阅读说明：本技术 一种具有移动顺应性的船舶总段对接协同装配架车 (Boats and ships total section butt joint is assembled frame car in coordination with remove compliance ) 是由 王皓 陈根良 唐礼庆 唐楚禹 李聪 于 2020-06-15 设计创作，主要内容包括：本发明公开了一种具有移动顺应性的船舶总段对接协同装配架车,包括单自由度轨道协同装配架车、转接板、一号双移动平台、二号双移动平台、三号双移动平台、鞍座、支架以及末端调姿平台；其中,所述转接板固定安装于所述单自由度轨道协同装配架车上,所述三个双移动平台按圆周120度布置于转接板上,三个所述鞍座分别设置于所述三个双移动平台上,所述支架设置于所述鞍座上,所述末端调资平台设置于所述支架上。本发明使每台架车均具有了很好的移动顺应性,提高了架车的承载能力,并减小了装配时的接触应力,同时可以通过阵列组合架车,来适应不同形状与大小的船舶自动化装配,精度更高,效率更高,安全性与可靠性更高。(The invention discloses a ship block docking cooperative assembly frame vehicle with movement compliance, which comprises a single-degree-of-freedom rail cooperative assembly frame vehicle, a transfer plate, a first double-moving platform, a second double-moving platform, a third double-moving platform, a saddle, a support and a tail end posture adjusting platform, wherein the transfer plate is arranged on the transfer plate; the adapter plate is fixedly installed on the single-degree-of-freedom rail collaborative assembly trolley, the three double-moving platforms are arranged on the adapter plate according to 120 degrees of the circumference, the three saddles are respectively arranged on the three double-moving platforms, the support is arranged on the saddles, and the tail end resource adjusting platform is arranged on the support. The invention ensures that each trolley has good movement compliance, improves the bearing capacity of the trolley, reduces the contact stress during assembly, can adapt to the automatic assembly of ships with different shapes and sizes by the array combined trolley, and has higher precision, higher efficiency, higher safety and reliability.)

1. A ship block docking cooperative assembly frame vehicle with movement compliance is characterized by comprising a single-degree-of-freedom rail cooperative assembly frame vehicle, a transfer plate, a first double-moving platform, a second double-moving platform, a third double-moving platform, a saddle, a support and a tail end posture adjusting platform; the adapter plate is fixedly installed on the single-degree-of-freedom rail collaborative assembly trolley, the first double-moving platform, the second double-moving platform and the third double-moving platform are arranged on the adapter plate according to 120 degrees of the circumference, the saddle is arranged on the first double-moving platform, the second double-moving platform and the third double-moving platform respectively, the support is arranged on the saddle, and the tail end financing platform is arranged on the support.

2. The mobile compliant docking cooperative frame work vehicle as in claim 1 wherein said saddle is connected to said frame by a revolute pair.

3. The vessel block docking cooperative assembly trolley with mobile compliance of claim 1 wherein the cradle and the end pose platform are connected by a ball set.

4. The vessel block docking cooperative assembly trolley with mobile compliance of claim 1, wherein the single degree of freedom rail cooperative assembly trolley comprises: the device comprises a motion control cabinet, a vehicle shell, a rear wheel spindle, a chassis, a track wheel and a front wheel spindle; the chassis is fixed with the shell through bolts, the rear wheel spindle and the front wheel spindle are mounted on the shell, the wheel spindles are mounted and connected with the four track wheels, and the track wheels can move along the track in a single degree of freedom.

5. The vessel block docking cooperative-assembly trolley with mobile compliance of claim 4, wherein the motion control cabinet is fixed on the chassis, and the motion control cabinet is configured to control the motion of the driving motor of the single-degree-of-freedom rail cooperative-assembly trolley and the driving motor on the dual-moving platform.

6. The vessel block docking cooperative assembly trolley with mobile compliance of claim 1 wherein said first double mobile platform comprises: the device comprises a lower platform driving motor, a moving platform seat, an I-shaped roller guide rail, an outer lateral transverse roller, a lower platform sliding seat, an upper platform moving module, an upper platform driving motor, a screw rod and an inner lateral vertical roller; the movable platform base is fixed on the adapter plate, the I-shaped roller guide rails are symmetrically arranged in the movable platform base, the lead screw is arranged on the inner side of each I-shaped roller guide rail, the lower platform sliding seat is connected with the lead screw, the lower platform driving motor is arranged on the I-shaped roller guide rail at one end of the movable platform base, the lower platform sliding seat is fixed with the upper platform moving module through a bolt, two pairs of outer transverse rollers are matched with the lower platform sliding seat through bearings to be transversely symmetrically arranged, two pairs of inner vertical rollers are matched with the lower platform sliding seat through bearings to be vertically symmetrically arranged, the upper platform driving motor is arranged at one end of the upper platform moving module through rolling guide and plays a supporting role.

7. The vessel block docking cooperative assembly trolley with mobile compliance of claim 6, wherein the lower platform drive motor can drive the lower platform carriage to move in a direction parallel to the drum track.

8. The vessel block docking cooperative assembly trolley according to claim 6, wherein the upper platform driving motor can drive the upper platform moving module to move in a direction perpendicular to the drum track.

9. The mobile compliant docking cooperative mounting trolley according to claim 6 wherein said lower platform slide is connected to said screw pair.

10. The vessel block docking cooperative assembly trolley with mobile compliance of claim 1 wherein the first double moving platform, the second double moving platform and the third double moving platform are identical in structure.

Technical Field

The invention relates to the field of automatic assembly and pairing of large equipment, in particular to a ship block docking cooperative assembly trolley with mobile compliance.

Background

At present, the assembly and butt joint of large ship parts in China are mostly realized by means of visual and hand cranking. The two components are typically placed on a carrier or platform, respectively, and a ring of corresponding hole-pin mating structures is formed on the abutting ring surfaces of the two components. By pushing one part to slowly approach the other part, the corresponding hole pin posture is manually adjusted while observing, and the part is inserted after being aligned. However, this method has many problems, such as low precision of pin fitting in the mating surface, large assembling stress, no universality, and low efficiency. In actual work, the assembling equipment is poor in flexibility and easy to damage assembling parts. Aiming at the problem, an automatic control cooperative assembly frame trolley with three degrees of freedom is produced, but a large ship component is generally in a curved surface structure, and a contact point of the frame trolley and the component needs to be a surface instead of a point or a line, so that the curved surface radian and the inclination angle of the large ship component cannot be conformed, and the stress of the contact point of the frame trolley and the large ship component is overlarge in the assembly process, so that the assembly precision is influenced.

Therefore, those skilled in the art are dedicated to develop a docking cooperative fitting driving method which can cooperatively control all the vehicle lifting according to the shape and size planning combination array of the ship components, thereby realizing the fitting of the ship components with different shapes and sizes.

Disclosure of Invention

In view of the above-mentioned defects of the prior art, the technical problems to be solved by the present invention are high operation precision, high automation degree, large movement range, wide adaptable assembly environment and the like, and each trolley has a compliant capability and can be assembled with components.

In order to achieve the aim, the invention provides a ship block butt joint cooperative assembly trolley with movement compliance. The device is characterized by comprising a single-degree-of-freedom rail cooperative assembly frame vehicle, a transfer plate, a first double-moving platform, a second double-moving platform, a third double-moving platform, a saddle, a support and a tail end posture adjusting platform; the adapter plate is fixedly installed on the single-degree-of-freedom rail collaborative assembly trolley, the first double-moving platform, the second double-moving platform and the third double-moving platform are arranged on the adapter plate according to 120 degrees of the circumference, the saddle is arranged on the first double-moving platform, the second double-moving platform and the third double-moving platform respectively, the support is arranged on the saddle, and the tail end financing platform is arranged on the support.

Further, the saddle and the support are connected through a revolute pair.

Further, the support is connected with the tail end posture adjusting platform through a ball pair.

Further, the single degree of freedom rail cooperative assembly unwheeling includes: the device comprises a motion control cabinet, a vehicle shell, a rear wheel spindle, a chassis, a track wheel and a front wheel spindle; the chassis is fixed with the shell through bolts, the rear wheel spindle and the front wheel spindle are mounted on the shell, the wheel spindles are mounted and connected with the four track wheels, and the track wheels can move along the track in a single degree of freedom.

Further, the motion control cabinet is fixed on the chassis and is arranged to control the motion of a driving motor of the single-degree-of-freedom rail cooperative assembly frame vehicle and a driving motor on the double-moving platform.

Further, the first dual-mobile platform comprises: the device comprises a lower platform driving motor, a moving platform seat, an I-shaped roller guide rail, an outer lateral transverse roller, a lower platform sliding seat, an upper platform moving module, an upper platform driving motor, a screw rod and an inner lateral vertical roller; the movable platform base is fixed on the adapter plate, the I-shaped roller guide rails are symmetrically arranged in the movable platform base, the lead screw is arranged on the inner side of each I-shaped roller guide rail, the lower platform sliding seat is connected with the lead screw, the lower platform driving motor is arranged on the I-shaped roller guide rail at one end of the movable platform base, the lower platform sliding seat is fixed with the upper platform moving module through a bolt, two pairs of outer transverse rollers are matched with the lower platform sliding seat through bearings to be transversely symmetrically arranged, two pairs of inner vertical rollers are matched with the lower platform sliding seat through bearings to be vertically symmetrically arranged, the upper platform driving motor is arranged at one end of the upper platform moving module through rolling guide and plays a supporting role.

Further, the lower deck driving motor may drive the lower deck slide to move in a direction parallel to the drum rail.

Further, the upper stage driving motor may drive the upper stage moving module to move in a direction perpendicular to the drum rail.

Further, the lower platform sliding seat is connected with the screw rod screw pair.

Furthermore, the first double-moving platform, the second double-moving platform and the third double-moving platform have the same structure.

Compared with the prior art, the invention provides the ship block butt joint cooperative assembly trolley with the movement compliance, so that each trolley has good compliance, the contact stress during assembly is reduced, the bearing capacity is improved, different arrays of trolleys can be freely combined, and ship parts in different shapes and sizes can be assembled. Meanwhile, multiple trolley lifting machines are automatically and cooperatively assembled, the laser tracker or the IGPS is adopted to measure the pose of a component, the automatic high-precision assembly replaces the existing visual hand-operated capital adjustment, and the automatic high-precision assembly has higher precision, higher efficiency and higher safety and reliability.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a general block diagram of a preferred embodiment of the present invention;

FIG. 2 is a block diagram of a single degree of freedom rail cooperating mounting cart in accordance with a preferred embodiment of the present invention;

FIG. 3 is a block diagram of a first dual-mobility platform in accordance with a preferred embodiment of the present invention;

FIG. 4 is a schematic diagram of a dual motion stage arrangement according to another preferred embodiment of the present invention;

FIG. 5 is a schematic view of a docking assembly of a ship according to another preferred embodiment of the present invention;

FIG. 6 is an elevation view of a docking assembly of a vessel on site in accordance with another preferred embodiment of the present invention;

fig. 7 is a top plan view of the on-site vessel docking assembly in accordance with another preferred embodiment of the present invention.

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.