A hoisting auxiliary turning-over device for ship propeller machining

Abstract

The application provides a hoisting auxiliary turning-over device for ship propeller processing, which comprises an electric beam bridge, the electric beam bridge comprises a cross beam, a hoisting support is arranged on the top of the cross beam in a sliding mode, two groups of turning-over hoisting structures are installed on the hoisting support, the two groups of turning-over hoisting structures are connected to the two ends of the propeller central axis respectively, and the attitude turning-over is realized through differential speed retraction of steel ropes; a locking structure is arranged on the driving shaft of each group of turning-over hoisting structures, the locking structure comprises a locking turntable and two groups of locking plates in the unlocking position or the locking position, locking arc grooves are arranged on the opposite surfaces of the locking plates, the winding state of the turning-over hoisting structure is provided with mechanical locking, a stabilizing structure is installed in the propeller, the attitude deflection in the hoisting process is inhibited through the gyroscopic effect generated by rotation, the two groups of turning-over hoisting structures, the locking structure and the stabilizing structure are electrically connected with a control module, the stable hoisting, reliable locking and controlled turning-over of the propeller are realized, the risk of workpiece bumping damage is reduced, and the operation safety is ensured.

Description

Technical Field

[0001] This invention belongs to the field of hoisting and turning technology, and more specifically, it relates to a hoisting auxiliary turning device for ship propeller processing. Background Technology

[0002] As a propulsion component of a power system, the manufacturing process of a ship propeller requires multiple reversals and transfers between workstations. Currently, the hoisting and turning operations of propellers mostly rely on general-purpose bridge cranes in conjunction with manual hook-and-loop operations.

[0003] Existing propeller hoisting and turning methods often employ two sets of hoists to suspend the two ends of the propeller, achieving the turning by alternately raising and lowering the hoisting ropes. However, it is difficult to ensure the synchronicity of the lifting and lowering at both ends during the turning process, making the propeller prone to lateral swaying and torsional wobbling. There is a lack of effective attitude stabilization structures, and the swing amplitude is large when hoisting large blades, which can easily cause workpiece collisions and safety accidents. Most hoisting equipment only has basic winding functions, and the locking of single-end lifting points during the turning process relies on a single braking of the winding mechanism, lacking redundant mechanical locking structures. Under long-term heavy loads, there is a risk of slippage. At the same time, the controllability of the workpiece attitude during the turning transition phase is weak, requiring repeated manual traction and adjustment, which not only prolongs the overall operation time but also easily causes damage to the propeller hub and blade surface due to external traction. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a hoisting auxiliary turning device for ship propeller processing. This device solves the technical problems of existing propeller hoisting and turning devices, which have large swing amplitudes during hoisting, are prone to lateral swaying and torsional shaking of the propeller, have weak controllability of workpiece posture, and are prone to workpiece collisions and blade damage.

[0005] The purpose and effect of the lifting and turning device for ship propeller processing of the present invention are achieved by the following specific technical means: A hoisting and turning device for ship propeller processing includes: An electric beam bridge is slidably installed on the wall of the working area. The electric beam bridge includes a crossbeam spanning between the two walls of the working area. A hoisting bracket is slidably installed on the top of the crossbeam. Two sets of tilting hoisting structures are installed on the top of the hoisting bracket for lifting and tilting the propeller. The two sets of tilting hoisting structures are respectively connected to both ends of the central axis of the propeller, and are used to achieve the attitude tilting of the propeller through the differential lifting of the two sets of tilting hoisting structures. Two sets of locking structures are installed on two sets of tilting and hoisting structures. Each locking structure includes a locking turntable and two sets of locking plates located in either the unlocked or locked position. The locking turntable is fixedly installed on the drive shaft of the tilting and hoisting structure and rotates synchronously with the drive shaft. The two sets of locking plates are movably installed on both sides of the locking turntable, and each adjacent side of the two sets of locking plates is provided with a locking arc groove corresponding to the locking turntable. When the two sets of locking plates are in the unlocked position, the rotation restriction on the drive shaft is released, allowing the corresponding tilting and hoisting structure to freely wind and unwind the steel rope to hoist the propeller. When the two sets of locking plates are in the locked position, the locking arc grooves on one side of the two sets of locking plates contact the outer circumferential surface of the locking turntable, restricting the circumferential rotation of the drive shaft and fixing the winding state of the corresponding tilting and hoisting structure, thus locking the hoisting horizontal height of the corresponding end of the propeller. A stabilizing structure is installed inside the propeller. The stabilizing structure includes a rotatable stabilizing flywheel. A flywheel cavity is provided inside the propeller. The stabilizing flywheel is rotatably installed inside the flywheel cavity. The stabilizing flywheel is coaxially distributed with the propeller and is used to suppress the attitude yaw of the propeller during the hoisting process through the gyroscopic effect generated by the rotation. The control module is mounted on the crossbeam, and the two sets of tilting and hoisting structures, locking structures and stabilizing structures are all electrically connected to the control module.

[0006] The above technical solution further includes: the tilting and hoisting structure includes a hoisting motor for rotating the drive shaft, a first mounting base is provided on the top of the hoisting bracket, the hoisting motor is mounted on the top of the first mounting base, and the shaft end of the hoisting motor is connected to the drive shaft through a first coupling.

[0007] The above technical solution further includes: a torque converter gearbox for speed reduction and torque increase is provided on the top of the hoisting bracket, the end of the drive shaft away from the hoisting motor is connected to the input end of the torque converter gearbox, a hoisting mounting frame is also provided on the top of the hoisting bracket, a first rotating seat is provided on one side of the hoisting mounting frame, a fixed wheel frame is connected to the bottom of the first rotating seat through a rotating shaft, and a first hoisting pulley for bearing the hoisting load is rotatably provided on one side of the fixed wheel frame; The hoisting frame is equipped with two sets of second mounting seats. Between the two sets of second mounting seats is a winding machine for winding up and unwinding steel rope to lift or lower the propeller. One side of the winding machine is connected to the output end of the torque converter gearbox via a second coupling. The steel rope on the winding machine passes through the two sets of second hoisting pulleys and is wound around the first hoisting pulley. The two sets of second hoisting pulleys are rotatably installed inside the hoisting housing. The bottom of the hoisting housing is equipped with a hook head for connecting the end lifting point of the propeller.

[0008] The above technical solution further includes: the locking structure also includes an electric push rod for driving the two sets of locking plates to move between the unlock position and the locking position, and a third mounting base is provided on the top of the hoisting bracket, and the electric push rod is installed on the top of the third mounting base; The top of the third mounting base is equipped with a locking support frame and two sets of second rotating seats. The bottom ends of the two sets of locking plates are rotatably connected to the two sets of second rotating seats respectively. The top of the locking support frame is rotatably connected to a locking strut. The top of the electric push rod is connected to one end of the locking strut. The top of one set of locking plates is rotatably connected to a linkage rod. The top of the linkage rod and the top of the other set of locking plates are rotatably connected to the other end of the locking strut. The hoisting motor and the electric push rod are both electrically connected to the control module.

[0009] The above technical solution further includes: when the electric push rod extends, it pushes the locking support rod to rotate around the top of the locking support frame, and the locking support rod and the linkage rod respectively pull the two sets of locking plates to rotate relative to each other to the locking position; When the electric push rod retracts, it pulls the locking support rod to rotate in the opposite direction around the top of the locking support frame. By pushing the locking support rod and the linkage rod, the two sets of locking plates are pulled to rotate in opposite directions to the unlock position.

[0010] The above technical solution further includes: the stabilizing structure also includes a flip-connecting buckle and a connecting shell, the propeller has a through hoisting hole, the connecting shell passes through the hoisting hole, both the connecting shell and the hoisting hole are conical, the outer side of the connecting shell contacts the inner side of the hoisting hole, the top of the connecting shell is provided with a first hoisting cover, a flywheel cavity is formed between the connecting shell and the first hoisting cover, the flywheel cavity is used to provide a sealed rotation space for the stabilizing flywheel, and the top of the first hoisting cover is provided with a first flip-connecting buckle for connecting with one of the flip-hoisting structures.

[0011] The above technical solution further includes: a connecting ring is provided on the top of the connecting shell, and multiple sets of first connecting rods are provided on the top of the connecting ring. The top ends of the multiple sets of first connecting rods pass through the first lifting cover and are connected to the locking nut to realize the detachable fixing of the first lifting cover and the connecting ring; the bottom of the connecting ring is connected to the second lifting cover through multiple sets of second connecting rods, and the bottom of the second lifting cover is provided with a second flip connecting buckle that is connected to another set of flip lifting structures.

[0012] The above technical solution further includes: a mounting groove is provided at the bottom of the second lifting cover, and a stabilizing motor for driving the rotation of the stabilizing flywheel is installed in the mounting groove; mounting holes are provided on both the second and first lifting covers, and rotary bearings are correspondingly provided on both sets of mounting holes; a flywheel shaft is rotatably inserted between the two sets of rotary bearings; the stabilizing flywheel is fixedly installed on the flywheel shaft and is used to generate gyroscopic attitude stabilizing torque by rotating synchronously with the flywheel shaft; an angle sensor for detecting the propeller lifting attitude angle is provided at the bottom of the first lifting cover; both the stabilizing motor and the angle sensor are electrically connected to the control module.

[0013] The above technical solution further includes: end beams are provided at both ends of the crossbeam, the end beams are used to fix the crossbeam as a whole on the walls on both sides of the work area, a rolling track is provided at the top of the crossbeam, a movable frame is provided around the hoisting bracket, a movable frame is provided at each of the four corners of the movable frame, and a movable wheel is provided in each movable frame corresponding to the rolling track, and the four sets of movable wheels are respectively connected to two sets of rolling tracks.

[0014] The above technical solution further includes: two sets of moving wheels at one end of the moving frame are connected by a rotating shaft, and two sets of fourth mounting seats are provided at the other end of the moving frame. Each of the two sets of fourth mounting seats is provided with a moving motor for driving the moving wheels to rotate. The shaft ends of the two sets of moving motors are respectively connected to the other two sets of moving wheels through two sets of third couplings, which are used to drive the hoisting bracket to move horizontally along the length of the crossbeam. The control module is electrically connected to the two sets of moving motors.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up a stabilizing structure, the gyroscopic effect generated by the rotation of the built-in stabilizing flywheel actively suppresses the lateral yaw and torsional sway of the propeller during hoisting and turning. Before operation, the flywheel cavity, which consists of the connecting shell, the first hoisting cover, and the second hoisting cover, is pre-installed in the propeller hoisting hole. The stabilizing motor drives the flywheel shaft and the stabilizing flywheel to rotate at high speed coaxially with the propeller. When the two sets of tilting hoisting structures differentially retract the steel rope, causing changes in the propeller attitude, or when there is a tendency to swing due to external disturbances, the rotating stabilizing flywheel continuously outputs a stabilizing torque to counteract irregular swaying and improve the attitude stability of the propeller in the air. This effectively avoids workpiece collisions and accidental impact damage to the rotor hub and blade surfaces, and also reduces the frequency of operators approaching for traction correction.

[0016] 2. The locking structure provides redundant mechanical locking functionality. After the propeller is lifted to the required height by the tilting hoisting structure, the control module drives the electric push rod to extend, pushing the locking support rod and linkage rod to move. This causes the two sets of locking plates to rotate relative to each other around the second rotating seat to the locking position. The locking arc groove contacts the outer circumferential surface of the locking turntable, forming a circumferential rigid constraint on the drive shaft. This locking action, based on the self-braking of the winding mechanism, adds a purely mechanical clamping lock, which can eliminate the risk of slippage under heavy load due to brake fatigue or hydraulic leakage. Even if the propeller remains in a single-end hovering posture for a long time, the steel rope winding state is reliably fixed, ensuring operational safety during the tilting process.

[0017] 3. The real-time attitude angle during the flipping is obtained by the angle sensor, and the speed and direction of the two sets of hoisting motors are adjusted synchronously to create a speed difference between the two steel cables, driving the propeller to flip smoothly around the center of gravity. When it is necessary to maintain or reach the target attitude midway, the locking structure immediately locks the corresponding drive shaft, while the stable flywheel continues to rotate to provide attitude-maintaining torque, so that the propeller attitude is maintained without manual pulling assistance. This eliminates the problems of asynchronous action at both ends and repeated swaying of attitude caused by the traditional manual alternating operation of the hoist, avoids the scratching and squeezing damage to the propeller surface caused by manual traction, and shortens the auxiliary time required for flipping and adjustment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the assembled structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention after it has been unfolded; Figure 3 This is a schematic diagram of the structure after the flipping hoisting structure and the locking structure are assembled in this invention; Figure 4 This is a schematic diagram of the structure after the flipping hoisting structure and locking structure are separated in this invention; Figure 5 This is a schematic diagram of the structure when the two sets of locking plates are in the locking position in this invention; Figure 6 This is a schematic diagram of the structure of the two sets of locking plates in the unlocked position in this invention; Figure 7 This is a schematic diagram of the assembled stable structure in this invention; Figure 8 This is a schematic diagram of the structure after the stable structure is split in this invention; Figure 9 This is a schematic diagram of the structure of the movable frame and the movable bracket after assembly in this invention; Figure 10 This is a schematic diagram of the structure after the movable frame and movable bracket are separated in this invention.

[0019] In the diagram, the correspondence between component names and drawing numbers is as follows: 101. Crossbeam; 102. Lifting bracket; 103. Propeller; 104. Control module; 105. End beam; 106. Rolling track; 107. Moving frame; 108. Moving frame; 109. Moving wheels; 110. Rotating shaft; 111. Fourth mounting base; 112. Moving motor; 113. Third coupling; 201. Locking turntable; 202. Locking plate; 203. Locking arc groove; 204. Electric push rod; 205. Third mounting base; 206. Locking support frame; 207. Second rotating seat; 208. Locking support rod; 209. Linkage rod; 301. Drive shaft; 302. Lifting motor; 303. First mounting base; 304. First coupling; 305. Torque gearbox; 306. Lifting mounting frame; 307. First rotating seat; 308. Fixed wheel frame; 309. First lifting pulley; 310. Second mounting base; 311. Winding machine; 312. Second coupling; 313. Lifting housing; 314. Lifting hook head; 315. Second lifting pulley; 401. Stabilizing flywheel; 402. Flywheel cavity; 403. First flip-over connecting buckle; 404. Connecting housing; 405. Lifting hole; 406. First lifting cover; 407. Connecting ring; 408. First connecting rod; 409. Second connecting rod; 410. Second lifting cover; 411. Stabilizing motor; 412. Mounting hole; 413. Rotary bearing; 414. Flywheel shaft; 415. Angle sensor; 416. Second flip-over connecting buckle. Detailed Implementation

[0020] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but should not be used to limit the scope of protection of the present invention.

[0021] Example:

[0022] As attached Figures 1 to 10 As shown: This invention provides a hoisting and turning auxiliary device for ship propeller processing, including an electric beam bridge. The electric beam bridge is slidably assembled on the pre-set assembly positions on both sides of the processing work area. The electric beam bridge includes a crossbeam 101, which is horizontally erected between the two side walls of the work area to form a cross-mounted load-bearing base. A hoisting bracket 102 is slidably installed on the top of the crossbeam 101. Two sets of tilting hoisting structures are arranged on the top surface of the hoisting bracket 102, one on each side. The lower ends of the steel cables of the two sets of tilting hoisting structures are respectively connected to the two endpoints of the central axis of the propeller 103. During operation, the winding speed of the two sets of tilting hoisting structures is adjusted to form a differential lifting action, with the winding length of the steel cable on one side increasing and the winding length of the steel cable on the other side decreasing, relying on the lifting points at both ends. The height difference drives the propeller 103 to complete an aerial attitude rotation. Two sets of locking structures are respectively assembled at the transmission positions of the two rotating hoisting structures. The locking structure includes a locking turntable 201 and two sets of locking plates 202. The locking turntable 201 is fixedly sleeved on the outside of the drive shaft 301 of the rotating hoisting structure. When the drive shaft 301 rotates, the locking turntable 201 rotates synchronously. The two sets of locking plates 202 are respectively set on the left and right sides of the locking turntable 201 and can move. The opposing surfaces of the two sets of locking plates 202 have locking arc grooves 203 that match the outer diameter of the locking turntable 201. When the two sets of locking plates 202 are in the unlocked position, the locking arc grooves 203 of the two sets of locking plates 202 are completely disengaged from the outer periphery of the locking turntable 201. The constraint on the circumferential rotation of the drive shaft 301 is released, allowing the drive shaft 301 to rotate freely in either the forward or reverse direction. The tilting and hoisting structure can then properly retract and extend the steel rope to complete the lifting and lowering of the propeller 103. When the two sets of locking plates 202 are in the locked position, the inner walls of the locking arc grooves 203 of the two sets of locking plates 202 are attached to the outer circumferential surface of the locking turntable 201. The arc surface clamping action restricts the circumferential rotation of the drive shaft 301, locking the current rotation angle of the drive shaft 301 and fixing the extension length of the steel rope corresponding to the tilting and hoisting structure. This maintains the horizontal hoisting height of the corresponding end of the propeller 103 and prevents the single-end steel rope from detaching and changing the workpiece posture. A stabilizing structure is installed inside the propeller 103. The stabilizing structure includes a... The rotating stabilizing flywheel 401 has a flywheel cavity 402 inside the propeller 103. The stabilizing flywheel 401 is coaxially mounted inside the flywheel cavity 402. The stabilizing flywheel 401 rotates continuously along the central axis of the propeller 103. During the rotation of the stabilizing flywheel 401, it continuously generates gyroscopic torque to counteract the lateral offset and torsional force caused by external forces during the hoisting process of the propeller 103, and to suppress the workpiece from swaying. The control module 104 is fixedly mounted on the side of the crossbeam 101. The control module 104 is electrically connected to the hoisting motors and locking structures of the two sets of tilting hoisting structures through cables, and wirelessly connected to the stabilizing structure to perform hoisting, locking, stabilizing, and tilting actions on the propeller 103.

[0023] In this embodiment, before the operator initiates the tilting operation via the control module 104, the control module 104 first controls the operation of the stabilizing structure. The stabilizing flywheel 401 is driven to a preset speed within the flywheel cavity 402. Utilizing the gyroscopic effect generated by the coaxial distribution of the stabilizing flywheel 401 and the propeller 103, an initial stabilizing torque is established before the propeller 103 leaves the ground. Subsequently, the control module 104 controls the two sets of tilting and hoisting structures to synchronously wind up the steel ropes, horizontally lifting the propeller 103 off the support surface. During the hoisting process, the stabilizing flywheel 401 continues to rotate, suppressing the lateral sway and torsional wobbling of the propeller 103 caused by center of gravity shift or airflow disturbance. Once the propeller 103 is raised to the safe tilting height, the control module 104 controls one set of locking structures to lock the locking plate 202 in the locked position. The locking grooves 203 on both sets of locking plates 202 simultaneously grip the outer circumference of the locking turntable 201 from both sides, restricting the circumferential rotation of the drive shaft 301. This mechanically locks the winding state of the tilting hoisting structure at this end, fixing the horizontal height of the propeller 103's top. Under the control of the control module 104, the other tilting hoisting structure continues to wind up the steel cable. The differential lifting speed of the two steel cables causes the propeller 103 to tilt around the locking end's lifting point. During the tilting, the gyroscopic effect of the stabilizing flywheel 401 continuously resists the asymmetric disturbances generated during the propeller 103's attitude change, preventing the propeller 103 from exhibiting unexpected lateral swaying. After the propeller 103 flips to the target posture, the two sets of locking plates 202 of the other locking structure simultaneously clamp the corresponding locking turntable 201, mechanically fixing the coiled state of the end that has completed the flipping action. When it is necessary to release the lock, the locking arc groove 203 disengages from the locking turntable 201, the drive shaft 301 returns to the free rotation state, and the two sets of flipping hoisting structures lower the propeller 103 to the designated work position, and then stop the rotation of the stabilizing flywheel 401.

[0024] The tilting and hoisting structure includes a hoisting motor 302, which outputs rotational power to drive the drive shaft 301 to rotate. A first mounting base 303 is mounted on the top surface of the hoisting bracket 102. The hoisting motor 302 is fixedly mounted above the first mounting base 303. The output shaft end of the hoisting motor 302 is connected to a first coupling 304, and the other end of the first coupling 304 is connected to the end of the drive shaft 301. The rotational power generated by the hoisting motor 302 is transmitted to the drive shaft 301 via the first coupling 304. A torque converter gearbox 305 is provided on the top of the hoisting bracket 102. The torque converter gearbox 305 is used for speed reduction and torque increase. The end of the drive shaft 301 away from the first coupling 304 is connected to the input port of the torque converter gearbox 305. The high-speed, low-torque input power is converted into low-speed, high-torque power after passing through the internal gear set of the torque converter gearbox 305. A hoisting mounting frame 306 is also provided on the top surface of the hoisting bracket 102. A first rotating seat 307 is provided on one side of the hoisting mounting frame 306. A fixed wheel frame 308 is connected to the bottom of the first rotating seat 307 via a rotating shaft. A first hoisting pulley 309 is rotatably mounted on the side of the fixed wheel frame 308. The first hoisting pulley 309 is used to bear the hoisting load transmitted by the steel rope. Two sets of second mounting seats 310 are spaced apart on the hoisting mounting frame 306. A winding machine 311 is fixedly mounted between the two sets of second mounting seats 310. The winding machine 311 is used to wind or release the steel rope, thereby realizing the hoisting and lowering operation of the propeller 103. The power input end of the winding machine 311 is connected to the second... The second coupling 312 is connected at one end to the output port of the torque converter gearbox 305. The power output from the torque converter gearbox 305 is transmitted to the winding machine 311 via the second coupling 312. A lifting steel rope is wound around the surface of the winding machine 311. The steel rope passes through two sets of second lifting pulleys 315, which are rotatably mounted inside the lifting housing 313. After passing through the two sets of second lifting pulleys 315, the steel rope is wound around the outside of the first lifting pulley 309. A hook head 314 is fixedly installed at the bottom of the lifting housing 313. The hook head 314 is used to engage the lifting points at both ends of the propeller 103. The lifting motor 302 is electrically connected to the control module 104. During operation, the control module 104 controls the lifting motor 302 to rotate in the forward or reverse direction. The motor 302 rotates in both forward and reverse directions. Power is transmitted to the torque converter gearbox 305 via the first coupling 304 and drive shaft 301. After torque conversion, the power drives the winding machine 311 to rotate synchronously via the second coupling 312. When the winding machine 311 rotates in the forward direction, it winds up the steel rope. The steel rope pulls the hook head 314 upward through the second lifting pulley 315 and the first lifting pulley 309, completing the lifting action of the propeller 103. When the winding machine 311 rotates in the reverse direction, it releases the steel rope. The hook head 314 moves downward with the steel rope, realizing the lowering operation of the propeller 103. The control module 104 controls the differential speed operation of the two sets of tilting lifting structures. There is a difference in the output speed of the two lifting motors 302. The winding and unwinding lengths of the steel ropes of the two sets of winding machines 311 are different, resulting in a height difference between the hook heads 314.The propeller 103 completes an aerial rotation. The first lifting pulley 309 and the two sets of second lifting pulleys 315 rotate synchronously with the steel cable, adjusting the force direction of the steel cable and reducing friction between the steel cable and the shell structure. The lifting shell 313 acts as a limiter and accommodator for the two sets of second lifting pulleys 315, restricting the lateral displacement range of the pulleys and maintaining the stability of the steel cable's transmission path.

[0025] In this embodiment, the hoisting motor 302 is started by the control module 104, and the drive shaft 301 is rotated by the first coupling 304. The power is transmitted to the input end of the torque converter 305 through the drive shaft 301. After the torque converter 305 completes the deceleration and torque increase, the power is transmitted to the winding machine 311 through the second coupling 312 from its output end. The winding machine 311 winds up or releases the steel rope. The steel rope passes in sequence through the two sets of second hoisting pulleys 315 in the hoisting housing 313 and the first hoisting pulley 309 on the fixed wheel frame 308. The corresponding end of the propeller 103 is driven by the hook head 314 to complete the lifting action. The control module 104 adjusts the speed and direction of the hoisting motors 302 of the two sets of tilting hoisting structures according to the differential lifting parameters set by the tilting process. While one set of winding machines 311 is winding, the other set of winding machines 311 releases the steel rope, creating a height difference between the two lifting points of the propeller 103, thereby achieving a tilting posture. The fixed wheel frame 308 adaptively swings through the rotating shaft at the bottom of the first rotating seat 307 to match the change in the direction of the steel rope traction force, reducing the lateral friction between the first hoisting pulley 309 and the steel rope. Furthermore, the winding machine 311 connected to the top of the propeller can be wound first, and when the propeller 103 is lifted off the ground to a specified height, the tilting hoisting structure of the winding machine 311 can be locked by the locking structure. Then, the other set of tilting hoisting structures can be started to wind, creating a height difference between the two lifting points of the propeller 103, thereby achieving a tilting posture.

[0026] The locking structure also includes an electric push rod 204, which outputs linear thrust to drive the two sets of locking plates 202 to switch between the unlocked and locked positions. A third mounting base 205 is installed on the top of the hoisting bracket 102. The base of the electric push rod 204 is fixedly mounted on the third mounting base 205. A locking support frame 206 and two sets of second rotating seats 207 are provided on the top surface of the third mounting base 205. The bottom ends of the two sets of locking plates 202 are respectively rotatably connected to the two sets of second rotating seats 207. Next, both sets of locking plates 202 can be rotated around the axis of the corresponding second rotating seat 207. The upper end of the locking support frame 206 is equipped with a rotating shaft structure. The middle part of the locking support rod 208 is rotatably connected to the rotating shaft. The telescopic end of the electric push rod 204 is connected to one end of the locking support rod 208. The upper end of one set of locking plates 202 is equipped with a rotating shaft. One end of the linkage rod 209 is connected to the rotating shaft. The other end of the linkage rod 209 and the top of the other set of locking plates 202 are rotatably connected to the locking support rod 208. The electric push rod 204 retracts, pulling the locking support rod 208 to rotate around the top pivot of the locking support frame 206. Simultaneously, the locking support rod 208 pulls the upper ends of the two sets of locking plates 202 outwards via the linkage rod 209. The two sets of locking plates 202 rotate outwards around the bottom second rotating seat 207 to the unlocked position. At this time, the locking grooves 203 of the two sets of locking plates 202 disengage from the outer periphery of the locking turntable 201, releasing the clamping constraint on the drive shaft 301. The electric push rod 204 then extends, pushing the lock... The fixed support rod 208 deflects in the opposite direction around the top pivot of the locking support frame 206. The locking support rod 208 pushes the upper ends of the two sets of locking plates 202 inward synchronously through the linkage rod 209. The two sets of locking plates 202 deflect inward around the bottom second rotating seat 207 and move to the locking position. The locking arc grooves 203 of the two sets of locking plates 202 fit and clamp the outer periphery of the locking turntable 201, restricting the circumferential rotation of the drive shaft 301. The steel rope extension length of the winding machine 311 remains fixed, and the hoisting height of the corresponding end of the propeller 103 does not change.

[0027] In this embodiment, when it is necessary to lock a certain tilting hoisting structure, the control module 104 first confirms that the winding machine 311 of the tilting hoisting structure has stopped operating and is braked. Then, it controls the corresponding electric push rod 204 to extend the telescopic rod. The electric push rod 204 extends outward, and its top pushes one end of the locking support rod 208, causing the locking support rod 208 to rotate around the rotation connection point at the top of the locking support frame 206. At the same time, the other end of the locking support rod 208 pulls the linkage rod 209 and another set of locking plates 202 directly connected to it. The linkage rod 209 then pulls... The locking plates 202 rotatably connected to it are rotated inward around the two sets of second rotating seats 207 at their bottom ends until the locking arc grooves 203 on the two sets of locking plates 202 are in contact with the outer circumferential surface of the locking turntable 201. The two sets of locking plates 202 apply a clamping force to the locking turntable 201 from the opposite sides, restricting the circumferential rotation of the locking turntable 201 and the drive shaft 301. At this time, the coiling state of the tilting hoisting structure is mechanically locked, and the hoisting horizontal height of the corresponding end of the propeller 103 cannot be changed due to external load disturbance. When it is necessary to unlock, the control module 104 controls the corresponding electric push rod 204 to retract the telescopic rod, pulls one end of the locking support rod 208 to make the locking support rod 208 rotate in the opposite direction around the top of the locking support frame 206, and the other end of the locking support rod 208 pushes the bottom ends of the two sets of locking plates 202 to rotate outward in opposite directions around the two sets of second rotating seats 207 through the linkage rod 209. The locking arc grooves 203 on the two sets of locking plates 202 disengage from the outer circumferential surface of the locking turntable 201, and the locking turntable 201 and the drive shaft 301 regain circumferential rotational freedom. The flipping hoisting structure can then re-execute the action of winding and unwinding the steel rope. During the propeller 103 flipping operation, the control module 104 automatically executes locking and unlocking actions according to the steps set in the flipping process. When one end of the propeller 103 needs to be used as a flipping fulcrum, the locking structure corresponding to that end is locked first, and the winding machine 311 at the other end winds up to complete the differential flipping. After the propeller 103 flips to the target posture, the control module 104 locks the locking structure corresponding to the other end, so that both ends of the propeller 103 are locked by the locking structure, thus completing the flipping of the propeller 103.

[0028] The stabilizing structure also includes a flip-connecting buckle 403 and a connecting housing 404. An axially penetrating lifting hole 405 is provided at the central axis of the propeller 103. The connecting housing 404 passes through the lifting hole 405. Both the outer contour of the connecting housing 404 and the inner contour of the lifting hole 405 are tapered. The outer tapered surface of the connecting housing 404 contacts the inner tapered surface of the lifting hole 405, which can evenly bear the lifting load of the propeller 103 during lifting operations, limiting radial offset and axial movement between the connecting housing 404 and the propeller 103, and ensuring the stability of the overall assembly structure. A first lifting cover 406 is provided at the top of the connecting housing 404, and the internal cavity of the connecting housing 404... The first lifting cover 406, together with its bottom, forms a closed flywheel cavity 402. The flywheel cavity 402 is an independent, sealed space that isolates and protects the internally mounted stabilizing flywheel 401, preventing external dust and impurities from entering and affecting its rotation. It also limits airflow leakage during the rotation of the stabilizing flywheel 401, providing space for its continuous and stable rotation. A first flip-connecting buckle 403 is fixedly installed at the top of the first lifting cover 406. This buckle serves as the upper lifting docking point, used to connect to the hook head 314 of one of the flip-lifting structures via a chain or sling, thus connecting to the outer shell. A connecting ring 407 is provided at the top of the first lifting cover 406. Multiple sets of first connecting rods 408 are provided at the top of the connecting ring 407. The rods of the multiple sets of first connecting rods 408 extend vertically upwards through a pre-set through hole in the first lifting cover 406. Locking nuts are fitted to the top of the rods of the multiple sets of first connecting rods 408. The cooperation between the locking nuts and the first connecting rods 408 enables the detachable and fixed assembly of the first lifting cover 406 and the connecting ring 407, facilitating the connection of the stabilizing structure and the propeller 103 by the operators. Multiple sets of second connecting rods 409 are provided at the bottom of the connecting ring 407. The bottom ends of the multiple sets of second connecting rods 409 are jointly connected to and fixed to the second lifting cover 410. A second flip-type cap is located at the center of the bottom end of the second lifting cover 410. The second flip-connecting buckle 416 serves as the lower hoisting docking point, used to connect with the hook head 314 of another set of flip-hoisting structures via chains or slings. The first flip-connecting buckle 403 and the second flip-connecting buckle 416 respectively dock with the two sets of flip-hoisting structures, so that the stabilizing structure is coaxially fixed at the center hoisting position of the propeller 103, ensuring that the stabilizing flywheel 401 and the propeller 103 always maintain a coaxial state, providing a structural foundation for subsequent hoisting and stabilizing operations. The upper and lower docking points of the stabilizing structure can cooperate with the differential lifting action of the two sets of flip-hoisting structures, and synchronously complete the attitude flipping with the propeller 103, and the structural assembly state will not loosen or shift as the workpiece flips.

[0029] In this embodiment, before the lifting and turning operation begins, the operator first inserts the entire stabilizing structure into the lifting hole 405 of the propeller 103. The conical outer wall of the connecting shell 404 is pushed in along the conical inner wall of the lifting hole 405. The conical surface fits together to automatically align the connecting shell 404 and the propeller 103 and form contact constraints along the axial and circumferential directions. After the connecting shell 404 is installed in place, the first lifting cover 406 and the second lifting cover 410 are installed in sequence. The top ends of multiple sets of first connecting rods 408 are then passed through the first lifting hole. The cover 406 is installed and locked with a locking nut, pressing the first lifting cover 406 and the connecting ring 407 together. The bottom of the connecting ring 407 passes through the second lifting cover 410 via multiple sets of second connecting rods 409 and is locked with a locking nut, connecting the second lifting cover 410 to the connecting housing 404. The first lifting cover 406, the connecting housing 404, and the second lifting cover 410 together form a closed flywheel cavity 402, stabilizing the flywheel 401 to obtain a protective rotation space within the flywheel cavity 402. Subsequently, the hook head 314 of one set of tilting lifting structures is connected to the first tilting connecting buckle 403 by a chain or sling, and the hook head 314 of the other set of tilting lifting structures is connected to the second tilting connecting buckle 416 by a chain or sling, completing the connection of the propeller 103 to the lifting points of the two sets of tilting lifting structures. Before lifting, the control module 104 activates the stabilizing structure. The stabilizing flywheel 401 is driven to a preset speed within the flywheel cavity 402 and begins to rotate continuously. Because the stabilizing flywheel 401 and propeller 103 are coaxially distributed through the conical fit between the connecting housing 404 and the lifting hole 405, the gyroscopic effect generated by the rotation of the stabilizing flywheel 401 directly acts on the propeller 103. After the propeller 103 is lifted off the support surface, it can suppress lateral sway caused by deviations in the lifting point position or disturbances in the center of gravity. During the flipping process, the control module 104 controls the differential speed winding and unwinding of the steel ropes in the two sets of flipping lifting structures. The propeller 103 flips around its central axis, and the stabilizing flywheel 401 maintains rotation throughout the flipping process. Its gyroscopic attitude-stabilizing torque continuously resists the asymmetrical swaying caused by changes in the propeller 103's attitude, limiting the propeller 103's sway amplitude to a safe range. After the flipping is completed, the propeller 103 is lifted to the target position and lowered. The control module 104 then controls the stabilizing structure to stop, and the stabilizing flywheel 401 stops rotating. When it is necessary to disassemble or assemble the propeller 103, loosen the locking nut on the second connecting rod 409 to separate the second lifting cover 410 from the connecting housing 404, and then the connecting housing 404 and the first lifting cover 406 can be taken out from the lifting hole 405.

[0030] The bottom of the second lifting cover 410 has an embedded mounting groove, in which a stabilizing motor 411 is installed. The stabilizing motor 411 outputs continuous rotational power to provide a power source for the rotation of the stabilizing flywheel 401. Corresponding positions of the second lifting cover 410 and the first lifting cover 406 have through mounting holes 412. Rotary bearings 413 are fixedly mounted inside both sets of mounting holes 412. A flywheel shaft 414 is mounted through the inner rings of the two sets of rotary bearings 413. 13 is used to reduce the frictional resistance during the rotation of the flywheel shaft 414, while limiting the radial runout and axial displacement of the flywheel shaft 414, maintaining the coaxiality of the rotation of the flywheel shaft 414, and stabilizing the flywheel 401 is fixedly mounted in the middle section of the flywheel shaft 414. The stabilizing flywheel 401 can follow the flywheel shaft 414 to maintain synchronous rotation. During the rotation of the stabilizing flywheel 401, it continuously outputs gyroscopic attitude stabilizing torque to counteract the attitude deviation trend of the propeller 103 during hoisting, flipping, and hovering. An angle sensor 415 is installed at the bottom of the first lifting cover 406. The angle sensor 415 is used to collect the tilt angle and deflection status data of the propeller 103 during the lifting process. The stabilizing motor 411 and the angle sensor 415 are electrically connected to the control module 104 wirelessly. During the operation, the control module 104 can store the allowable attitude deviation parameter range of the propeller lifting in advance. The angle sensor 415 collects attitude data and feeds it back to the control module 104. The control module 104 increases the speed of the stabilizing motor 411 proportionally to the degree of deviation between the attitude data and the preset parameter range, and increases the gyroscopic torque output by the stabilizing flywheel 401. When the attitude data collected by the angle sensor 415 returns to the preset parameter range, the control module 104 controls the stabilizing motor 411 to maintain the current speed. The attitude constraint effect is maintained throughout the entire operation process of lifting, hovering in the air, differential flipping, and lowering of the propeller 103, so as to avoid continuous swaying and torsional shaking of the propeller 103.

[0031] In this embodiment, before the propeller 103 is hoisted and tilted, the control module 104 controls the stabilizing motor 411 to start. The stabilizing motor 411 drives the flywheel shaft 414 to rotate. The flywheel shaft 414 receives radial and axial support through two sets of rotary bearings 413 in the mounting holes 412 of the first hoisting cover 406 and the second hoisting cover 410, respectively. The stabilizing flywheel 401 rotates synchronously with the flywheel shaft 414, reaching the set speed within the sealed flywheel cavity 402. The stabilizing flywheel 401 and the propeller 103 are coaxially distributed through the conical surface of the connecting housing 404. The gyroscopic attitude-stabilizing torque generated by the rotation acts on the propeller 103. The control module 104 receives the angle data of the propeller 103 collected by the angle sensor 415. When the two sets of tilting hoisting structures begin to tilt the propeller 103 under the control of the control module 104, the attitude angle of the propeller 103 changes. The angle sensor 415 transmits the attitude angle deviation to the control module 104 in real time. The control module 104 determines whether the propeller 103 exceeds the preset attitude tolerance range based on the deviation. If the deviation exceeds the threshold, it may be due to excessive tilting of the propeller 103, causing it to swing. At this time, the rotation speed of the stabilizing flywheel 401 is increased to increase the output of the gyro attitude stabilizing torque, limiting the swing amplitude of the propeller 103 within the safe operating range and preventing the propeller hub and blade surface of the propeller 103 from colliding with the surrounding tooling or support structure. After the propeller 103 flips to the target posture and is lowered to the work station, the control module 104 controls the stabilizing motor 411 to stop, and the stabilizing flywheel 401 gradually decelerates to a stop. When it is necessary to maintain the stabilizing structure, loosen the locking nut at the top of the first connecting rod 408, and remove the first lifting cover 406 and the second lifting cover 410 in sequence. The stabilizing motor 411, the rotary bearing 413, the flywheel shaft 414, the stabilizing flywheel 401 and the angle sensor 415 can be inspected or replaced.

[0032] Both ends of the crossbeam 101 are provided with end beams 105, which form an overall support and limiting structure for the crossbeam 101, enabling the crossbeam 101 to be installed on the walls on both sides of the work area and ensuring the stability of the overall load-bearing structure of the crossbeam 101. Two sets of parallel rolling tracks 106 are fixedly laid on the top plane of the crossbeam 101. A movable frame 107 is fixedly assembled on the outer periphery of the hoisting bracket 102. Movable frames 108 are fixedly installed at the four corners of the movable frame 107. The interior of each movable frame 108 is equipped with movable wheels 109 corresponding to the trajectory of the rolling tracks 106. The four sets of movable wheels 109 corresponds to two sets of rolling tracks 106 for rolling engagement, allowing linear displacement along the track 106. A rotating shaft 110 is mounted between the two sets of moving wheels 109 at one end of the moving frame 107 along its length. The rotating shaft 110 keeps the two sets of moving wheels 109 rotating synchronously, enabling follow-along movement. Fourth mounting seats 111 are fixedly installed on both sides of the other end of the moving frame 107. A moving motor 112 is installed on the outer side of each of the two fourth mounting seats 111. The moving motor 112 outputs driving power for movement. The output shaft ends are respectively connected to and equipped with third couplings 113. The other ends of the two sets of third couplings 113 are respectively connected to two sets of moving wheels 109 at corresponding positions for transmission, so that the rotational power of the moving motor 112 can be directly transmitted to the moving wheels 109, driving the moving wheels 109 to roll on the surface of the rolling track 106, thereby driving the moving frame 107 and the top hoisting bracket 102 to move horizontally in a straight line along the length of the crossbeam 101. The control module 104 establishes an electrical connection with the two sets of moving motors 112 through cables. During operation, the control module 104 synchronously controls the two sets of moving motors. When the two sets of moving motors 112 are running at synchronous speed, the hoisting bracket 102 can move smoothly laterally along the crossbeam 101 to achieve lateral alignment adjustment of the propeller 103 hoisting position. The control module 104 controls the two sets of moving motors 112 to stop outputting power, and the moving wheels 109 stop rolling. The hoisting bracket 102 can be fixed at the designated position of the crossbeam 101 to meet the position fixing requirements of each process of hoisting, alignment, flipping, and lowering of the propeller 103. The entire process is achieved through electronic control to realize travel adjustment and position locking, which is suitable for hoisting operation requirements of different processing positions.

[0033] In this embodiment, after the propeller 103 completes the hoisting connection and is lifted to the point of detachment from the support surface, the control module 104 controls the two sets of moving motors 112 to start according to the transfer path of the propeller 103 between each workstation in the processing area. The rotors of the two sets of moving motors 112 drive the corresponding moving wheels 109 to rotate through the two sets of third couplings 113. The two sets of moving wheels 109 act as driving wheels and roll along the rolling track 106 at the top of the crossbeam 101. They also drive the other set of moving wheels 109 on the same side to rotate synchronously through the rotating shaft 110. The four sets of moving wheels 109 are respectively installed in the moving frames 108 at the four corners of the moving frame 107, which together drive the moving frame 107 and the hoisting bracket 102 to move horizontally along the length of the crossbeam 101. The hoisting bracket 102 drives the two sets of flipping hoisting structures and the suspended propeller 103 to be moved horizontally above the target workstation. During the movement, the control module 104 adjusts the speed of the two sets of moving motors 112 in real time to keep them synchronized. If one set of moving motors 112 deviates in speed due to load differences, the control module 104 compares the speed signals fed back by the two sets of moving motors 112, reduces the drive current of the moving motor 112 with a higher speed, and increases the drive current of the moving motor 112 with a lower speed, so that the speeds of the two sets of moving motors 112 are restored to the same, ensuring that the hoisting bracket 102 moves smoothly along the rolling track 106 without deviating. When the hoisting bracket 102 moves to the preset position above the target workstation, the control module 104 controls the two sets of moving motors 112 to stop and enter the braking state, the moving wheels 109 stop rolling, and the propeller 103 hovers directly above the target workstation. Then, the control module 104 controls the two sets of tilting hoisting structures to lower and place the propeller 103 into place. When the work at this station is completed and the work needs to be transferred to the next station, the control module 104 starts the two sets of moving motors 112 again to drive the hoisting bracket 102 to move along the length of the crossbeam 101 to the next target position.

[0034] The specific usage and function of this embodiment are as follows: Before the lifting and turning operation begins, the stabilizing structure is installed into the lifting hole 405 of the propeller 103. The connecting shell 404 is pushed into the lifting hole 405. After the connecting shell 404 is installed in place, the first lifting cover 406 and the second lifting cover 410 are installed in sequence. The top ends of multiple sets of first connecting rods 408 are passed through the first lifting cover 406 and locked with locking nuts, so that the first lifting cover 406 and the connecting ring 407 are pressed and fixed. The bottom of the connecting ring 407 is passed through the second lifting cover 410 through multiple sets of second connecting rods 409 and locked with locking nuts, so that the second lifting cover 410 and the connecting shell 404 are connected. Subsequently, the hook head 314 of one set of tilting hoisting structures is connected to the first tilting connecting buckle 403 via chains or slings, and the hook head 314 of the other set of tilting hoisting structures is connected to the second tilting connecting buckle 416 via chains or slings, completing the connection between the propeller 103 and the lifting points of the two sets of tilting hoisting structures. The control stabilizing motor 411 starts to drive the flywheel shaft 414 to rotate, and the stabilizing flywheel 401 rotates with the flywheel shaft 414. Utilizing the gyroscopic effect generated by the coaxial distribution of the stabilizing flywheel 401 and the propeller 103, an initial stabilizing torque is established before the propeller 103 leaves the ground. The control module 104 controls the hoisting motors 302 of the two sets of tilting hoisting structures to start and drive the winding machine 311 to wind up the steel rope, so that the hook head 314 can drive the propeller 103 to be horizontally lifted off the support surface. During the hoisting process, the stabilizing flywheel 401 continues to rotate, suppressing the lateral sway and torsional wobbling of the propeller 103 caused by the shift of the center of gravity or airflow disturbance.Once the propeller 103 has been raised to the safe tilting height, the control module 104 first confirms, according to the tilting process, that the winding machine 311 of one set of tilting hoisting structures has stopped operating and is braked. Then, it controls the corresponding electric push rod 204 to extend. The electric push rod 204 extends outward, pushing one end of the locking support rod 208. The bottom ends of the two sets of locking plates 202 rotate inward relative to each other around the two sets of second rotating seats 207 to the locking position. The locking arc grooves 203 on both sets of locking plates 202 are attached to the outer circumferential surface of the locking turntable 201. The two sets of locking plates 202 apply a clamping force to the locking turntable 201 from opposite sides, restricting the circumferential rotation of the locking turntable 201 and the drive shaft 301. The winding state of this end of the tilting hoisting structure is mechanically locked, and the horizontal lifting height of the propeller 103 corresponding to this end is fixed. The control module 104 controls the winding machine 311 of the other end of the rotating hoisting structure to continue winding the steel rope. The propeller 103 rotates around the locking end of the hoisting point by the differential speed of the steel ropes at both ends. During the rotation, the gyro effect of the stabilizing flywheel 401 continuously resists the asymmetric disturbance generated during the attitude change of the propeller 103. The angle sensor 415 transmits the attitude angle deviation to the control module 104. The control module 104 determines whether the propeller 103 exceeds the preset attitude tolerance range based on the deviation. If the deviation exceeds the threshold, the control module 104 controls the stabilizing motor 411 to increase the rotation speed of the stabilizing flywheel 401 to increase the output of the gyro attitude stabilizing torque, thereby limiting the swing amplitude of the propeller 103 within the safe operating range and preventing the propeller hub and blade surface of the propeller 103 from colliding with the surrounding tooling or support structure. After the propeller 103 flips to the target posture, the control module 104 controls another locking structure to lock it. When the propeller 103 needs to be transferred between different workstations in the processing area, the control module 104 starts two sets of moving motors 112 according to the preset transfer path. The two sets of moving motors 112 drive the corresponding moving wheels 109 to roll along the rolling track 106. The moving frame 107 and the hoisting bracket 102 move horizontally along the length of the crossbeam 101, driving the two sets of flipping hoisting structures and the suspended propeller 103 to move horizontally above the target workstation. The control module 104 then controls the two sets of moving motors 112 to stop and brake. When the propeller 103 needs to be lowered to the workstation, the control module 104 controls the locking structure to unlock. The two sets of flipping hoisting structures simultaneously release steel ropes to lower the propeller 103 to the designated workstation. Then, the stabilizing motor 411 stops running, causing the stabilizing flywheel 401 to gradually decelerate to a stop.

[0035] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A hoisting and turning auxiliary device for ship propeller processing, characterized in that, include: An electric beam bridge is slidably installed on the wall of the working area. The electric beam bridge includes a crossbeam spanning between the two walls of the working area. A hoisting bracket is slidably installed on the top of the crossbeam. Two sets of tilting hoisting structures are installed on the top of the hoisting bracket for lifting and tilting the propeller. The two sets of tilting hoisting structures are respectively connected to both ends of the central axis of the propeller, and are used to achieve the attitude tilting of the propeller through the differential lifting of the two sets of tilting hoisting structures. Two sets of locking structures are installed on two sets of tilting and hoisting structures. Each locking structure includes a locking turntable and two sets of locking plates located in either the unlocked or locked position. The locking turntable is fixedly installed on the drive shaft of the tilting and hoisting structure and rotates synchronously with the drive shaft. The two sets of locking plates are movably installed on both sides of the locking turntable, and each adjacent side of the two sets of locking plates is provided with a locking arc groove corresponding to the locking turntable. When the two sets of locking plates are in the unlocked position, the rotation restriction on the drive shaft is released, allowing the corresponding tilting and hoisting structure to freely wind and unwind the steel rope to hoist the propeller. When the two sets of locking plates are in the locked position, the locking arc grooves on one side of the two sets of locking plates contact the outer circumferential surface of the locking turntable, restricting the circumferential rotation of the drive shaft and fixing the winding state of the corresponding tilting and hoisting structure, thus locking the hoisting horizontal height of the corresponding end of the propeller. A stabilizing structure is installed inside the propeller. The stabilizing structure includes a rotatable stabilizing flywheel. A flywheel cavity is provided inside the propeller. The stabilizing flywheel is rotatably installed inside the flywheel cavity. The stabilizing flywheel is coaxially distributed with the propeller and is used to suppress the attitude yaw of the propeller during the hoisting process through the gyroscopic effect generated by the rotation. The control module is mounted on the crossbeam, and the two sets of tilting and hoisting structures, locking structures and stabilizing structures are all electrically connected to the control module.

2. The hoisting auxiliary turning device for ship propeller processing according to claim 1, characterized in that: The tilting and hoisting structure includes a hoisting motor for rotating the drive shaft. A first mounting base is provided on the top of the hoisting bracket. The hoisting motor is mounted on the top of the first mounting base, and the shaft end of the hoisting motor is connected to the drive shaft through a first coupling.

3. The hoisting auxiliary turning device for ship propeller processing according to claim 2, characterized in that: The top of the hoisting bracket is equipped with a torque converter gearbox for speed reduction and torque increase. The end of the drive shaft away from the hoisting motor is connected to the input end of the torque converter gearbox. The top of the hoisting bracket is also equipped with a hoisting mounting frame. A first rotating seat is provided on one side of the hoisting mounting frame. A fixed wheel frame is connected to the bottom of the first rotating seat through a rotating shaft. A first hoisting pulley for bearing the hoisting load is rotatably provided on one side of the fixed wheel frame. The hoisting frame is equipped with two sets of second mounting seats. Between the two sets of second mounting seats is a winding machine for winding up and unwinding steel rope to lift or lower the propeller. One side of the winding machine is connected to the output end of the torque converter gearbox via a second coupling. The steel rope on the winding machine passes through the two sets of second hoisting pulleys and is wound around the first hoisting pulley. The two sets of second hoisting pulleys are rotatably installed inside the hoisting housing. The bottom of the hoisting housing is equipped with a hook head for connecting the end lifting point of the propeller.

4. The hoisting auxiliary turning device for ship propeller processing according to claim 2, characterized in that: The locking structure also includes an electric push rod for driving the two sets of locking plates to move between the unlock position and the locked position. A third mounting base is provided on the top of the hoisting bracket, and the electric push rod is installed on the top of the third mounting base. The top of the third mounting base is equipped with a locking support frame and two sets of second rotating seats. The bottom ends of the two sets of locking plates are rotatably connected to the two sets of second rotating seats respectively. The top of the locking support frame is rotatably connected to a locking strut. The top of the electric push rod is connected to one end of the locking strut. The top of one set of locking plates is rotatably connected to a linkage rod. The top of the linkage rod and the top of the other set of locking plates are rotatably connected to the other end of the locking strut. The hoisting motor and the electric push rod are both electrically connected to the control module.

5. The hoisting auxiliary turning device for ship propeller processing according to claim 4, characterized in that: When the electric push rod extends, it pushes the locking support rod to rotate around the top of the locking support frame. The locking support rod and the linkage rod respectively pull the two sets of locking plates to rotate relative to each other to the locking position. When the electric push rod retracts, it pulls the locking support rod to rotate in the opposite direction around the top of the locking support frame. By pushing the locking support rod and the linkage rod, the two sets of locking plates are pulled to rotate in opposite directions to the unlock position.

6. The hoisting auxiliary turning device for ship propeller processing according to claim 1, characterized in that: The stabilizing structure also includes a flip-connecting buckle and a connecting shell. The propeller has a through hoisting hole, and the connecting shell passes through the hoisting hole. Both the connecting shell and the hoisting hole are conical. The outer side of the connecting shell contacts the inner side of the hoisting hole. A first hoisting cover is provided on the top of the connecting shell. A flywheel cavity is formed between the connecting shell and the first hoisting cover. The flywheel cavity is used to provide a sealed rotation space for the stabilizing flywheel. A first flip-connecting buckle is provided on the top of the first hoisting cover for connecting with one of the flip-hoisting structures.

7. A hoisting auxiliary turning device for ship propeller processing according to claim 6, characterized in that: A connecting ring is provided on the top of the connecting shell, and multiple sets of first connecting rods are provided on the top of the connecting ring. The top of each set of first connecting rods passes through the first lifting cover and is connected to the locking nut to realize the detachable fixation of the first lifting cover and the connecting ring. The bottom of the connecting ring is connected to the second lifting cover through multiple sets of second connecting rods. The bottom of the second lifting cover is provided with a second flip connecting buckle that connects to another set of flip lifting structures.

8. The hoisting auxiliary turning device for ship propeller processing according to claim 7, characterized in that: The bottom of the second lifting cover has an installation groove, in which a stabilizing motor for driving the rotation of the stabilizing flywheel is installed. Both the second and first lifting covers have installation holes, and each set of installation holes has a corresponding rotary bearing. A flywheel shaft rotates between the two sets of rotary bearings. The stabilizing flywheel is fixedly installed on the flywheel shaft and is used to generate gyroscopic attitude stabilizing torque by rotating synchronously with the flywheel shaft. The bottom of the first lifting cover has an angle sensor for detecting the propeller's lifting attitude angle. Both the stabilizing motor and the angle sensor are electrically connected to the control module.

9. A hoisting auxiliary turning device for ship propeller processing according to claim 1, characterized in that: Both ends of the crossbeam are equipped with end beams, which are used to fix the crossbeam as a whole on the walls on both sides of the work area. A rolling track is provided on the top of the crossbeam, and a movable frame is provided around the hoisting bracket. Movable frames are provided at the four corners of the movable frame, and movable wheels are provided in the movable frames corresponding to the rolling track. The four sets of movable wheels are respectively connected to two sets of rolling tracks.

10. A hoisting auxiliary turning device for ship propeller processing according to claim 9, characterized in that: Two sets of moving wheels at one end of the mobile frame are connected by a rotating shaft. Two sets of fourth mounting seats are provided at the other end of the mobile frame. Each of the two sets of fourth mounting seats is equipped with a mobile motor for driving the moving wheels to rotate. The shaft ends of the two sets of mobile motors are respectively connected to the other two sets of moving wheels through two sets of third couplings, which are used to drive the hoisting bracket to move horizontally along the length of the crossbeam. The control module is electrically connected to the two sets of mobile motors.

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