following: .

[0040] II. Adjust the two symmetrically arranged detection rods 442 to make their axial extension and retraction lengths consistent, then lock them: Let the axial extension and retraction lengths of the two symmetrically arranged detection rods 442 be respectively... and Synchronous closed-loop control is implemented for the two detection rods, adjusting and locking their axial extension and contraction lengths in real time to meet the length synchronization constraint. Then, locking is performed. This step is used to ensure the stability of the entire load-bearing robotic arm 41, so that the load-bearing ring 42 will not be tilted, avoiding interference with the data measurement of the load-bearing arm body 411 on the load-bearing robotic arm 41, and at the same time, the real-time pressure parameters of the two arms are obtained through the pressure sensor 443 integrated at the bottom of the arm.

[0041] III. Determining whether the load-bearing robotic arm 41 is subjected to a lateral off-center load component: First, adjust the approximate position of the load-bearing robotic arm 41, and set the overall off-center load vector of the system. The three-dimensional components in the above OXYZ coordinate system are: ,in The axial component of the force along the axis of the support arm body 411 on the support robotic arm 41. and The lateral off-center load component is perpendicular to the axis of the bearing arm body 411 and extends outward. Measured by the six-dimensional force sensor 412, when the lateral off-center load component is zero, it can be determined that the direction of the off-center load and the axis of the bearing arm body 411 are in the same plane, and the off-center load is transmitted completely along the bearing arm body 411. When the lateral off-center load component is not zero, it indicates that the bearing arm 41 is not in the correct position, and the entire anti-off-center load assembly 4 needs to continue rotating along the direction of the lateral off-center load component until the lateral off-center load component reaches zero.

[0042] IV. Determining if the real-time pressure parameter difference between the two symmetrically positioned detection rods 442 is zero: Due to the rotational motion, the stability of the bearing robotic arm 41 is affected, and the bearing ring 42 may tilt or shift. By releasing the locking of the two symmetrically positioned detection rods 442, the horizontal coordinates of the new positions are re-determined, and the lengths are unified. The real-time pressure parameter difference between the two rods is then analyzed. When the real-time pressure parameter difference is zero, it can be determined that the direction of the off-center load and the axis of the bearing arm body 411 are in the same plane, and the off-center load is transmitted completely along the bearing arm body 411. When the real-time pressure parameter difference is significantly non-zero, the rods are rotated and moved along the side with the higher real-time pressure parameter until the real-time pressure parameter difference is zero. Only then can it be ensured that the off-center load of the entire system is transmitted to the entire docking trolley body 1 to the maximum extent through the bearing robotic arm 41.

[0043] In this embodiment, the circumferential rotation angle of the two symmetrically arranged detection rods 442 can be precisely controlled to an accuracy of 0.01°, with the horizontal coordinate remaining consistent, resulting in symmetrical and uniform force distribution. It accurately receives each set of pressure parameters transmitted by the two symmetrically arranged detection rods 442. Combined with the axial force on the bearing arm body 411, it can analyze whether the pressure distribution of the detection rods is completely uniform and determine whether the eccentric load and the bearing arm body 411 are on the same force plane. If a deviation in the coplanarity of force occurs, the adjustment program can be quickly initiated to ensure that the eccentric load is transmitted completely along the axial direction of the bearing arm body 411.

[0044] like Figure 4 As shown, the docking trolley achieves full fit with different curved surfaces on the bottom of the ship, ensuring that the off-center load is transferred to the lifting mechanism 2 on the docking trolley body 1. The curved flexible bearing head assembly 3 includes a bearing base 31 and omnidirectional support units 32. The omnidirectional support units 32 are arranged in a row on the bearing base 31. Each omnidirectional support unit 32 is a hydraulic spring structure, and the oil circuits of all omnidirectional support units 32 are connected in series to form a closed-loop hydraulic system. The bearing base 31 is movably connected to the top of the telescopic part of the lifting mechanism 2 through a joint bearing 33. The hydraulic springs with interconnected oil circuits can achieve a tight fit between the omnidirectional support units 32 and the segmented curved surfaces of the ship when under load; the movable connection through the joint bearing 33 can adapt to large surface changes.

[0045] To improve the load-bearing capacity of the curved flexible bearing head assembly 3, a retractable locking cylinder 34 is provided between the bearing base 31 and the lifting mechanism 2 body. There are four locking cylinders 34, with their cylinder bodies evenly distributed along the circumferential direction of the end of the lifting mechanism 2 body. The piston rod of the locking cylinder 34 is hinged to the bottom of the bearing base 31. The locking cylinders 34 directly transfer the load to the lifting mechanism 2 body, improving the load-bearing capacity of the curved flexible bearing head assembly 3. When the curved flexible bearing head assembly 3 is in contact with the bottom of the ship section, the locking cylinders 34 are in the unlocked state, allowing the bearing base 31 to adaptively adjust its angle, and the locking cylinders 34 extend and retract accordingly. After docking is completed, the locking cylinders 34 lock to form a rigid connection, further improving the load-bearing capacity.

[0046] like Figure 5 As shown, in order to fit closely to the docking segments and facilitate maintenance, the omnidirectional support unit 32 includes a bearing contact block 321, a hydraulic spring 322, and a spherical hinge pair 323. The bearing contact block 321 is connected to the top of the hydraulic spring 322 through the spherical hinge pair 323. The omnidirectional support unit 32 is mounted on the bearing base 31 through the hydraulic spring 322. The surface of the bearing contact block 321 is a wear-resistant and non-slip contact surface.

[0047] like Figure 6 and 7 As shown, in order to achieve docking between the docking trolley and the ship section, the docking trolley body 1 includes a base 11, a slide 12, a lateral movement component 13, and a traveling mechanism 14. The slide 12 is laterally movable on the base 11 through the lateral movement component 13, and the lifting mechanism 2 is installed at the center of the slide 12. The traveling mechanism 14 is located at the bottom of the base 11 and drives the entire docking trolley body 1 to move longitudinally. The lateral movement component 13 includes a sliding guide rail 131, a drive screw 132, and a drive motor 133. The two sliding guide rails 131 are parallel to each other and are fixedly mounted on the base 11 in the lateral direction along the docking trolley body 1. The two drive screws 132 are parallel to each other and rotatably mounted above the sliding guide rails 131. The drive motor 133 is mounted on the side of the base 11 and is driven by the drive screws 132. The slide table 12 is slidably mounted on the sliding guide rail 131 and is driven by the drive screws 132. The walking mechanism 14 includes a drive gear 141 driven by a motor and a rack and pinion guide rail 142. The drive gear 141 is rotatably mounted on the bottom of the base 11. The drive gear 141 meshes with the rack and pinion guide rail 142 to drive the docking trolley body 1 to move.

[0048] A spatial rectangular coordinate system OXYZ is established. The docking trolley body 1 is divided into a lifting mechanism 2 along the Z-axis, a lateral moving component 13 along the Y-axis, and a traveling mechanism 14 along the X-axis. The lifting mechanism 2, driven by a motor, can complete the upward and downward movements in the Z-axis direction. The lateral moving component 13, driven by the motor, includes a base 11 and a slide 12. The base 11 is equipped with a pair of sliding guide rails 131, a drive screw 132, and a drive motor 133. After the drive motor 133 drives the drive screw 132, the screw pair on the slide 12 engages with the drive screw 132, causing the slide 12 to move along the sliding guide rails 131. The traveling mechanism 14, driven by the motor, includes multiple sets of drive gears 141 and rack guide rails 142. Driven by the motor, the multiple sets of drive gears 141 and rack guide rails 132 mesh, causing the docking trolley to move along the rack guide rails 132. In summary, the docking trolley can achieve precise adjustment of three degrees of freedom of movement.

[0049] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0050] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An omnidirectional anti-eccentric load hydraulic bearing device for a docking trolley for ship sections, comprising a docking trolley body (1) and a lifting mechanism (2), wherein the lifting mechanism (2) is fixedly installed on the docking trolley body (1), characterized in that: The top of the telescopic part of the lifting mechanism (2) is equipped with a curved flexible bearing head assembly (3), which contacts the bottom of the ship section; a rotatable anti-eccentric load assembly (4) is provided between the docking trolley body (1) and the lifting mechanism (2); the anti-eccentric load assembly (4) includes a bearing mechanical arm (41), the axis of the lifting mechanism (2) is located on the symmetrical center plane of the bearing mechanical arm (41), and the bearing mechanical arm (41) is inclinedly connected to the outer diameter of the lifting mechanism (2) and the upper surface of the docking trolley body (1).

2. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 1, characterized in that: A bearing ring (42) is provided between the bearing robotic arm (41) and the lifting mechanism (2). The bearing ring (42) is fitted on the outer diameter of the lifting mechanism (2), and the bearing robotic arm (41) is hinged to the outer circumference of the bearing ring (42). The docking trolley body (1) is provided with a rotating circular rail assembly (43) that can rotate independently. The rotating circular rail assembly (43) is coaxial with the lifting mechanism (2), and the bottom end of the carrying mechanical arm (41) is hinged to the rotating circular rail assembly (43).

3. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 2, characterized in that: The inner diameter of the bearing ring (42) is evenly distributed with circumferential pressure components (421), and the bearing ring (42) contacts the outer diameter of the lifting mechanism (2) through the circumferential pressure components (421).

4. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 2, characterized in that: The outer diameter of the bearing ring (42) is provided with a connecting part (422) extending outward and downward, and the bearing mechanical arm (41) is hinged to the end of the connecting part (422).

5. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 2, characterized in that: The carrying robotic arm (41) includes a telescopic carrying arm body (411) and a six-dimensional force sensor (412). The telescopic end of the carrying arm body (411) is hinged to the outer diameter of the carrying ring (42). The bottom of the carrying arm body (411) is fixedly mounted on the rotating circular rail assembly (43) through the six-dimensional force sensor (412).

6. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 2, characterized in that: A support adjustment rod assembly (44) is provided between the bearing ring (42) and the rotating rail assembly (43). The support adjustment rod assembly (44) includes a counter bearing rod (441), a symmetrical detection rod (442), and a pressure sensor (443). The counter bearing rod (441) and the symmetrical detection rod (442) are both telescopic structures, and their bottoms are installed on the rotating rail assembly (43), while their tops are connected to the outer diameter of the bearing ring (42). Pressure sensors (443) are installed between the opposing bearing rod (441) and the symmetrical detection rod (442) and the rotating circular rail assembly (43). The opposing support rod (441) is located on the symmetrical center plane of the support mechanical arm (41) and is disposed opposite to the other side of the lifting mechanism (2); The number of symmetrical detection rods (442) is at least two, which are symmetrically arranged on both sides of the opposing bearing rod (441).

7. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 1, characterized in that: The curved flexible bearing head assembly (3) includes a bearing base (31) and an omnidirectional support unit (32). The omnidirectional support units (32) are arranged in a row on the bearing base (31). The omnidirectional support unit (32) is a hydraulic spring structure. The oil circuits of all the omnidirectional support units (32) are connected in series to form a closed internal circulation hydraulic system. The support base (31) and the top of the telescopic part of the lifting mechanism (2) are movably connected by a spherical bearing (33).

8. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 7, characterized in that: A retractable locking cylinder (34) is provided between the bearing base (31) and the lifting mechanism (2) body. The number of locking cylinders (34) is at least three. The cylinder bodies of the locking cylinders (34) are evenly distributed along the circumferential direction of the end of the lifting mechanism (2) body. The piston rod of the locking cylinder (34) is hinged to the bottom of the bearing base (31).

9. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 7, characterized in that: The omnidirectional support unit (32) includes a bearing contact block (321), a hydraulic spring (322), and a spherical hinge pair (323). The bearing contact block (321) is connected to the top of the hydraulic spring (322) through the spherical hinge pair (323). The omnidirectional support unit (32) is mounted on the bearing base (31) through the hydraulic spring (322). The surface of the bearing contact block (321) is a wear-resistant and non-slip contact surface.

10. The omnidirectional anti-eccentric load hydraulic bearing device for the ship section docking trolley according to claim 1, characterized in that: The docking trolley body (1) includes a base (11), a slide (12), a lateral movement component (13), and a walking mechanism (14). The slide (12) is laterally movable on the base (11) via the lateral movement component (13), and the lifting mechanism (2) is installed at the center of the slide (12). The walking mechanism (14) is located at the bottom of the base (11) and drives the entire docking trolley body (1) to move longitudinally. The lateral movement component (13) includes a sliding guide rail (131), a drive screw (132), and a drive motor (133). The two sliding guide rails (131) are parallel to each other and are fixedly mounted on the base (11) in the lateral direction along the docking trolley body (1). The two drive screws (132) are parallel to each other and rotatably mounted above the sliding guide rails (131). The drive motor (133) is mounted on the side of the base (11) and is driven by the drive screws (132). The slide table (12) is slidably mounted on the sliding guide rails (131) and is driven by the drive screws (132). The walking mechanism (14) includes a drive gear (141) driven by a motor and a rack guide rail (142). The drive gear (141) is rotatably mounted on the bottom of the base (11). The drive gear (141) meshes with the rack guide rail (142) to drive the docking trolley body (1) to move.

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