A multi-degree-of-freedom adjusting mechanism and method for hull welding

Abstract

The present application relates to a kind of hull welding multi-degree-of-freedom adjusting mechanism and method, belong to shipbuilding welding equipment technical field.The technical scheme: by overturning lifting mechanism drive longitudinal along Z direction lifting and around Ry direction rotation, make the web bottom surface of longitudinal and hull plate reference surface fit;By deflection mechanism cooperation position adjusting mechanism drive longitudinal along X direction movement and around Rz direction rotation, make longitudinal and hull plate target position on the line in X direction alignment;Position adjusting mechanism Y direction drive hydraulic cylinder makes corresponding action, makes crossbeam drive longitudinal Y direction movement, and makes longitudinal and hull plate target position on the line in Y direction alignment.The present application realizes the posture adjustment of crossbeam in X direction, Y direction, Z direction, Ry direction and Rz direction, five degrees of freedom, both retains gantry crossbeam structure stiffness high, the advantage of strong carrying capacity, also solves the problem of insufficient degrees of freedom of prior art scheme.

Description

Technical Field

[0001] This invention relates to a multi-degree-of-freedom adjustment mechanism and method for hull welding, particularly a multi-degree-of-freedom adjustment mechanism and method for automatic assembly and positioning spot welding between longitudinal skeletons and hull plates in ship section construction, belonging to the technical field of shipbuilding welding equipment. Background Technology

[0002] In modern manufacturing and automated operations, the spatial position and attitude adjustment accuracy of end effectors (such as welding guns, grippers, suction cups, and machining heads) directly determines the quality and efficiency of the work. Especially in shipbuilding, workpieces are often large and complex in shape, requiring adjustment mechanisms to achieve precise and flexible position and attitude adjustments in multiple degrees of freedom to meet the high-precision requirements of processes such as marking alignment and assembly. Longitudinal girders are small longitudinal skeletons on the hull outer plating, deck, and inner bottom plating of a ship. They are usually made of profiles and support the plates connected to them, bear lateral loads, participate in overall longitudinal bending, and improve the stability of the plates. Longitudinal girders are generally composed of mutually perpendicular web plates and flanges. In the longitudinal girder assembly and welding process, longitudinal girders (such as angle steel, bulb flat steel, or T-sections) need to be precisely positioned on the predetermined marking lines on the hull plating according to the hull design requirements. In this process, the longitudinal girders are first roughly placed on the steel plate surface by hoisting equipment, and then simply positioned using auxiliary positioning devices (commonly known in the art). Subsequently, assembly or position adjustment equipment precisely moves them to the marking position and adjusts them to the correct attitude. Because there are inevitable positional deviations in the X and Y directions, as well as angular deviations around the Y and Z axes, between the longitudinal girders after rough hoisting and their marked positions, and because different specifications of longitudinal girders have different dimensional parameters such as web height and flange width, the adjustment mechanism must have multiple degrees of freedom to precisely adjust the longitudinal girders to the position that perfectly corresponds to the marked lines. However, in the actual arrangement of the longitudinal girders, their assembly angle relative to the hull plates is usually 90° perpendicular. The purpose of angle adjustment is not to tilt the longitudinal girders, but to compensate for the angular deviations generated during the rough hoisting process and to achieve precise correspondence with the marked positions.

[0003] The prior art related to this application, as determined by the search, mainly includes the following: Chinese patent application CN202321576619.8 discloses a longitudinal rib welding device, including a platform, a gantry frame, a clamping mechanism, a translation mechanism, and a welding mechanism. The translation mechanism is fixedly connected to the welding mechanism and is used to drive the welding mechanism to move relative to the gantry frame. According to the disclosure, this solution can realize the lifting and lowering movement of the clamping mechanism along the Z-axis and the movement of the welding mechanism in the horizontal plane driven by the translation mechanism. However, the adjustment freedom of this device is limited to lifting and lowering in the Z-axis and translation in the horizontal plane, lacking rotational freedom around a horizontal or vertical axis. This prevents multi-angle attitude adjustment of the welding mechanism or workpiece, limiting its adaptability in complex assembly scenarios.

[0004] Chinese patent application CN202311501257.0 discloses an automatic profile positioning device and its usage method. In the disclosed content, an electromagnetic beam device is connected to a trolley through a set of parallel electromagnetic beam adjustment devices, which realize the position and angle adjustment of the profile. The adjustment device can realize movement in the X, Y, and Z directions, as well as rotation around the Y axis (Ry direction). Although the patent application states that it "makes the profile swing to a position that is perpendicular to the base plate", it can be determined from the drawings that the adjustment device is a rigid beam and does not have the degree of freedom of rotation around the Z axis (Rz direction). Therefore, it cannot compensate for the angle deviation of the profile in the horizontal plane of the base plate and does not have true Rz direction rotation capability.

[0005] Chinese patent CN202411951281.9 discloses a spot welding fixing device and its usage method for automatic adjustment of longitudinal ribs. In this patent, the longitudinal rib adjustment device is located inside the column and connected to an electric push cylinder for longitudinal rib adjustment. Driven by the electric push cylinder, the position and angle of the longitudinal rib are adjusted. The adjustment device uses an electric hoist to achieve Z-axis displacement of the longitudinal rib and an electric push cylinder to achieve X-axis displacement and Ry and Rz-axis rotation. However, this solution has the following shortcomings: First, for heavy workpieces, the electric drive element cannot provide sufficient driving force, and high-power electric elements are expensive, which is detrimental to the economic efficiency of the equipment. Second, the electric hoist and the longitudinal rib adjustment device are separate units, not integrated, resulting in structural redundancy and increased complexity. Furthermore, the adjustment device lacks Y-axis translation capability, and the connecting structure is a rigid beam, which cannot achieve rotational movement around the Z-axis (Rz direction), thus it lacks true Rz-axis rotation capability.

[0006] In summary, some existing technologies lack sufficient degrees of freedom and critical spatial attitude adjustment capabilities; others, while possessing some rotational function, employ split-type arrangements or electric drive methods, making it difficult to balance driving force, structural rigidity, and cost control under heavy load conditions. Existing technologies lack multi-degree-of-freedom attitude adjustment capabilities, making it difficult to accurately compensate for deviations in marking position and angle during longitudinal beam assembly. A key reason is that rigid beams interfere during deflection adjustments, failing to guarantee decoupling of multi-degree-of-freedom motion. Therefore, there is an urgent need in this field for an adjustment mechanism that integrates multi-degree-of-freedom motion capabilities, eliminates deflection interference, and ensures decoupling of multi-degree-of-freedom motion to meet the high-precision, high-efficiency operation requirements of large workpieces in multi-attitude adjustment scenarios, enabling automatic assembly and positioning spot welding between longitudinal beams and hull plates. Summary of the Invention

[0007] This invention proposes a multi-degree-of-freedom adjustment mechanism and method for hull welding, which realizes the attitude adjustment of the crossbeam in five degrees of freedom: X, Y, Z, Ry, and Rz. It retains the advantages of high rigidity and strong load-bearing capacity of the gantry crossbeam structure, solves the problem of insufficient degrees of freedom in the existing technical solutions, and ensures the decoupling of multi-degree-of-freedom motion, realizing automatic assembly and positioning spot welding between the longitudinal girder and the hull plate.

[0008] The technical solution of this invention is: A multi-degree-of-freedom adjustment mechanism for hull welding includes a crossbeam for automatic assembly and positioning spot welding attitude adjustment between longitudinal beams and hull plates. The length direction of the crossbeam is called the Y-axis, the horizontal direction perpendicular to the length direction of the crossbeam is called the X-axis, the vertical direction perpendicular to the length direction of the crossbeam is called the Z-axis, rotation around the Y-axis is called the Ry-axis, and rotation around the Z-axis is called the Rz-axis. Identical attitude adjustment mechanism components are respectively provided at both ends of the crossbeam. Each attitude adjustment mechanism component includes a position adjustment mechanism, a tilting mechanism, and a tilting and lifting mechanism arranged sequentially from the inside out. The ends of the crossbeam are slidably connected to the position adjustment mechanism to form a telescopic adjustable structure. The total length of the position adjustment mechanism and the crossbeam in the Y-axis direction is adjusted by the telescopic movement of the hydraulic cylinder driven by the position adjustment mechanism, and the crossbeam's position relative to the position adjustment mechanism in the Y-axis direction is changed. The position of the entire mechanism; the skew mechanism is rotatably connected to the position adjustment mechanism. The X-axis drive hydraulic cylinder of the skew mechanism drives the position adjustment mechanism and the crossbeam to move in the X-axis or rotate in the Rz-axis. The X-axis drive hydraulic cylinders located at both ends of the crossbeam move in the same direction and at the same speed, driving the position adjustment mechanism and the crossbeam to move in the X-axis. The X-axis drive hydraulic cylinders located at both ends of the crossbeam move in the same direction but at different speeds or in opposite directions, driving the position adjustment mechanism and the crossbeam to rotate in the Rz-axis. The tilting and lifting mechanism is rotatably connected to the skew mechanism through a slewing bearing. The Z-axis drive hydraulic cylinder of the tilting and lifting mechanism drives the skew mechanism, the position adjustment mechanism, and the crossbeam to move in the Z-axis. The Ry-axis drive hydraulic cylinder of the tilting and lifting mechanism drives the slewing bearing to rotate the skew mechanism, the position adjustment mechanism, and the crossbeam in the Ry-axis.

[0009] Furthermore, the tilting and lifting mechanism moves up and down along the track device in the Z direction. The top of the track device is provided with a fixing member, which is fixed in the corresponding position so that the crossbeam is in a supported or suspended state.

[0010] Furthermore, the position adjustment mechanism includes a frame, guide rails, roller assembly, connecting seat one, pin shaft, and Y-axis drive hydraulic cylinder; the end of the crossbeam is open and has a cavity, the roller assembly is installed in the cavity at the end of the crossbeam, the frame is the fixed base of the position adjustment mechanism, and its upper and lower surfaces are provided with guide rails along the Y direction, the guide rails are in rolling cooperation with the roller assembly; the connecting seat is fixedly installed on the upper surface of the end of the crossbeam, and the connecting seat one is provided with an ear plate; the cylinder body of the Y-axis drive hydraulic cylinder is hinged to the ear plate on the connecting seat one through the pin shaft, and its piston rod is hinged to the hinge seat one set on the frame, the Y-axis drive hydraulic cylinder forms a floating connection structure with hinged ends; the total length of the position adjustment mechanism and the crossbeam in the Y direction is adjusted by the extension and retraction action of the Y-axis drive hydraulic cylinder of the position adjustment mechanism, and the position of the crossbeam relative to the position adjustment mechanism in the Y direction is changed.

[0011] Furthermore, the guide rail forms a symmetrical guide structure on the upper and lower surfaces of the frame; there are four roller assemblies in total, namely one concentric roller assembly and three eccentric roller assemblies, with one concentric roller assembly and one eccentric roller assembly arranged on the upper side of the frame, and two eccentric roller assemblies arranged on the lower side of the frame; the two ends of each roller assembly are fixedly installed to the corresponding positions of the crossbeam by bolts, and the roller tracks on each roller assembly contact the surface of the guide rail to form a rolling fit. The eccentric roller assembly is used to adjust the contact state between the roller assembly and the guide rail, ensuring that each roller assembly can fully fit and contact the rail surface, eliminating poor contact caused by installation errors or processing errors.

[0012] Furthermore, the deflection mechanism includes a guide frame, guide rails, a sliding bracket, roller assemblies, an X-axis drive hydraulic cylinder, a shaft assembly, and a bearing seat. The guide frame is the supporting component of the deflection mechanism, and its upper surface and side surfaces are provided with guide rails arranged along the X-axis. The sliding bracket is the moving component of the deflection mechanism, slidably mounted on the guide frame. Roller assemblies are provided at the upper end and the bottom of the side surfaces of the sliding bracket, and roll in cooperation with the guide rails on the upper surface and side surfaces of the guide frame, allowing the sliding bracket to move relative to the guide frame along the X-axis. The cylinder body of the X-axis drive hydraulic cylinder has a built-in rotating shaft, which is connected to a hinge seat on the guide frame. The piston rod of the X-axis drive hydraulic cylinder is hinged to the sliding bracket, forming a floating connection structure with hinged ends. One side of the bearing seat is rotatably connected to the sliding bracket through the shaft assembly, allowing the bearing seat to rotate relative to the sliding bracket around the shaft assembly. The other side of the bearing seat is fixedly connected to the bracket of the position adjustment mechanism.

[0013] Furthermore, the tilting and lifting mechanism includes a lifting box, a roller conveyor assembly, a slewing bearing, a connecting seat two, a Z-axis drive hydraulic cylinder, a Ry-axis drive hydraulic cylinder, and a hinged seat three. The lifting box is the supporting component of the tilting and lifting mechanism, and a roller conveyor assembly is installed inside it. The track device is arranged vertically and passes through the lifting box. The roller conveyor assembly matches the track device, and the lifting box can move up and down in the Z-axis along the track device. There are four roller conveyor assemblies, namely two concentric roller assemblies two and two eccentric roller assemblies two. The two concentric roller assemblies two are arranged diagonally inside the lifting box, and the two eccentric roller assemblies two are also arranged diagonally inside the lifting box. The arrangement is as follows: one side of the connecting seat two is fixedly connected to the slewing bearing, and the other side of the connecting seat two is fixedly connected to the guide frame of the tilting mechanism. The cylinder body of the Ry-direction driving hydraulic cylinder is hinged to the lifting box, and its piston rod is hinged to the guide frame of the tilting mechanism. The extension and retraction of the piston rod drives the connecting seat two to rotate around the slewing bearing, thereby driving the tilting mechanism, the position adjustment mechanism, and the crossbeam to rotate in the Ry direction. The cylinder body of the Z-direction driving hydraulic cylinder is fixed to the fixing component through its own rotating shaft two. The piston rod of the Z-direction driving hydraulic cylinder is connected to the hinge seat three on the lifting box, and the Z-direction driving hydraulic cylinder drives the lifting box to rise and fall in the Z direction. During operation, when the piston rods of the Z-axis drive hydraulic cylinders located at both ends of the crossbeam extend or retract simultaneously, they drive the lifting box and all components mounted on it to move up and down synchronously along the track device, thereby achieving Z-axis position adjustment. When the piston rods of the Ry-axis drive hydraulic cylinders located at both ends of the crossbeam extend or retract simultaneously, they synchronously push the connecting seat to rotate around the slewing bearing, thereby driving the skew mechanism, the position adjustment mechanism, and the crossbeam to rotate synchronously around the Y-axis, thereby achieving Ry-axis attitude adjustment.

[0014] A method for multi-degree-of-freedom adjustment of hull welding, using the aforementioned multi-degree-of-freedom adjustment mechanism for hull welding, automatically assembles and positions the longitudinal girder and hull plate for spot welding, comprising the following steps: a) A gripping component is provided at the bottom of the crossbeam, which grips the longitudinal girder to be adjusted to a predetermined position on the hull plate; b) The longitudinal girder is driven to move up and down along the Z-axis and rotate around the Ry-axis by a tilting and lifting mechanism, so that the bottom surface of the web of the longitudinal girder is in contact with the reference surface of the hull plate; c) The longitudinal girder is driven to move along the X-axis and rotate around the Rz-axis by a tilting mechanism in conjunction with a position adjustment mechanism, so that the longitudinal girder is moved to the target position on the hull plate. The longitudinal beam is positioned near the target location, aligning with the scribed line on the hull plate in the X direction. The Y-axis hydraulic cylinder of the position adjustment mechanism performs a corresponding action, causing the crossbeam to move the longitudinal beam in the Y direction, aligning it with the scribed line on the target location on the hull plate. The tilting and lifting mechanism achieves Z-axis lifting and Ry-axis rotation, the skew mechanism achieves X-axis translation and Rz-axis rotation, and the position adjustment mechanism achieves Y-axis translation. Together, they complete the positional adjustment of the longitudinal beam in five degrees of freedom (X, Y, Z, Ry, and Rz), ensuring precise alignment between the longitudinal beam and the scribed line on the target location.

[0015] Step a is as follows: A gripping component is provided at the bottom of the crossbeam. The gripping component grips the longitudinal bone and places it at a predetermined position on the hull plate. An auxiliary positioning device is provided at the predetermined position. The web of the longitudinal bone is inserted into the auxiliary positioning device and is adjacent to the scribed line at the target position. Step b is as follows: There is an angle of inclination between the longitudinal rib and the perpendicular line of the hull plate. θ At 1, to eliminate the tilt angle θ 1. The tilting and lifting mechanism drives the connecting seats to rotate around the slewing bearings via Ry-axis hydraulic cylinders located at both ends of the crossbeam, thereby achieving Ry-axis rotation of the crossbeam. This causes the longitudinal ribs to swing around the Y-axis to a position perpendicular to the hull plate, thus eliminating the tilt angle. θ 1; In eliminating tilt angle θ During process 1, the longitudinal bone will undergo displacement in the Z direction. L 1; To compensate for this displacement L 1. The Z-axis drive hydraulic cylinder of the tilting and lifting mechanism drives the lifting box to move up and down along the Z-axis, adjusting the longitudinal bone to a vertical position on the upper surface of the hull plate, so that the bottom surface of the longitudinal bone web plate is in contact with the upper surface of the hull plate, providing a reference posture for subsequent line marking and alignment. Step c is as follows: The longitudinal bone has an angle of inclination in the horizontal plane. θ At 2 o'clock, in order to eliminate the tilt angle θ 2. The skew mechanism uses X-axis drive hydraulic cylinders located at both ends of the crossbeam to drive the sliding supports at both ends of the crossbeam to generate reverse displacement through the same-direction, different-speed, or opposite-direction movements. This displacement, via the shaft assembly, causes the bearing seats to rotate relative to the sliding supports around the Rz direction, thereby causing the position adjustment mechanism and the crossbeam to generate a compensating skew angle around the Rz direction. During this process, the crossbeam experiences an effective span change due to rigid skew. The Y-axis drive hydraulic cylinders of the position adjustment mechanism extend and retract, changing the total length of the position adjustment mechanism and the crossbeam, automatically compensating for this effective span change. This ensures that the two ends of the crossbeam maintain a reliable connection with the attitude adjustment mechanism, thereby adjusting the orientation of the longitudinal rib in the horizontal plane and eliminating the skew angle. θ 2. Make the length direction of the longitudinal sternite parallel to the extension direction of the scribe line; Step d is specifically as follows: Eliminating the tilt angle... θ During process 2, the longitudinal bones will experience displacement deviations in the X and Y directions. L 2 and displacement deviation L 3. In order to eliminate displacement deviation L 2 and displacement deviation L3. The skew mechanism drives the sliding supports at both ends of the crossbeam to move synchronously along the X-direction via the X-direction drive hydraulic cylinders located at both ends of the crossbeam. This causes the position adjustment mechanism and the crossbeam to move together in a straight line along the X-direction, moving the longitudinal bone to the vicinity of the scribing line, so that the longitudinal bone is basically aligned with the scribing line in the X-direction. At the same time, the position adjustment mechanism drives the crossbeam to move along the Y-direction via the Y-direction drive hydraulic cylinders, so that the web of the longitudinal bone is precisely moved in the Y-direction to a position that completely coincides with the scribing line. At this point, the angular deviations between the longitudinal bone and the scribing line in the X-direction, Y-direction, and horizontal plane have been eliminated, and the assembly and positioning are completed.

[0016] The positive effects of this invention: 1. Multi-degree-of-freedom (five-degree-of-freedom) posture adjustment fills the gap in the insufficient degrees of freedom in existing longitudinal beam assembly equipment; existing gantry beam adjustment schemes only have 2-4 degrees of freedom, lacking rotational freedom, making it difficult to compensate for angular deviations during alignment. This invention achieves posture adjustment of the beam in five degrees of freedom (X, Y, Z, Ry, and Rz) through a cascading arrangement of a position adjustment mechanism, a tilting mechanism, and a tilting and lifting mechanism. This retains the advantages of high rigidity and strong load-bearing capacity of the gantry beam structure while solving the problem of insufficient degrees of freedom in existing schemes.

[0017] 2. The sliding connection of the crossbeam eliminates deflection interference and ensures decoupling of multi-degree-of-freedom motion. In this invention, the crossbeam and the position adjustment mechanism are slidably connected on the guide rail via a roller assembly. When the skew mechanism drives the crossbeam to deflect around the Rz direction, the effective span changes due to the deflection of the rigid beam. At this time, the position adjustment mechanism can automatically compensate for the change in effective span caused by the deflection of the crossbeam, ensuring that both ends of the crossbeam maintain a reliable connection with the skew mechanism, thereby decoupling the Rz-direction rotational motion from other degrees of freedom motion and avoiding structural interference. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the longitudinal bone structure involved in the present invention; Figure 2 During the assembly of the longitudinal ribs in this invention, there is an angle of inclination between the longitudinal ribs and the perpendicular line of the hull plate. θ 1. Schematic diagram; Figure 3 To eliminate the tilt angle during the longitudinal bone assembly process of this invention θ During process 1, the longitudinal bone undergoes displacement in the Z-axis. L 1. Schematic diagram; Figure 4 During the longitudinal bone assembly process of this invention, the longitudinal bones have an inclination angle in the horizontal plane. θ 2. Schematic diagram; Figure 5 To eliminate the tilt angle during the longitudinal bone assembly process of this invention θ During process 2, the longitudinal bone will experience X-axis and Y-axis displacement deviations. L2和 L 3. Schematic diagram; Figure 6 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 7 This is an enlarged schematic diagram of a partial structure according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the position adjustment mechanism according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the deflection mechanism according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the tilting and lifting mechanism according to an embodiment of the present invention.

[0019] In the diagram: 1. Hull plate; 2. Longitudinal beam; 3. Crossbeam; 4. Position adjustment mechanism; 5. Skew mechanism; 6. Tilting and lifting mechanism; 41. Frame; 42. Guide rail; 43. Concentric roller assembly 1; 44. Eccentric roller assembly 1; 45. Connecting seat 1; 46. Pin; 47. Y-axis drive hydraulic cylinder; 48. Ear plate; 49. Hinge seat 1; 51. Guide frame; 52. Guide rail; 53. Sliding bracket; 54. Roller assembly; 55. X-axis drive hydraulic cylinder; 56. Shaft assembly; 57. Bearing seat 2; 58. Hinge seat 1; 59. Lifting box; 61. Concentric roller assembly 2; 62. Eccentric roller assembly 2; 63. Rotary bearing; 64. Connecting seat 2; 65. Z-axis drive hydraulic cylinder; 66. Ry-axis drive hydraulic cylinder; 67. Rotary shaft 2; 68. Hinge seat 3; 69. Track device; 7. Fixing component; 8. Auxiliary positioning device; 9. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] A multi-degree-of-freedom adjustment mechanism for hull welding includes a crossbeam 3 for automatic assembly and positioning spot welding attitude adjustment between the longitudinal girder 2 and the hull plate 1. The length direction of the crossbeam 3 is called the Y-axis, the horizontal direction perpendicular to the length direction of the crossbeam 3 is called the X-axis, the vertical direction perpendicular to the length direction of the crossbeam 3 is called the Z-axis, rotation around the Y-axis is called the Ry-axis, and rotation around the Z-axis is called the Rz-axis. Identical attitude adjustment mechanism components are respectively provided at both ends of the crossbeam 3. The attitude adjustment mechanism components include a position adjustment mechanism 4, a tilting mechanism 5, and a tilting and lifting mechanism 6 arranged sequentially from the inside out. The ends of the crossbeam 3 are slidably connected to the position adjustment mechanism 4 to form a telescopic adjustable structure. The total length of the position adjustment mechanism 4 and the crossbeam 3 in the Y-axis direction is adjusted by the telescopic action of the Y-axis drive hydraulic cylinder 47 of the position adjustment mechanism 4, and the position of the crossbeam 3 relative to the position adjustment mechanism 4 in the Y-axis direction is changed. The tilting mechanism 5 is rotatably connected to the position adjustment mechanism 4, and the X-axis drive hydraulic cylinder 47 of the tilting mechanism 5... The pressure cylinder 55 drives the position adjustment mechanism 4 and the crossbeam 3 to move in the X direction or rotate in the Rz direction. The X-direction driving hydraulic cylinders 55 located at both ends of the crossbeam 3 move in the same direction and at the same speed, driving the position adjustment mechanism 4 and the crossbeam 3 to move in the X direction together. The X-direction driving hydraulic cylinders 55 located at both ends of the crossbeam 3 move in the same direction but at different speeds or in opposite directions, driving the position adjustment mechanism 4 and the crossbeam 3 to rotate in the Rz direction together. The tilting and lifting mechanism 6 is rotatably connected to the skew mechanism 5 through the slewing bearing 64. The Z-direction driving hydraulic cylinder 66 of the tilting and lifting mechanism 6 drives the skew mechanism 5, the position adjustment mechanism 4 and the crossbeam 3 to move in the Z direction together. The Ry-direction driving hydraulic cylinder 67 of the tilting and lifting mechanism 6 drives the slewing bearing 64 to drive the skew mechanism 5, the position adjustment mechanism 4 and the crossbeam 3 to rotate in the Ry direction together. The tilting and lifting mechanism 6 moves up and down in the Z direction along the track device 7. The top of the track device 7 is provided with a fixing member 8, which is fixed in the corresponding position, so that the crossbeam 3 is in a supported or suspended state.

[0022] The crossbeam 3 is a rigid beam. The crossbeam 3 and the position adjustment mechanism 4 are slidably connected to form a telescopic and adjustable structure. When the skew mechanism 5 drives the crossbeam 3 to deflect around the Rz direction, the effective span of the rigid beam will change due to the deflection. At this time, the Y-direction drive hydraulic cylinder 47 of the position adjustment mechanism 4 will extend and retract to adjust the total length of the position adjustment mechanism 4 and the crossbeam 3 in the Y direction. This automatically compensates for the change in effective span caused by the deflection of the crossbeam 3, ensuring that the two ends of the crossbeam 3 are always reliably connected to the attitude adjustment mechanism assembly. This decouples the Rz-direction rotational motion from other degrees of freedom and avoids structural interference.

[0023] In an embodiment, such as Figure 6-8As shown, the position adjustment mechanism 4 includes a frame 41, a guide rail 42, a roller assembly, a connecting seat 45, a pin 46, and a Y-axis driving hydraulic cylinder 47. The roller assembly is fixed in the cavity at the end of the crossbeam 3. The frame 41 is the fixed base of the position adjustment mechanism 4, and its upper and lower surfaces are respectively provided with guide rails 42. The guide rails 42 extend along the length direction (Y direction) of the frame 41 and are fixedly connected to the frame 41 by bolts, providing guidance and a rolling plane for the roller assembly. The connecting seat 45 is fixedly installed on the upper surface of the crossbeam 3 by bolts, and the connecting seat 45 is provided with an ear plate 48. The cylinder body of the Y-axis driving hydraulic cylinder 47 is hinged to the ear plate 48 on the connecting seat 45 by the pin 46, and its piston rod is hinged to the hinge seat 49 provided on the frame 41. The Y-axis driving hydraulic cylinder 47 forms a floating connection structure with hinges at both ends. The crossbeam 3 and the position adjustment mechanism 4 are slidably connected by the roller assembly and the guide rail 42. Since the roller assembly is fixed on the crossbeam 3 and the guide rail 42 is fixed on the frame 41, when the Y-direction driving hydraulic cylinder 47 is driven, the drive frame 41 extends or retracts relative to the crossbeam 3 in the Y direction, and the guide rail 42 undergoes rolling displacement relative to the roller assembly, so that the crossbeam 3 and the position adjustment mechanism 4 together form a telescopic and adjustable structure.

[0024] The guide rail 42 forms a symmetrical guide structure on the upper and lower sides of the frame 41. Four roller assemblies are provided, including a concentric roller assembly 43 and an eccentric roller assembly 44. One concentric roller assembly 43 and one eccentric roller assembly 44 are arranged on the upper side of the frame 41, and two eccentric roller assemblies 44 are arranged on the lower side of the frame 41. The two fixed ends of each roller assembly are fixedly installed to the corresponding positions of the crossbeam 3 by bolts. The roller track of the roller assembly contacts the surface of the guide rail 42 and forms a rolling fit. The eccentric roller assembly 44 is used to adjust the contact state between the roller assembly and the guide rail 42, ensuring that each roller assembly can fully contact the rail surface and eliminate poor contact caused by installation or processing errors.

[0025] like Figure 6-9As shown, the deflection mechanism 5 includes a guide frame 51, a guide rail 52, a sliding bracket 53, a roller assembly 54, an X-axis drive hydraulic cylinder 55, a shaft assembly 56, and a bearing seat 57. The guide frame 51 is the main supporting component of the deflection mechanism 5, and guide rails 52 are provided on its upper surface and side surfaces. The guide rails 52 are fixedly connected to the guide frame 51 by bolts and extend along the length direction (X-axis) of the guide frame 51, providing a guiding and rolling plane for the roller assembly 54. The sliding bracket 53 is the moving component of the deflection mechanism 5, located on the guide frame 51. The roller assembly 54 is mounted on the sliding bracket 53, and the roller assembly 54 rolls with the guide rail 52, allowing the sliding bracket 53 to move smoothly relative to the guide frame 51. The cylinder body of the X-axis drive hydraulic cylinder 55 has a built-in rotating shaft 59, which connects with the guide frame 51 via the rotating shaft 59. The hinged seat 58 is connected, and the piston rod of the X-axis driving hydraulic cylinder 55 is hinged to the sliding bracket 53, forming a floating connection structure with hinged ends of the X-axis driving hydraulic cylinder 55; the bearing seat 57 is rotatably connected to the sliding bracket 53 through the shaft assembly 56, so that the bearing seat 57 can rotate relative to the sliding bracket 53 around the shaft assembly 56. The other side of the bearing seat 57 is fixedly connected to the bracket 41 of the position adjustment mechanism 4 by bolts. The shaft assembly 56 is installed on the sliding bracket 53, providing the tilting mechanism 5 with Rz-axis rotational movement relative to the position adjustment mechanism 4. During operation, when the piston rods of the X-direction drive hydraulic cylinders 55 located at both ends of the crossbeam 3 extend or retract simultaneously, the sliding brackets 53 move synchronously along the X-direction, driving the shaft assembly 56, bearing seats 57, position adjustment mechanism 4, and crossbeam 3 to move linearly along the X-direction, thereby achieving X-direction position adjustment. When the piston rods of the X-direction drive hydraulic cylinders 55 located at both ends of the crossbeam 3 move in opposite directions (one side extends and the other side retracts), the sliding brackets 53 at both ends of the crossbeam 3 generate reverse displacement, which drives the bearing seats 57 relative to the sliding brackets via the shaft assembly 56. 53 rotates around the Rz axis, thereby driving the position adjustment mechanism 4 and the crossbeam 3 to generate a deflection angle around the Rz direction. Since the crossbeam 3 is a rigid beam, its effective span will change when it deflects. At this time, the telescopic adjustment structure formed by the crossbeam 3 and the position adjustment mechanism 4 plays a role. The Y-direction drive hydraulic cylinder 47 of the position adjustment mechanism 4 moves accordingly to adjust the total length of the position adjustment mechanism 4 and the crossbeam 3 in the Y direction, compensate for the change in effective length caused by the deflection of the crossbeam 3, and ensure that it always maintains a reliable connection with the deflection mechanism 5 during the deflection process. The crossbeam 3 achieves rotation in the Rz direction.

[0026] In this embodiment: During operation, as the X-direction drive hydraulic cylinders 55 of the deflection mechanism 5 located at both ends of the crossbeam 3 actuate, driving the position adjustment mechanism 4 and the crossbeam 3 to deflect around the Rz direction, the piston rods of the Y-direction drive hydraulic cylinders 47 located at both ends of the crossbeam 3 extend or retract, changing the total length of the crossbeam 3 and the position adjustment mechanism 4 in the Y direction, automatically compensating for the effective span change caused by the deflection of the crossbeam 3. When the crossbeam 3 needs to drive the longitudinal rib 2 to move in the Y direction, one piston rod of the Y-direction drive hydraulic cylinders 47 located at both ends of the crossbeam 3 extends, while the other piston rod retracts or remains stationary. At this time, under the force of the piston rod of the Y-direction drive hydraulic cylinder 47, the crossbeam 3 moves in the opposite direction of the piston rod extension in the Y direction, changing the relative position of the crossbeam 3 with respect to the position adjustment mechanism 4, thereby driving the longitudinal rib 2 to move in the Y direction.

[0027] like Figure 6-10As shown, the tilting and lifting mechanism 6 moves up and down along the track device 7; the tilting and lifting mechanism 6 includes a lifting box 61, a roller assembly, a slewing bearing 64, a connecting seat 65, a Z-axis driving hydraulic cylinder 66, and a Ry-axis driving hydraulic cylinder 67; the lifting box 61 is the main supporting component of the tilting and lifting mechanism 6, and a roller assembly is installed inside it. The track device 7 is arranged vertically and passes through the lifting box 61. The roller assembly matches the track device 7, and the lifting box 61 can move up and down along the track device 7; the roller assembly includes two concentric roller assemblies 62 and two eccentric roller assemblies 63. 63. Two concentric roller assemblies 62 are arranged diagonally within the lifting housing 61, and two eccentric roller assemblies 63 are also arranged diagonally within the lifting housing 61. The eccentric roller assemblies 63 are used to adjust the contact state between the roller conveyor assembly and the track device 7, ensuring that each roller conveyor assembly can fully contact the track device 7, eliminating poor contact caused by installation or processing errors. One side of the connecting seat 65 is fixedly connected to the slewing bearing 64 by bolts, and the other side is fixedly connected to the guide frame 51 of the skew mechanism 5 by bolts. The slewing bearing 64 is driven by the Ry-direction driving hydraulic cylinder 67. The rotary bearing 64 provides the Ry-axis degree of freedom, enabling the rotary bearing 64 to drive the connecting seat 65, which in turn drives the skew mechanism 5, the position adjustment mechanism 4, and the crossbeam 3 to rotate around the Y-axis in the Ry direction. The cylinder body of the Z-axis drive hydraulic cylinder 66 is fixed to the fixing member 8 via its own rotating shaft 68. The piston rod of the Z-axis drive hydraulic cylinder 66 is connected to the hinge seat 69 on the lifting box 61, and the Z-axis drive hydraulic cylinder 66 provides Z-axis lifting drive. The cylinder body of the Ry-axis drive hydraulic cylinder 67 is hinged to the lifting box 61, and its piston rod is hinged to the guide frame 51 of the skew mechanism 5. The extension and retraction drive connecting seat 65 of the rod rotates around the slewing bearing 64. During operation, when the piston rods of the Z-direction drive hydraulic cylinders 66 located at both ends of the crossbeam 3 extend or retract simultaneously, they drive the lifting box 61 and all components installed on it to rise and fall synchronously along the track device 7, thereby achieving Z-direction position adjustment. When the piston rods of the Ry-direction drive hydraulic cylinders 67 located at both ends of the crossbeam 3 extend or retract simultaneously, the piston rods at both ends synchronously push the connecting seat 65 to rotate around the slewing bearing 64, thereby driving the skew mechanism 5, the position adjustment mechanism 4, and the crossbeam 3 to rotate synchronously around the Y-axis, thereby achieving Ry-direction attitude adjustment.

[0028] A method for multi-degree-of-freedom adjustment of hull welding, using the aforementioned multi-degree-of-freedom adjustment mechanism for hull welding, automatically assembles and positions the longitudinal girder 2 and the hull plate 1, comprising the following steps: a) A gripping component is provided at the bottom of the crossbeam 3, which grips the longitudinal girder 2 to be adjusted to a predetermined position on the hull plate 1; b) The longitudinal girder 2 is driven to move up and down along the Z direction and rotate around the Ry direction by the tilting and lifting mechanism 6, so that the bottom surface of the web of the longitudinal girder 2 is in contact with the reference surface of the hull plate 1; c) The longitudinal girder 2 is driven to move along the X direction and rotate around the Rz direction by the tilting mechanism 5 in conjunction with the position adjustment mechanism 4, so that the longitudinal girder 2 is moved to the target position on the hull plate 1. The longitudinal beam 2 is positioned near the target location and aligned with the scribed line on the hull plate 1 in the X direction; the Y-direction drive hydraulic cylinder 47 of the position adjustment mechanism 4 performs a corresponding action, causing the crossbeam 3 to drive the longitudinal beam 2 to move in the Y direction, and aligning the longitudinal beam 2 with the scribed line on the target location on the hull plate 1 in the Y direction; the tilting and lifting mechanism 6 realizes Z-direction lifting and Ry-direction rotation, the tilting mechanism 5 realizes X-direction translation and Rz-direction rotation, and the position adjustment mechanism 4 realizes Y-direction translation, together completing the position and posture adjustment of the longitudinal beam 2 in five degrees of freedom in the X, Y, Z, Ry and Rz directions, so that the longitudinal beam 2 is precisely aligned with the scribed line on the target location.

[0029] like Figure 1-5 As shown, Figure 1 This is a schematic diagram of the application scenario involved in the present invention, wherein the hull plate 1 is the workpiece to be assembled, and the longitudinal bone 2 is a structural component that needs to be adjusted to the predetermined marked position on the hull plate 1. Figure 2-5 This is a schematic diagram illustrating the process by which the multi-degree-of-freedom adjustment mechanism of the present invention adjusts the longitudinal bone 2. Figure 2-5 The complete process of longitudinal girder 2 from its initial position to precise alignment with the scribing line is shown in sequence. The following explanation uses the adjustment mechanism for longitudinal girder 2 as an example. This adjustment mechanism is used in the assembly process of ship longitudinal girders, but is not limited to this.

[0030] like Figure 2 As shown, the gripping assembly at the bottom of the crossbeam 3 grips the longitudinal bone 2 and places it at a designated position above the hull plate 1. An auxiliary positioning device 9 (commonly known in the art) on the hull plate 1 positions it near the marking line, and the web of the longitudinal bone 2 is inserted into the middle of the auxiliary positioning device 9. At this time, there may be an angle of inclination between the longitudinal bone 2 and the perpendicular line of the hull plate 1. θ 1.

[0031] To eliminate tilt angle θ 1. The tilting and lifting mechanism 6 drives the connecting seat 65 to rotate around the slewing bearing 64 via the Ry-direction drive hydraulic cylinders 67 at both ends of the crossbeam 3, thereby achieving Ry-direction rotation. This causes the longitudinal rib 2 to swing around the Y-axis in the XZ plane to a position perpendicular to the hull plate 1, thus eliminating the tilt angle. θ 1.

[0032] like Figure 3As shown, in eliminating the tilt angle θ During process 1, longitudinal bone 2 will undergo displacement in the Z direction. L 1. To compensate for the displacement, the Z-axis drive hydraulic cylinder 66 of the tilting and lifting mechanism 6 drives the lifting box 61 to move up and down along the Z-axis, adjusting the longitudinal bone 2 to a position that is vertically placed on the upper surface of the hull plate 1, so that the bottom surface of the web of the longitudinal bone 2 is in contact with the upper surface of the hull plate 1, providing a reference posture for subsequent line marking and alignment.

[0033] like Figure 4 As shown, longitudinal bone 2 may have an inclination angle in the horizontal plane. θ 2. To eliminate this angular deviation, the skew mechanism 5, through the reverse action of the X-axis drive hydraulic cylinders 55 located at both ends of the crossbeam 3, drives the sliding supports 53 at both ends of the crossbeam 3 to generate a reverse displacement. This displacement is caused by the shaft assembly 56, which drives the bearing seats 57 to rotate relative to the sliding supports 53 around the Rz direction. This causes the position adjustment mechanism 4 and the crossbeam 3 to generate a compensating deflection angle around the Rz direction. During this process, the crossbeam 3 experiences an effective span change due to rigid deflection. The Y-axis drive hydraulic cylinder 47 of the position adjustment mechanism 4 then operates accordingly, changing the total length of the position adjustment mechanism 4 and the crossbeam 3. This automatically compensates for the effective span change, ensuring that both ends of the crossbeam 3 remain reliably connected to the skew mechanism 5, thereby adjusting the orientation of the longitudinal rib 2 in the horizontal plane and eliminating the tilt angle. θ 2. Make the length direction of the longitudinal bone 2 sternite parallel to the extension direction of the scribed line.

[0034] like Figure 5 As shown, in eliminating the tilt angle θ During process 2, longitudinal bone 2 will experience displacement deviations in the X and Y directions. L 2 and L 3. To eliminate this displacement deviation, the skew mechanism 5, via the X-axis drive hydraulic cylinders 55 located at both ends of the crossbeam 3, drives the sliding supports 53 at both ends of the crossbeam 3 to move synchronously along the X-axis. This causes the position adjustment mechanism 4 and the crossbeam 3 to move linearly along the X-axis, moving the longitudinal bone 2 to the vicinity of the scribing line, aligning the longitudinal bone 2 with the scribing line in the X-axis. Simultaneously, the position adjustment mechanism 4, via the Y-axis drive hydraulic cylinder 47, drives the crossbeam 3 to move along the Y-axis, precisely moving the web of the longitudinal bone 2 to a position completely overlapping with the scribing line in the Y-axis.

[0035] At this point, the angular deviations between longitudinal bone 2 and the scribed line in the X, Y, and horizontal directions have been eliminated, and the alignment and positioning are complete.

[0036] In the above steps, the flipping and lifting mechanism 6 realizes Z-axis lifting and Ry-axis rotation, the tilting mechanism 5 realizes X-axis translation and Rz-axis rotation, and the position adjustment mechanism 4 realizes Y-axis translation. The mechanisms work together to complete the position and posture adjustment of the longitudinal bone 2 in five degrees of freedom: X, Y, Z, Ry, and Rz, so that the longitudinal bone 2 is precisely aligned with the scribing line.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom adjustment mechanism for hull welding, comprising a crossbeam (3) for automatic assembly and positioning spot welding posture adjustment between longitudinal skeletons (2) and hull plates (1), wherein the length direction of the crossbeam (3) is called the Y direction, the horizontal direction perpendicular to the length direction of the crossbeam (3) is called the X direction, the vertical direction perpendicular to the length direction of the crossbeam (3) is called the Z direction, rotation around the Y direction is called the Ry direction, and rotation around the Z direction is called the Rz direction; characterized in that: The two ends of the crossbeam (3) are respectively provided with identical posture adjustment mechanism components. The posture adjustment mechanism components include a position adjustment mechanism (4), a tilting mechanism (5), and a tilting and lifting mechanism (6) arranged sequentially from the inside to the outside. The ends of the crossbeam (3) and the position adjustment mechanism (4) are slidably connected to form a telescopic adjustable structure. The total length of the position adjustment mechanism (4) and the crossbeam (3) in the Y direction is adjusted by the telescopic action of the Y-direction driving hydraulic cylinder (47) of the position adjustment mechanism (4), and the position of the crossbeam (3) in the Y direction relative to the position adjustment mechanism (4) is changed. The tilting mechanism (5) is rotatably connected to the position adjustment mechanism (4). The X-direction driving hydraulic cylinder (55) of the tilting mechanism (5) drives the position adjustment mechanism (4) and the crossbeam (3) to move in the X direction or rotate in the Rz direction together. The X-direction driving hydraulic cylinders (55) at both ends of the crossbeam (3) move in the same direction and at the same speed, driving the position adjustment mechanism (4) and the crossbeam (3) to move together in the X direction. The X-direction driving hydraulic cylinders (55) at both ends of the crossbeam (3) move in the same direction but at different speeds or in opposite directions, driving the position adjustment mechanism (4) and the crossbeam (3) to rotate together in the Rz direction. The tilting and lifting mechanism (6) is rotatably connected to the skew mechanism (5) through the slewing bearing (64). The Z-direction driving hydraulic cylinder (66) of the tilting and lifting mechanism (6) drives the skew mechanism (5), the position adjustment mechanism (4) and the crossbeam (3) to move together in the Z direction. The Ry-direction driving hydraulic cylinder (67) of the tilting and lifting mechanism (6) drives the slewing bearing (64) to drive the skew mechanism (5), the position adjustment mechanism (4) and the crossbeam (3) to rotate together in the Ry direction.

2. The multi-degree-of-freedom adjustment mechanism for hull welding according to claim 1, characterized in that: The tilting and lifting mechanism (6) moves up and down along the track device (7) in the Z direction. The top of the track device (7) is provided with a fixing part (8), which is fixed in the corresponding position so that the crossbeam (3) is in a supported or suspended state.

3. The multi-degree-of-freedom adjustment mechanism for hull welding according to claim 2, characterized in that: The position adjustment mechanism (4) includes a frame (41), guide rails (42), roller assembly, connecting seat (45), pin (46), and Y-axis drive hydraulic cylinder (47); the end of the crossbeam (3) is open and has a cavity, the roller assembly is installed in the cavity at the end of the crossbeam (3), the frame (41) is the fixed base of the position adjustment mechanism (4), and its upper and lower surfaces are provided with guide rails (42) along the Y-axis, the guide rails (42) are in rolling cooperation with the roller assembly; the connecting seat (45) is fixedly installed on the upper surface at the end of the crossbeam (3), and the connecting seat (47) is... (45) is provided with an ear plate (48); the cylinder body of the Y-direction driving hydraulic cylinder (47) is hinged to the ear plate (48) on the connecting seat (45) through a pin (46), and its piston rod is hinged to the hinge seat (49) on the frame (41). The Y-direction driving hydraulic cylinder (47) forms a floating connection structure with hinged ends; the total length of the position adjustment mechanism (4) and the crossbeam (3) in the Y direction is adjusted by the extension and retraction action of the Y-direction driving hydraulic cylinder (47) of the position adjustment mechanism (4), and the position of the crossbeam (3) relative to the position adjustment mechanism (4) in the Y direction is changed.

4. The multi-degree-of-freedom adjustment mechanism for hull welding according to claim 3, characterized in that: The guide rail (42) forms a symmetrical guide structure on the upper and lower surfaces of the frame (41); there are four roller assemblies, namely one concentric roller assembly (43) and three eccentric roller assemblies (44). One concentric roller assembly (43) and one eccentric roller assembly (44) are arranged on the upper side of the frame (41), and two eccentric roller assemblies (44) are arranged on the lower side of the frame (41); the two ends of each roller assembly are fixedly installed on the corresponding positions of the crossbeam (3) by bolts, and the roller track on each roller assembly contacts the surface of the guide rail (42) and forms a rolling fit.

5. The multi-degree-of-freedom adjustment mechanism for hull welding according to claim 3, characterized in that: The deflection mechanism (5) includes a guide frame (51), a guide rail (52), a sliding bracket (53), a roller assembly (54), an X-direction drive hydraulic cylinder (55), a shaft assembly (56), and a bearing seat (57). The guide frame (51) is the supporting component of the deflection mechanism (5), and its upper surface and side are provided with guide rails (52) arranged in the X direction. The sliding bracket (53) is the moving component of the deflection mechanism (5), and is slidably mounted on the guide frame (51). The upper end and the bottom side of the sliding bracket (53) are provided with roller assemblies (54), which roll in cooperation with the guide rails (52) on the upper surface and side of the guide frame (51), so that the sliding bracket (53) can... The cylinder moves relative to the guide frame (51) along the X direction; the cylinder body of the X-direction driving hydraulic cylinder (55) has a rotating shaft (59) on it, which is connected to the hinge seat (58) on the guide frame (51) through the rotating shaft (59). The piston rod of the X-direction driving hydraulic cylinder (55) is hinged to the sliding bracket (53), and the X-direction driving hydraulic cylinder (55) forms a floating connection structure with hinged ends; one side of the bearing seat (57) is rotatably connected to the sliding bracket (53) through the shaft assembly (56), so that the bearing seat (57) can rotate relative to the sliding bracket (53) around the shaft assembly (56). The other side of the bearing seat (57) is fixedly connected to the bracket (41) of the position adjustment mechanism (4).

6. The hull welding multi-degree-of-freedom adjustment mechanism according to claim 3, characterized in that: The tilting and lifting mechanism (6) includes a lifting box (61), a roller assembly, a rotary bearing (64), a connecting seat (65), a Z-axis driving hydraulic cylinder (66), a Ry-axis driving hydraulic cylinder (67), and a hinge seat (69). The lifting box (61) is the supporting component of the tilting and lifting mechanism (6), and a roller assembly is installed inside it. The track device (7) is arranged vertically and passes through the lifting box (61). The roller assembly matches the track device (7), and the lifting box (61) can move up and down in the Z-axis along the track device (7). There are four roller assemblies, namely two concentric roller assemblies (62) and two eccentric roller assemblies (63). The two concentric roller assemblies (62) are arranged diagonally inside the lifting box (61), and the two eccentric roller assemblies (63) are also arranged diagonally inside the lifting box (61). One side of the connecting seat (65) is fixedly connected to the slewing bearing (64), and the other side of the connecting seat (65) is fixedly connected to the guide frame (51) of the skew mechanism (5). The cylinder body of the Ry-direction driving hydraulic cylinder (67) is hinged to the lifting box (61), and its piston rod is hinged to the guide frame (51) of the skew mechanism (5). The connecting seat (65) is driven to rotate around the slewing bearing (64) by the extension and retraction of the piston rod, which drives the skew mechanism (5), the position adjustment mechanism (4) and the crossbeam (3) to perform Ry-direction rotation. The cylinder body of the Z-direction driving hydraulic cylinder (66) is fixed to the fixing part (8) through its own rotating shaft (68). The piston rod of the Z-direction driving hydraulic cylinder (66) is connected to the hinge seat (69) on the lifting box (61). The Z-direction driving hydraulic cylinder (66) drives the lifting box (61) to rise and fall along the Z direction.

7. A method for adjusting multiple degrees of freedom in ship hull welding, characterized in that: The automatic assembly and positioning spot welding between the longitudinal bone (2) and the hull plate (1) using the multi-degree-of-freedom adjustment mechanism for hull welding as described in any one of claims 1-6 includes the following steps: a) A gripping component is provided at the bottom of the crossbeam (3), which grips the longitudinal bone (2) to be adjusted to a predetermined position on the hull plate (1); b) The longitudinal bone (2) is driven to rise and fall along the Z direction and rotate around the Ry direction by the tilting and lifting mechanism (6), so that the bottom surface of the web of the longitudinal bone (2) is in contact with the reference surface of the hull plate (1); c) The longitudinal bone (2) is driven to move along the X direction and rotate around the Rz direction by the tilting mechanism (5) in conjunction with the position adjustment mechanism (4), so that the longitudinal bone (2) is moved to the target position on the hull plate (1). The longitudinal bone (2) is aligned with the line on the target position of the hull plate (1) in the X direction; the Y-direction driving hydraulic cylinder (47) of the position adjustment mechanism (4) makes a corresponding action, so that the crossbeam (3) drives the longitudinal bone (2) to move in the Y direction, and aligns the longitudinal bone (2) with the line on the target position of the hull plate (1) in the Y direction; the flipping lifting mechanism (6) realizes the Z-direction lifting and Ry-direction rotation, the tilting mechanism (5) realizes the X-direction translation and Rz-direction rotation, and the position adjustment mechanism (4) realizes the Y-direction translation, together completing the position adjustment of the longitudinal bone (2) in five degrees of freedom in the X, Y, Z, Ry and Rz directions, so that the longitudinal bone (2) is precisely aligned with the line on the target position.

8. The method for adjusting multiple degrees of freedom in hull welding according to claim 7, characterized in that: The specific steps of step a are as follows: The bottom of the crossbeam (3) is provided with a gripping component, which grips the longitudinal bone (2) and places it on the predetermined position on the hull plate (1); an auxiliary positioning device (9) is provided at the predetermined position, and the web of the longitudinal bone (2) is inserted into the auxiliary positioning device (9) and adjacent to the line on the target position. Step b is as follows: There is an angle of inclination between the longitudinal rib (2) and the perpendicular line of the hull plate (1). θ At 1, to eliminate the tilt angle θ 1. The tilting and lifting mechanism (6) drives the connecting seat (65) to rotate around the slewing bearing (64) via the Ry-direction driving hydraulic cylinder (67) located at both ends of the crossbeam (3), thereby realizing the Ry-direction rotation of the crossbeam (3) and causing the longitudinal bone (2) to swing around the Y-axis to a position perpendicular to the hull plate (1), thus eliminating the tilt angle. θ 1; In eliminating tilt angle θ During process 1, the longitudinal bone (2) will undergo displacement in the Z direction. L 1; To compensate for this displacement L 1. The Z-direction drive hydraulic cylinder (66) of the tilting and lifting mechanism (6) drives the lifting box (61) to move up and down along the Z direction, adjusting the longitudinal bone (2) to a position that is vertically placed on the upper surface of the hull plate (1), so that the bottom surface of the web of the longitudinal bone (2) is in contact with the upper surface of the hull plate (1), providing a reference posture for subsequent line marking and alignment. Step c is as follows: The longitudinal bone (2) has an inclined angle in the horizontal plane. θ At 2 o'clock, in order to eliminate the tilt angle θ 2. The skew mechanism (5) drives the sliding brackets (53) at both ends of the crossbeam (3) to generate reverse displacement by the X-direction driving hydraulic cylinders (55) located at both ends of the crossbeam (3) moving in the same direction but at different speeds or in the opposite direction. This drives the bearing seats (57) to rotate relative to the sliding brackets (53) around the Rz direction through the shaft assembly (56). This causes the position adjustment mechanism (4) and the crossbeam (3) to generate a compensating deflection angle around the Rz direction. During this process, the crossbeam (3) generates an effective span change due to rigid deflection. The Y-direction driving hydraulic cylinder (47) of the position adjustment mechanism (4) extends and retracts, changing the total length of the position adjustment mechanism (4) and the crossbeam (3). This automatically compensates for the effective span change, ensuring that both ends of the crossbeam (3) and the attitude adjustment mechanism always maintain a reliable connection. This adjusts the orientation of the longitudinal bone (2) in the horizontal plane and eliminates the tilt angle. θ 2. Make the length direction of the longitudinal bone (2) sternite parallel to the extension direction of the scribe line; Step d is specifically as follows: Eliminating the tilt angle... θ During process 2, the longitudinal bone (2) will experience displacement deviations in the X and Y directions. L 2 and displacement deviation L 3. In order to eliminate displacement deviation L 2 and displacement deviation L 3. The skew mechanism (5) drives the sliding brackets (53) located at both ends of the crossbeam (3) to move synchronously along the X direction through the X-direction driving hydraulic cylinders (55) located at both ends of the crossbeam (3), thereby driving the position adjustment mechanism (4) and the crossbeam (3) to move together along the X direction in a straight line, moving the longitudinal bone (2) to the vicinity of the scribing line, so that the longitudinal bone (2) is aligned with the scribing line in the X direction; at the same time, the position adjustment mechanism (4) drives the crossbeam (3) to move along the Y direction through the Y-direction driving hydraulic cylinder (47), so that the web of the longitudinal bone (2) moves in the Y direction to a position that is completely coincident with the scribing line; at this point, the angular deviation between the longitudinal bone (2) and the scribing line in the X direction, Y direction and horizontal plane has been eliminated, and the assembly and positioning are completed.

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