Intelligent automatic assembling and tightening method for large core and shell

Abstract

The invention provides an intelligent automatic assembling and tightening method for a large core and a shell. The problems that in traditional assembling, efficiency is low, precision is unstable, and potential safety hazards are prominent are solved. According to the method, a control unit is in linkage with a core processing mechanism, a shell processing mechanism, a tightening operation mechanism and other assemblies, and full-process automatic operation from part box discharging, overturning, initial assembling, precise butt joint, automatic tightening to finished product box feeding is achieved. The core body processing mechanism completes core body feeding, overturning and centering. Core body hoisting and screw preassembling are achieved through the tightening operation mechanism, and the core body and the shell are driven to be in precise butt joint and automatically tightened; and finally, finished product box returning is completed without manual intervention. According to the method, through real-time feedback adjustment of the high-precision detection part, stable assembly precision is ensured, meanwhile, through multi-mechanism cooperative linkage, the assembly efficiency is greatly improved, potential safety hazards are eliminated, and the method is suitable for automatic assembly of large precision parts.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical assembly, and in particular relates to an intelligent automatic assembly and tightening method of a large core and a shell. Background Art

[0002] The assembly of large mechanical components, particularly those involving large cores and housings, has long faced numerous technical challenges that have limited production efficiency, product quality consistency, and operational safety. First, the traditional assembly process relies primarily on manual labor, which is inefficient. Large cores and housings are typically heavy and large in size. For example, a core is 2500mm long and 360mm in diameter (a length-to-diameter ratio of approximately 7:1), and a housing is 2500mm long and 840mm in diameter (a length-to-diameter ratio of approximately 3:1). This requires frequent changes in lifting equipment to accommodate different workstations and operational requirements. Manual operation is not only time-consuming but also results in inconsistent assembly speeds due to differences in operator proficiency. For example, manual lifting and alignment require multiple adjustments, and a single piece can often take hours or longer to assemble, severely limiting production efficiency. This problem is particularly prominent in high-efficiency industries such as aerospace and new energy equipment. During the traditional assembly process, operators must manually handle and adjust heavy components, and each workstation change requires reconfiguring the lifting equipment or fixtures, adding significant non-productive time. In addition, due to the complex structure of the core and shell, for example, the core flange is provided with a light hole for lifting and a lifting threaded hole on the rear end face, and the front and rear end faces and flanges of the shell are provided with threaded holes, manual operation is difficult to quickly complete clamping and positioning, resulting in an extension of the production cycle.

[0003] Secondly, the accuracy of traditional assembly methods is unstable. Due to the complex structure of large cores and shells, manual centering makes it difficult to ensure that the flange holes of the core and shell are accurately aligned. Differences in operator experience and technical levels lead to large centering errors, making it difficult to ensure the quality consistency of the assembled product. For example, manual centering may cause the hole position deviation to exceed the expected range, affecting the reliability of the screw connection and thus reducing the overall performance of the product. In the aerospace field, slight deviations in assembly accuracy may lead to a decrease in the mechanical properties of the components and even cause safety hazards. In addition, multiple adjustments to the centering position not only increase the operation time, but may also cause surface wear or slight deformation of the components due to repeated adjustments, further affecting the assembly quality. In the existing technology, some semi-automatic equipment attempts to improve the centering accuracy through mechanical limiters or simple positioning devices, but these devices are usually unable to adapt to cores and shells with complex structures, making it difficult to achieve high-precision hole alignment and centering. Manual assisted adjustment is still required, resulting in the problem of unstable accuracy not being fundamentally solved.

[0004] Third, safety hazards are a major problem with traditional assembly methods. Large cores and shells usually weigh hundreds of kilograms or even several tons, and there is a significant risk of collision during manual lifting and handling. Operators need to participate in lifting, clamping, tightening and other operations at close range, which increases personal safety hazards. For example, the core may shake due to instability during the lifting process, causing collisions with the shell or other equipment, damaging components or endangering the safety of operators. In addition, frequent manual operations may also cause fatigue and increase the probability of errors and accidents. In some extreme cases, accidental slippage or loss of control of heavy components may lead to serious safety accidents. In the existing technology, although some gantry assembly equipment has achieved automated operation of a single workstation, it lacks linkage control of the entire process. Operators still need to intervene closely in certain links, such as workstation switching or manual correction, resulting in safety hazards that cannot be completely eliminated.

[0005] Some existing automated equipment attempts to address these issues, but with limited success. For example, gantry-style assembly equipment implements automated operations at certain single workstations, such as using robotic arms to clamp or tighten components. However, these systems are typically optimized for a single process and lack comprehensive automated control of the entire process, from component removal to finished product delivery. Switching between workstations still requires manual intervention, resulting in limited overall efficiency gains. Furthermore, existing automated equipment lacks accuracy in alignment. For example, the positioning devices used in some equipment rely on simple mechanical stops or fixtures, making them difficult to adapt to the complex structures of large cores and shells, and unable to achieve high-precision hole alignment and centering. Furthermore, safety improvements to existing equipment are insufficient, with some operations still requiring close human presence, failing to completely eliminate the risk of collisions during lifting and handling. For example, while some semi-automated systems reduce the frequency of manual lifting, they still require manual adjustment of fixtures or verification of alignment, increasing operational complexity and safety risks. Existing technologies still lack full-process automation solutions for large components. The entire process, from component unpacking, flipping, initial installation, precise docking to automatic tightening and finished product packaging, still requires manual participation, failing to achieve true unmanned operation.

[0006] Therefore, there is an urgent need for a large core and shell assembly method that can achieve full-process automation, high-precision alignment and safe operation, so as to solve the problems of low efficiency, unstable precision and prominent safety hazards of traditional manual assembly, and at the same time meet the needs of aerospace, new energy equipment and other fields for high-quality and high-efficiency assembly. Summary of the Invention

[0007] To solve the above problems, the purpose of the present invention is to solve the problems of low efficiency, unstable precision and prominent safety hazards of traditional manual assembly, and to provide a large core and shell intelligent automatic assembly and tightening method to realize the full process automation from component unpacking, flipping, initial installation, precise docking, automatic tightening to finished product packaging, without the need for human intervention.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A method for intelligent automatic assembly and tightening of a large core and a shell. The flange of the core is provided with a light hole for hoisting, and its rear end face is provided with a hoisting threaded hole; the front end face and rear end face of the shell are both provided with threaded holes for installation, and the flange of the shell is provided with a threaded hole. During assembly, the core is inserted into the shell from the rear end face, and fixed assembly is achieved by screwing the core flange and the shell flange. The assembly process includes the following steps:

[0010] Shell loading: After the control unit receives the assembly start command, it drives the shell processing mechanism to move to the top of the shell, and adjusts the shell clamping component by rotating the adjustment component so that the axis of the shell clamping component coincides with the axis of the shell; after descending until the shell end face is flush with the shell clamping component, the shell clamping component is rotated, and the hole position deviation is fed back in real time by the high-precision detection component, and it is automatically adjusted to alignment and then locked; the connector is connected to the shell by the automatic tightening component to complete the shell clamping; after the shell is driven to move up a preset distance, the rotary drive component drives the shell clamping component to rotate, causing the shell to flip 90°; then the shell is moved above the shell support position, slowly descended to the specified height, and the centering adjustment component of the shell support position completes the centering and correction of the shell position;

[0011] Core loading: The control unit triggers the core loading process, drives the core handling mechanism to move to the top of the core, and adjusts the core clamping component by rotating the adjustment component so that the axis of the core clamping component coincides with the axis of the core; after descending until the core clamping component is flush with the core, rotate the core clamping component, and lock the position after detecting that the hole positions of the core clamping component and the core flange are aligned, and the connector is passed through the light hole of the core flange and fixed by the automatic tightening component to complete the core clamping; after driving the core to move up a preset distance, the core clamping component is driven by the rotary drive component to rotate, so that the core is flipped 90°; then the core is moved to the top of the core support position, slowly descends until the top of the core support position contacts the core flange and stops, and the core position is completed by the centering adjustment component of the core support position;

[0012] Core hoisting: After the control unit completes the core loading process, the core hoisting process is automatically triggered, driving the tightening mechanism to move to the top of the core. Based on the data fed back by the high-precision detection component, the lifting connection component is first aligned with the lifting hole on the rear end of the core and installed and fixed. The automatic tightening component is then driven in the reverse direction to remove the core clamping component. Finally, the multi-axis tightening component pre-installs the connecting screws of the core flange into the corresponding light holes.

[0013] Assembly of the core and shell: After the core is hoisted, the control unit links the tightening operation mechanism to execute the core and shell assembly process. The core is moved to the top of the shell by the hoisting connection component, and the center of the core and shell are adjusted according to the position detection data of the high-precision detection component. After centering, the core is lowered and slowly enters the shell. When the gap between the flange positioning structure of the core and the shell is 3-5mm, it stops. The high-precision detection component is used to adjust again so that the threaded hole of the shell flange corresponds to the hole position of the core flange. After continuing to descend until the flange is in contact, the multi-axis tightening component is used to complete the tightening of the flange connection screws. Finally, the hoisting connection component is disassembled.

[0014] Finished product return to box: After the assembly completion signal is fed back to the control unit, the finished product return process is started. The shell handling mechanism clamps the assembled finished product and moves it upward. The rotary drive component flips the finished product to a horizontal state, moves it to the packaging box and places it; finally, the reverse drive automatically tightens the component to complete the disassembly of the shell clamping component.

[0015] Furthermore, the control unit controls the core handling mechanism, shell handling mechanism and tightening mechanism in a coordinated manner during the assembly process, thereby achieving full-process automation.

[0016] The control unit is used to receive instructions and coordinate the linkage operation of the core processing mechanism, the shell processing mechanism and the tightening operation mechanism through signal connection;

[0017] The core processing mechanism is installed on the core processing gantry and is located above the core packaging box; the core processing gantry is slidably arranged on the gantry slide rail, and the core processing mechanism is linked with the core processing gantry to realize the loading, turning and centering of the core;

[0018] The shell processing mechanism is installed on the shell processing gantry, which is located above the shell packaging box. The shell processing gantry is also slidably arranged on the gantry slide rail. The shell processing mechanism and the shell processing gantry are linked to realize the loading, turning and centering of the shell;

[0019] The tightening operation mechanism is installed on the core processing gantry and shares the gantry with the core processing mechanism, and is used to realize the lifting of the core, pre-installation of screws, and precise docking and automatic tightening of the core and the shell.

[0020] Furthermore, the core processing mechanism is a core shifting and flipping slide, which moves on the core processing gantry through a slide seat and a slide slider, and moves up and down through the slide rail; a servo turntable is equipped at the bottom of the slide, which is connected to the rotary connecting block through a rotary shaft, and the rotary connecting block is connected to the beam through another rotary shaft, and the lower end of the beam is equipped with a semi-arc plate and an automatic clamping hoop mechanism, and the semi-arc plate is connected to the beam through a circular arc slide groove on the beam, and the semi-arc plate can rotate circumferentially relative to the beam and has a self-locking mechanism; a loading and unloading tightening mechanism is installed on the semi-arc plate for applying torque to achieve tightening and disassembly of the bolts.

[0021] Furthermore, the shell processing mechanism is a shell shifting and flipping slide, and a servo turntable is installed at the bottom of the shell shifting and flipping slide, which is connected to the turntable connecting block through a turntable shaft, and the turntable connecting block is connected to the beam through another turntable shaft. Semi-arc plates are installed at the front and rear ends of the beam respectively, and the semi-arc plates are connected to the beam through circular arc grooves on the beam. The semi-arc plates can rotate circumferentially relative to the beam and have a self-locking mechanism; the semi-arc plates are equipped with loading and unloading tightening mechanisms and threaded rods for clamping the shell.

[0022] Furthermore, the tightening operation mechanism is an intelligent tightening hoisting slide, which moves on the core processing gantry through a slide seat and a slide block, and a hoisting and loading and unloading mechanism and a multi-axis floating tightening mechanism are installed at the bottom through a rotating shaft; hoisting bolts are fixed inside the hoisting and unloading mechanism to realize the installation and disassembly of the hoisting bolts; the multi-axis floating tightening mechanism has multiple tightening shafts to realize the tightening function of the screws; high-precision detection components are installed on both sides of the rotating shaft to detect the hole alignment and the centering of the core and the shell.

[0023] Furthermore, a core support seat is provided on the core support position, and the core support seat includes a base, a vertical plate, a semi-open support platform and a floating V-shaped block. The base is fixed to the ground through a mounting hole, and the vertical plates on both sides of the base are connected to the base through triangular reinforcement plates. The semi-open support platform is installed above the vertical plate, and the floating V-shaped block is provided on the vertical plate. The floating V-shaped block is moved by a screw rod to realize the centering of the core position.

[0024] Furthermore, a shell support seat is provided on the shell support position, and the shell support seat includes a base, four vertical plates and a floating V-shaped block. The base is fixed to the ground through mounting holes, and the vertical plates are arranged in pairs on the four sides of the base. The vertical plates and the base are connected by triangular reinforcing plates, and the vertical plates are not closed. A floating V-shaped block is installed on each vertical plate. The floating V-shaped blocks are opposite to each other and are installed in two groups at different heights on the vertical plates. The floating V-shaped blocks are moved by the screw rod to realize the centering of the position of the shell.

[0025] Furthermore, the high-precision detection component is a high-precision sensor, which provides real-time feedback on hole position deviation and center alignment data between the core and the shell, ensuring that the assembly error is controlled within a preset range.

[0026] The beneficial effects of the present invention are:

[0027] The intelligent automatic assembly and tightening method of a large core and a shell provided by the present invention has significant technical advantages. Compared with the existing technology, it achieves comprehensive improvement in efficiency, precision, safety and applicability.

[0028] First, the present invention achieves full automation of the entire process from component unpacking to finished product packing through the linkage control of the control unit, completely eliminating the need for frequent manual replacement of slings and switching of workstations, and significantly improving assembly efficiency. The coordinated operation of the core handling mechanism, shell handling mechanism, and tightening mechanism, combined with the flexible positioning of the gantry slide rail, achieves seamless connection of each process and reduces non-productive time. For example, the loading, flipping, centering, hoisting, and tightening of the core and shell are all completed by automated mechanisms without the need for manual intervention, significantly reducing operational complexity and time costs.

[0029] Secondly, the present invention has made a breakthrough in assembly accuracy. Traditional assembly relies on manual centering, and the hole position deviation and center centering error are difficult to control. The present invention ensures that the assembly error is controlled within a preset range (such as hole position deviation is less than 0.1mm, and center centering error is less than 0.05mm) through high-precision detection components (high-precision sensors) and multi-axis floating tightening mechanisms. The floating V-blocks of the core support seat and the shell support seat are precisely aligned through the movement of the screw rod, and the real-time feedback data of the high-precision sensor is combined to ensure the precise alignment of the core and shell flange holes. This high-precision centering technology not only improves the reliability of the screw connection, but also ensures the quality consistency of the assembled product, and is particularly suitable for the requirements of high-precision assembly in the aerospace field. In addition, the automated centering process avoids component wear or deformation caused by manual adjustment, further improving product performance and service life.

[0030] Third, the present invention significantly improves operational safety. In traditional manual assembly, operators need to participate in the lifting and handling of heavy components at close range, which poses serious risks of collision and personal safety. The present invention realizes unmanned operation through full-process automation design. Operators do not need to approach heavy components, effectively eliminating the risk of collision during the lifting process. For example, the core lifting is completed by an intelligent tightening lifting slide, and the installation and removal of the lifting bolts are all achieved through automated mechanisms, avoiding the instability of manual operation. In addition, the self-locking function of the automatic clamping hoisting mechanism and the loading and unloading tightening mechanism ensures the stability of the clamping and tightening process, prevents components from slipping or losing control, and comprehensively improves operational safety.

[0031] Finally, the present invention has broad applicability, adapting to the assembly requirements of a variety of large cores and shells. Complex core and shell structures (such as core flange holes and shell threaded holes) can be accommodated through flexible clamping and centering mechanisms, making it suitable for a wide range of component specifications in industries such as aerospace and new energy equipment. The device's modular design and the flexibility of the gantry rails allow it to be adjusted to different component sizes, demonstrating excellent versatility and scalability.

[0032] In summary, the present invention solves the problems of low efficiency, unstable precision and safety hazards in traditional assembly through automated, high-precision and safe design, provides an innovative solution for the assembly of large mechanical parts, and has significant economic benefits and social value.

[0033] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0035] Figure 1 Schematic diagram of the structure of the embodiment of the present invention.

[0036] Figure 2 Schematic diagram of the structure of the core processing mechanism in an embodiment of the present invention.

[0037] Figure 3 Schematic diagram of the structure of the tightening operation mechanism in an embodiment of the present invention.

[0038] Figure 4 Schematic diagram of the structure of the shell processing mechanism in an embodiment of the present invention.

[0039] Figure 5 Schematic diagram of the structure of the core support seat in an embodiment of the present invention.

[0040] Figure 6 Schematic diagram of the structure of the shell support seat in an embodiment of the present invention.

[0041] Figure 7 This is a schematic diagram of the core body during hoisting in an embodiment of the present invention.

[0042] Figure 8 Schematic diagram of the assembly of the core and the shell in an embodiment of the present invention.

[0043] Figure 9Schematic diagram of the core in an embodiment of the present invention.

[0044] Figure 10 Schematic diagram of a housing in an embodiment of the present invention.

[0045] Figure 11 Flowchart of an embodiment of the present invention.

[0046] Description of the drawings: 1- core shift flip slide; 101- servo turntable A; 102- rotary axis A; 103- rotary connecting block A; 104- rotary axis B; 105- crossbeam A; 106- semi-arc plate A; 107- loading and unloading tightening mechanism A; 108- threaded rod; 109- automatic clamping clamp; 110- slide rail; 111- slide seat; 112- slide block; 2- intelligent tightening hoisting slide; 201- rotary axis C; 202- hoisting and loading and unloading mechanism; 203- multi-axis floating tightening mechanism; 204- high-precision sensor; 3- shell shift flip slide; 301- servo turntable B; 302- rotary axis D ;303-rotating connecting block B;304-rotating axis E;305-crossbeam B;306-semi-arc plate B;307-loading and unloading tightening mechanism B;308-threaded rod;4-core support seat;401-mounting hole;402-triangular reinforcement plate;403-two side vertical plates;404-semi-open support platform;405-floating V-block;5-shell support seat;501-mounting hole;502-triangular reinforcement plate;503-vertical plate;504-floating V-block;6-core;7-shell;8-core processing gantry;9-shell processing gantry;10-gantry slide rail;11-core packaging box;12-shell packaging box. DETAILED DESCRIPTION

[0047] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0048] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0049] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0050] See also Figures 1 to 11 , is a large core and shell intelligent automatic assembly and tightening method, in this embodiment, the core handling mechanism in the assembly method corresponds to the core shift flip slide 1, the tightening operation mechanism corresponds to the intelligent tightening hoisting slide 2, the shell handling mechanism corresponds to the shell shift flip slide 3, the rotation adjustment component corresponds to the rotary shaft A / C; the core clamping component corresponds to the core clamping mechanism, which consists of a rotary connecting block A103, a rotary shaft B104, a crossbeam A105, a semi-arc plate A106, a loading and unloading tightening machine The shell clamping component corresponds to the shell clamping mechanism, which is composed of a rotary connecting block B303, a rotary shaft E304, a crossbeam B305, a semi-arc plate B306, a loading and unloading tightening mechanism 307, and a threaded rod 308; the rotary drive component corresponds to the servo turntable A / B, and the lifting connection component corresponds to the lifting and loading and unloading mechanism; the multi-axis tightening component corresponds to the multi-axis floating tightening mechanism; the high-precision detection component corresponds to the high-precision sensor.

[0051] The dimensions of the assembled core in this embodiment are: 2000 mm in length and 320 mm in diameter; the dimensions of the assembled shell are: 2000 mm in length and 700 mm in diameter.

[0052] In this embodiment, the devices and products involved include a core shift and flip slide 1, an intelligent tightening and hoisting slide 2, a shell shift and flip slide 3, a core support base 4, a shell support base 5, a core 6, a shell 7, a core processing gantry 8, a shell processing gantry 9, gantry slides 10, a core packaging box 11, and a shell packaging box 12. The core processing gantry 8 and the shell processing gantry 9 can be moved by the gantry slides 10; the core shift and flip slide 1 and the intelligent tightening and hoisting slide 2 are installed on the core processing gantry 8; the shell shift and flip slide 3 is installed on the shell processing gantry 9; the core support base 4 and the shell support base 5 are installed in fixed positions on the ground.

[0053] The core shifting and flipping slide 1 can be moved on the core processing gantry 8 through the slide seat 111 and the slide slider 112; the core shifting and flipping slide 1 can be moved up and down through the slide rail 110; the bottom of the core shifting and flipping slide 1 is equipped with a servo turntable A101, the servo turntable A101 is connected to the rotary connecting block A103 through the rotary shaft A102, the rotary connecting block A103 is connected to the beam A105 through the rotary shaft B104, and the lower end of the beam A105 is equipped with a semi-arc plate A106 and an automatic clamping hoop mechanism 109, the semi-arc plate A106 and the beam A105 are set to be connected in a circular arc slide groove, the semi-arc plate A106 can rotate circumferentially relative to the beam, and has a self-locking function; the semi-arc plate A106 is installed with a loading and unloading tightening mechanism A107, which can apply torque through electric drive to achieve the tightening and disassembly of the bolts. The automatic clamping hoop mechanism 109 can automatically merge the hoop and self-lock to complete the clamping.

[0054] The intelligent tightening hoisting slide 2 moves on the processing core gantry 8 through the slide seat 111 and the slide block 112; the bottom of the intelligent tightening hoisting slide 2 is installed with a hoisting and unloading structure 202 and a multi-axis floating tightening mechanism 203 through the rotating shaft C201; the hoisting and unloading mechanism 202 is fixed with hoisting bolts inside, which can realize the installation and removal of the hoisting bolts; the multi-axis floating tightening mechanism 203 has four tightening shafts, which can realize the tightening function of the screws; high-precision sensors 204 are installed on both sides of the rotating shaft C201, and the high-precision sensors 204 are used to detect whether the hole positions are aligned and whether the shell and the core are aligned during operation.

[0055] A servo turntable 301 is installed at the bottom of the shell shift and flip slide 3. The servo turntable 301 is connected to the rotary connecting block B303 through the rotary shaft D302. The rotary connecting block B303 is connected to the beam B305 through the rotary shaft E304. Semi-arc plates B306 are installed at the front and rear ends of the beam B305 respectively. The semi-arc plates B306 can also rotate circumferentially relative to the beam B305 and have a self-locking function. The semi-arc plates B306 are equipped with a loading and unloading tightening mechanism B307 and a threaded rod 308.

[0056] The base of the shell support seat is provided with a mounting hole 401 and fixed to the ground, and is installed with vertical plates 403 on both sides. A triangular reinforcing plate 402 is set between the vertical plate 403 and the base of the shell support seat. A semi-open support platform 404 is installed above the vertical plate 403, and two floating V-blocks 405 are installed in the middle part of the vertical plate 403; the base of the shell support seat 5 is provided with a mounting hole 501 and fixed to the ground, and four vertical plates 503 are installed, the vertical plates are not closed, and a triangular reinforcing plate 502 is set to connect with the base; floating V-blocks 504 are installed on the vertical plates 503, and there are four floating V-blocks 504 in total, which are divided into two groups and installed at different heights with the vertical plates.

[0057] The specific assembly steps are as follows:

[0058] Shell loading stage: The shell shifting and flipping slide 3 adjusts its position through the slide rail and moves to the top of the shell 7. The position of the crossbeam B305 is adjusted through the rotary shaft E304 so that the axis of the crossbeam B305 coincides with the axis of the shell 7. The shell shifting and flipping slide 3 descends until the end face of the shell 7 and the semi-arc plate B306 are at the same level and then stops. The semi-arc plate B306 rotates relative to the crossbeam B305. After the threaded holes on the semi-arc plate are aligned with the threaded holes on the end face of the shell, the semi-arc plate B306 is locked in position, and then the loading and unloading tightening mechanism B307 is activated to drive the threaded rod 308 into the end face of the shell 7 to achieve clamping. Then, the shell shifting and flipping slide 3 drives the shell 7 to move upward a certain distance, and the servo turntable B301 drives the rotary connecting block B303 to rotate through the rotary shaft D302, and drives the shell 7 through the crossbeam B305 to flip 90 degrees. Then the shell shift flip slide 3 moves to the top of the shell support seat 5, slowly descends to a certain height and stops, and then the floating V-block B504 in the shell support seat 5 moves through the screw rod to center the shell 7;

[0059] Core loading stage: The core shift and flip slide 1 adjusts its position through the slide rail and moves to the top of the core 6. The position of the crossbeam A105 is adjusted through the rotary shaft B104 so that the axis of the crossbeam A105 coincides with the axis of the core 6. The core shift and flip slide 1 descends until the flange of the core 6 and the semi-arc plate A106 are at the same level and then stops. The semi-arc plate A106 rotates relative to the crossbeam A105. When the threaded holes on the semi-arc plate are aligned with the threaded holes on the end face of the shell, the semi-arc plate A106 is locked in position. The loading and unloading tightening mechanism A107 then works to pass the threaded rod 108 through the smooth hole of the core 6 flange to achieve clamping. The core shift and flip slide 1 then drives the core 6 upward for a certain distance. The servo rotary table A101 drives the rotary connecting block A103 to rotate through the rotary shaft A102, and the core 6 is flipped 90 degrees through the crossbeam A105. Then the core shift flip slide 1 moves to the top of the core support seat 4, slowly descends until the core 6 contacts the support platform 404 on the top of the support seat and stops, and then the floating V-block A405 in the core support seat 4 moves through the screw rod to center the core 6;

[0060] Core hoisting stage: The intelligent tightening hoisting slide 2 moves to the top of the core 6 via the slide rail. The hoisting and loading and unloading structure 202, based on the data fed back by the high-precision sensor 204, first aligns the hoisting bolts in the hoisting and unloading structure 202 with the hoisting threaded holes on the rear end face of the core 6 via the rotary axis C201. Then, the intelligent tightening hoisting slide 2 moves downward while installing the hoisting bolts. Afterwards, the loading and unloading tightening mechanism A reverses the bolts to disassemble the core clamping mechanism. Then, the multi-axis floating tightening mechanism 203 completes the initial installation of the screws on the core flange, initially driving the screws into the corresponding light holes of the flange.

[0061] Core and shell assembly stage: The intelligent tightening hoisting slide 2 drives the core 6 to move above the shell 7 through the hoisting and loading and unloading structure 202. The high-precision sensor 204 detects whether the center of the core and the center of the shell are aligned. After the alignment is completed, the intelligent tightening hoisting slide 2 begins to descend, allowing the core 6 to slowly enter the interior of the shell 7. When the distance between the core flange and the shell flange is 3 to 5 mm, the descent stops. The high-precision sensor 204 detects the adjustment position again so that the threaded hole on the shell flange corresponds to the light hole on the core flange. After the adjustment is in place, the intelligent tightening hoisting slide 2 slowly descends. When the flange of the core 6 initially contacts the flange of the shell 7, the multi-axis floating tightening mechanism 203 begins to tighten the screws at the flange of the core 6. After the tightening assembly is completed, the hoisting and loading and unloading structure 202 removes the hoisting bolts.

[0062] Finished product return stage: After the core 6 and shell 7 are assembled, the shell shift flip slide 3 clamps the finished product and moves it up a certain distance. Driven by the servo turntable B301, the finished product is flipped to a horizontal position and finally moved and placed in the packaging box. The loading and unloading tightening mechanism 307 reverses the threaded rod to complete the automatic disassembly, and the whole process ends here.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for intelligent automatic assembly and tightening of a large core and a shell, wherein the flange of the core is provided with a light hole for hoisting, and the rear end face thereof is provided with a hoisting threaded hole; the front end face and the rear end face of the shell are both provided with threaded holes for installation, and the flange of the shell is provided with a threaded hole; during assembly, the core is extended into the shell from the rear end face, and fixed assembly is achieved by screwing the core flange and the shell flange, characterized in that The assembly process includes the following steps: Shell loading: After the control unit receives the assembly start command, it drives the shell processing mechanism to move to the top of the shell, and adjusts the shell clamping component by rotating the adjustment component so that the axis of the shell clamping component coincides with the axis of the shell; after descending until the shell end face is flush with the shell clamping component, the shell clamping component is rotated, and the hole position deviation is fed back in real time by the high-precision detection component, and it is automatically adjusted to alignment and then locked; the connector is connected to the shell by the automatic tightening component to complete the shell clamping; after the shell is driven to move up a preset distance, the rotary drive component drives the shell clamping component to rotate, causing the shell to flip 90°; then the shell is moved above the shell support position, slowly descended to the specified height, and the centering adjustment component of the shell support position completes the centering and correction of the shell position; Core loading: The control unit triggers the core loading process, drives the core handling mechanism to move to the top of the core, and adjusts the core clamping component by rotating the adjustment component so that the axis of the core clamping component coincides with the axis of the core; after descending until the core clamping component is flush with the core, rotate the core clamping component, and lock the position after detecting that the hole positions of the core clamping component and the core flange are aligned, and the connector is passed through the light hole of the core flange and fixed by the automatic tightening component to complete the core clamping; after driving the core to move up a preset distance, the core clamping component is driven by the rotary drive component to rotate, so that the core is flipped 90°; then the core is moved to the top of the core support position, slowly descends until the top of the core support position contacts the core flange and stops, and the core position is completed by the centering adjustment component of the core support position; Core hoisting: After the control unit completes the core loading process, the core hoisting process is automatically triggered, driving the tightening mechanism to move to the top of the core. Based on the data fed back by the high-precision detection component, the lifting connection component is first aligned with the lifting hole on the rear end of the core and installed and fixed. The automatic tightening component is then driven in the reverse direction to remove the core clamping component. Finally, the multi-axis tightening component pre-installs the connecting screws of the core flange into the corresponding light holes. Assembly of the core and shell: After the core is hoisted, the control unit links the tightening operation mechanism to execute the core and shell assembly process. The core is moved to the top of the shell by the hoisting connection component, and the center of the core and shell are adjusted according to the position detection data of the high-precision detection component. After centering, the core is lowered and slowly enters the shell. When the gap between the flange positioning structure of the core and the shell is 3-5mm, it stops. The high-precision detection component is used to adjust again so that the threaded hole of the shell flange corresponds to the hole position of the core flange. After continuing to descend until the flange is in contact, the multi-axis tightening component is used to complete the tightening of the flange connection screws. Finally, the hoisting connection component is disassembled. Finished product return to box: After the assembly completion signal is fed back to the control unit, the finished product return process is started. The shell handling mechanism clamps the assembled finished product and moves it upward. The rotary drive component flips the finished product to a horizontal state, moves it to the packaging box and places it; finally, the reverse drive automatically tightens the component to complete the disassembly of the shell clamping component.

2. The large core and shell intelligent automatic assembly and tightening method according to claim 1 is characterized in that: The control unit controls the core handling mechanism, shell handling mechanism and tightening mechanism in a coordinated manner during the assembly process, achieving full-process automation. The control unit is used to receive instructions and coordinate the linkage operation of the core processing mechanism, the shell processing mechanism and the tightening operation mechanism through signal connection; The core processing mechanism is installed on the core processing gantry and is located above the core packaging box; the core processing gantry is slidably arranged on the gantry slide rail, and the core processing mechanism is linked with the core processing gantry to realize the loading, turning and centering of the core; The shell processing mechanism is installed on the shell processing gantry, which is located above the shell packaging box. The shell processing gantry is also slidably arranged on the gantry slide rail. The shell processing mechanism and the shell processing gantry are linked to realize the loading, turning and centering of the shell; The tightening operation mechanism is installed on the core processing gantry and shares the gantry with the core processing mechanism, and is used to realize the lifting of the core, pre-installation of screws, and precise docking and automatic tightening of the core and the shell.

3. The large core and shell intelligent automatic assembly and tightening method according to claim 2 is characterized in that: The core processing mechanism is a core shifting and flipping slide, which moves on the core processing gantry through a slide seat and a slide slider, and moves up and down through the slide rail; a servo turntable is equipped at the bottom of the slide, which is connected to the rotary connecting block through a rotary shaft, and the rotary connecting block is connected to the crossbeam through another rotary shaft, and the lower end of the crossbeam is equipped with a semi-arc plate and an automatic clamping hoop mechanism, and the semi-arc plate is connected to the crossbeam through a circular arc slide groove on the crossbeam, and the semi-arc plate can rotate circumferentially relative to the crossbeam and has a self-locking mechanism; a loading and unloading tightening mechanism is installed on the semi-arc plate for applying torque to achieve tightening and disassembly of the bolts.

4. The large core and shell intelligent automatic assembly and tightening method according to claim 2 is characterized in that: The shell processing mechanism is a shell shifting and flipping slide, and a servo turntable is installed at the bottom of the shell shifting and flipping slide, which is connected to the turntable connecting block through a turntable shaft. The turntable connecting block is connected to the crossbeam through another turntable shaft. Semi-arc plates are installed at the front and rear ends of the crossbeam respectively. The semi-arc plates are connected to the crossbeam through circular arc grooves on the crossbeam. The semi-arc plates can rotate circumferentially relative to the crossbeam and have a self-locking mechanism; the semi-arc plates are equipped with loading and unloading tightening mechanisms and threaded rods for clamping the shell.

5. The large core and shell intelligent automatic assembly and tightening method according to claim 2 is characterized in that: The tightening operation mechanism is an intelligent tightening hoisting slide, which moves on the core processing gantry through a slide seat and a slide block. A hoisting and loading mechanism and a multi-axis floating tightening mechanism are installed at the bottom through a rotating shaft; hoisting bolts are fixed inside the hoisting and loading mechanism to realize the installation and removal of the hoisting bolts; the multi-axis floating tightening mechanism has multiple tightening shafts to realize the tightening function of the screws; high-precision detection components are installed on both sides of the rotating shaft to detect the hole alignment and the centering of the core and the shell.

6. The large core and shell intelligent automatic assembly and tightening method according to claim 1 is characterized in that: A core support seat is provided on the core support position, and the core support seat includes a base, a vertical plate, a semi-open support platform and a floating V-shaped block. The base is fixed to the ground through a mounting hole, and the vertical plates on both sides of the base are connected to the base through triangular reinforcement plates. The semi-open support platform is installed above the vertical plate, and the floating V-shaped block is provided on the vertical plate. The floating V-shaped block is moved by a screw rod to realize the centering of the core position.

7. The large core and shell intelligent automatic assembly and tightening method according to claim 1 is characterized in that: A shell support seat is provided on the shell support position, and the shell support seat includes a base, four vertical plates and a floating V-shaped block. The base is fixed to the ground through mounting holes, and the vertical plates are arranged in pairs on the four sides of the base. The vertical plates and the base are connected by triangular reinforcing plates, and the vertical plates are not closed. A floating V-shaped block is installed on each vertical plate. The floating V-blocks are opposite to each other and are installed in two groups at different heights on the vertical plates. The floating V-shaped blocks are moved by the screw rod to realize the centering of the position of the shell.

8. The large core and shell intelligent automatic assembly and tightening method according to claim 1 is characterized in that: The high-precision detection component is a high-precision sensor that provides real-time feedback on hole position deviation and center alignment data between the core and the shell, ensuring that assembly errors are controlled within a preset range.

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