Docking device and docking method

Abstract

The present invention relates to the field of mechanical manufacturing technology, and discloses a docking device and a docking method. The docking device includes a lifting mechanism and two sets of position detection components arranged on both sides of the lifting mechanism, the position detection components include a laser positioning device and a laser emitting device arranged opposite to the laser positioning device, the laser positioning device includes a convex lens and a photoelectric position sensor arranged in sequence, and the convex lens is used to refract the laser emitted by the laser emitting device onto the photoelectric position sensor. The docking device and docking method provided by the present invention, by arranging a convex lens in front of the photoelectric position sensor, utilizes the refraction principle of the convex lens to compensate for the angle deviation between the laser emitting device and the photoelectric position sensor, ensures high-precision docking of the object to be docked and the docking member when the lifting mechanism is deflected, makes the coaxiality deviation value of the object to be docked and the docking member reach an accuracy of 1mm, ensures docking accuracy, and improves docking efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical manufacturing, and in particular to a docking device and a docking method. Background Art

[0002] In the production and manufacturing process of products in the optical film, printing, papermaking, lithium battery and other industries, the materials used are often large cylindrical rolls, which are large in size and weight, and some even weigh more than several tons. The center of the roll is a standard roll, which needs to be docked with the air shaft of the equipment.

[0003] In the prior art, the coil is usually lifted manually using a crane or forklift, and the docking operation is performed manually. Due to the execution accuracy of the crane or forklift and the visual error of the human eye, the air shaft and the reel cannot be accurately docked, and are often forcibly inserted with friction, which accelerates the wear of the reel. At the same time, this method requires a lot of effort and a long time to complete the docking operation, making the docking operation inefficient; on the other hand, the dust generated by friction during docking will affect the clean environment of the workshop and cause product quality defects.

[0004] As the country develops, the demand for automation and intelligence in the industry is also increasing. In order to solve the problems of low efficiency, poor accuracy, slow speed and high risk of manual docking, the industry has gradually begun to use AGV to transport coils and use visual solutions to solve the end docking. Among them, the two-dimensional vision solution has higher accuracy, but it cannot solve the error caused by the AGV's one-time stop angle. The three-dimensional vision solution can calculate the AGV stop angle, but its detection accuracy is low. Summary of the invention

[0005] The object of the present invention is to provide a docking device and a docking method to improve the docking accuracy and efficiency of the objects to be docked and the docking parts, and to eliminate the angle deviation caused by the docking mechanism.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A docking device is located between two machines and is used for docking a columnar object to be docked with two docking pieces arranged opposite to each other on the two machines. The docking device comprises:

[0008] Two lifting mechanisms are arranged in parallel with each other, supported at intervals at two ends of the object to be docked, and are used to lift the object to be docked. Each of the lifting mechanisms (120) can move horizontally along the Y direction, and the Y direction is the parallel line direction of the two lifting mechanisms;

[0009] A driving mechanism, used for driving the lifting mechanism to move horizontally in the Y direction and to move up and down in the Z direction;

[0010] Two sets of position detection components, each set of the position detection components includes a laser positioning device and a laser emitting device arranged opposite to the laser positioning device, the laser positioning device is fixed on one of the machine platform or the lifting mechanism, and the laser emitting device is fixed on the other of the two;

[0011] The laser positioning device comprises a convex lens and a photoelectric position sensor which are arranged in sequence, wherein the center lines of the convex lens and the photoelectric position sensor coincide with each other, the convex lens is located on the side of the laser emitting device in the position detection assembly where the convex lens is located, and the convex lens is used to refract the laser emitted by the laser emitting device onto the photoelectric position sensor;

[0012] The laser positioning device is configured such that when the value of the horizontal deviation value δ between the position of the laser when it enters the convex lens and the center line of the convex lens is the same as the deviation value β between the vertical center lines of the two ends of the object to be docked and the center line of the convex lens, the Y-direction deviation value y1 between the laser and the center line of the photoelectric position sensor is 0, and the docking device can detect whether the two ends of the object to be docked have moved to the preset position through the value of y1.

[0013] As an optional solution of the docking device, the docking device further includes a controller, and the controller is signal-connected to the driving mechanism and the photoelectric position sensor.

[0014] As an optional solution for the docking equipment, the laser emitting device is fixed on the machine platform, and the laser positioning device is fixed on the lifting mechanism.

[0015] As an optional solution of the docking device, the laser positioning device also includes a filter, and the filter is located on a side of the convex lens away from the photoelectric position sensor.

[0016] As an optional solution for the docking device, the driving mechanism includes a linear displacement device and a lifting device.

[0017] As an optional solution for the docking device, the linear displacement device includes but is not limited to one of a cylinder, a slide, an electric push rod, and a linear slide rail.

[0018] As an optional solution for the docking device, the lifting device includes but is not limited to one of a cylinder, a slide, an electric push rod, and a linear slide rail.

[0019] As an optional solution for a docking device, the top of the lifting mechanism is a concave arc surface for carrying the object to be docked.

[0020] As an optional solution of the docking device, the docking device also includes a moving body, and the moving body can be horizontally moved along the Y direction to between the two platforms; the two lifting mechanisms are both arranged on the moving body.

[0021] The method for docking an object to be docked and a docking member using the docking device comprises the following steps:

[0022] Moving the two lifting mechanisms into the two machine platforms;

[0023] The photoelectric position sensor detects a horizontal deviation value y1 and a vertical deviation value z1 between the position where the laser enters the photoelectric position sensor and the center line of the photoelectric position sensor;

[0024] Adjust the horizontal position and vertical height of the lifting mechanism according to the values ​​of y1 and z1 to y1=0, z1=0;

[0025] The object to be butted is butted against the two butting pieces which are arranged opposite to each other.

[0026] Beneficial effects of the present invention:

[0027] The docking equipment and method provided by the present invention, by arranging a convex lens in front of the photoelectric position sensor and utilizing the refraction principle of the convex lens, compensate for the angular deviation between the laser emitting device and the photoelectric position sensor, thereby ensuring high-precision docking of the object to be docked and the docking part when the lifting mechanism is deflected, so that the coaxiality deviation value of the object to be docked and the docking part reaches an accuracy of 1mm, thereby ensuring the docking accuracy and improving the docking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the main structure of the docking device provided by the present invention;

[0029] Figure 2 A schematic diagram of the internal structure of the laser positioning device in the first docking mode of the docking device provided by the present invention and a schematic diagram of the position relationship with the reel in a top-down state;

[0030] Figure 3 A schematic diagram of the side structure of the docking device provided by the present invention in a first docking mode;

[0031] Figure 4 A schematic diagram of a top view of the docking device provided by the present invention in a first docking mode;

[0032] Figure 5 A schematic side view of the structure of the docking device provided by the present invention in a second docking mode;

[0033] Figure 6A schematic diagram of a top view of the docking device provided by the present invention in a second docking mode;

[0034] Figure 7 A schematic diagram of the internal structure of the laser positioning device in the second docking mode of the docking device provided by the present invention;

[0035] Figure 8 This is a schematic diagram of the position structure of the laser beam and the laser positioning device in the second docking mode of the docking device provided by the present invention.

[0036] In the figure:

[0037] 110-mobile vehicle body; 120-lifting mechanism; 140-laser positioning device; 141-filter; 142-convex lens; 143-photoelectric position sensor;

[0038] 200-coil; 210-reel;

[0039] 300-machine; 310-air expansion shaft; 330-laser emitting device. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0041] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0044] This embodiment provides a docking device to solve the problem in the prior art that when the two ends of a columnar object to be docked are docked and positioned by a docking member, the docking accuracy and efficiency are low, and the angle error generated by the docking mechanism cannot be eliminated. This embodiment is described by taking the docking member as an air expansion shaft 310 and the object to be docked as a reel 210 in the middle of a coil 200 as an example.

[0045] Figure 1 This is a schematic diagram of the main structure of the docking device provided by the present invention, referring to Figure 1 As shown, the docking device provided in this embodiment is located between two machines 300, and two air expansion shafts 310 are relatively fixed on the two machines 300. The docking device includes two lifting mechanisms 120 arranged parallel to each other, a driving mechanism, and two sets of position detection components, wherein:

[0046] The two lifting mechanisms 120 are supported at intervals at both ends of the reel 210 and are used to lift the reel 210. Each lifting mechanism 120 can move horizontally along the Y direction. The driving mechanism is used to drive the lifting mechanism 120 to move horizontally along the Y direction and to move up and down in the Z direction. The Y direction is the parallel line direction of the two lifting mechanisms 120, and the Z direction is the vertical direction.

[0047] Each position detection assembly includes a laser positioning device 140 and a laser emitting device 330 disposed opposite to the laser positioning device 140 . The laser positioning device 140 is fixed on one of the platform 300 and the lifting mechanism 120 , and the laser emitting device 330 is fixed on the other one.

[0048] Preferably, in this embodiment, the laser emitting device 330 is fixed on the machine platform 300, and the laser positioning device 140 is fixed on the lifting mechanism 120, so as to facilitate the communication between the laser positioning device 140 and the driving mechanism.

[0049] Figure 2 The internal structure diagram of the laser positioning device in the first docking mode of the docking device provided by the present invention and the schematic diagram of the position relationship with the reel in the top view state are shown in FIG. Figure 2As shown, in this embodiment, the laser positioning device 140 includes a convex lens 142 and a photoelectric position sensor 143 (PSD) arranged in sequence, and the center lines of the convex lens 142 and the photoelectric position sensor 143 coincide with each other. The convex lens 142 is located on the side where the laser emitting device 330 is located in the position detection assembly where the convex lens 142 is located, and a plano-convex mirror or a bi-convex mirror can be selected. Figure 2 The convex lens 142 shown is a plano-convex mirror, the convex surface of which faces the laser emitter. The convex lens 142 is used to refract the laser emitted by the laser emitting device 330 onto the photoelectric position sensor 143 .

[0050] Continue to refer Figure 2 As shown, in this embodiment, the laser positioning device 140 is configured so that when the value of the horizontal deviation value δ between the position of the laser when it enters the convex lens 142 and the center line of the convex lens 142 is the same as the deviation value β between the vertical center line at both ends of the reel 210 and the center line of the convex lens 142, the Y-direction deviation value y1 of the laser and the center line of the photoelectric position sensor 143 is 0, and the docking device can detect whether the two ends of the reel 210 have moved to the preset position, that is, the position coaxial with the inflation shaft 310, through the value of y1.

[0051] More precisely, Figure 2 In the plano-convex mirror shown, the deviation value β is the distance between the vertical center line of the reel 210 and the center line of the convex lens 142 when the vertical center line of the reel 210 is located on the reflecting surface of the convex lens 142. When the β value obtained under this position condition is the same as the δ value, the laser positioning device 140 can completely offset the physical angle deviation generated on the docking device, so that the reel 210 and the air shaft 310 are coaxially docked.

[0052] Figure 3 A schematic diagram of the side structure of the docking device provided by the present invention in the first docking mode, Figure 3 The side view position of the β value and the specific direction of the Y direction are shown in FIG. Figure 4 A schematic diagram of a top view of the docking device provided by the present invention in a first docking mode, Figure 4 The top-down position of the β value is shown in FIG.

[0053] In the docking device provided in this embodiment, when the lifting mechanism 120 enters between the two platforms 300, the stopping accuracy also includes angle factors, such as Figure 2 and Figure 3As shown in the figure, the angle between the lifting mechanism 120 and the machine platform 300 in the Y direction is α. Due to the influence of this angle, if the reel 210 and the air shaft 310 are to achieve a docking accuracy of 1mm, the two lifting mechanisms 120 need to move in opposite Y directions to compensate for the angle error α. However, since the lifting mechanism 120 can only move linearly and cannot rotate, this movement will cause a physical error β between the insertion port of the reel 210 and the laser positioning device 140 on the lifting mechanism 120, refer to Figure 3 and Figure 4 At this time, the incident laser has an angle α with the convex lens 142. By using the refraction principle of the convex lens 142, when preparing the laser positioning device 140, by adjusting the focal length f value of the convex lens 142 and the surface of the photoelectric position sensor 143 close to the convex lens 142 and the focal l value of the convex lens 142, when δ=β, the photoelectric position sensor 143 value can achieve y1=0, and at this time, the two lifting mechanisms 120 judge that the positioning is successful. The physical angle deviation generated on the docking equipment is offset by the optical principle, ensuring that under various conditions, the two air shafts 310 can be successfully docked with the reel 210.

[0054] The mechanism can also use the same principle to compensate for the ground slope error, that is, the two lifting mechanisms 120 move in opposite Z directions respectively so that the value of the photoelectric position sensor 143 can achieve z1=0. At this time, the two lifting mechanisms 120 determine that the positioning is successful.

[0055] The above content is the working principle of the docking device in the first docking mode. At the same time, this embodiment also provides a second docking mode, that is, when there is no angle deviation between the lifting mechanism 120 and the gas expansion shaft 310, the working principle of the docking device is:

[0056] refer to Figure 5-Figure 8 As shown, in the second docking mode, the two lifting mechanisms 120 lift the coil 200 and enter between the two machines 300. The lifting mechanisms 120 enter to produce position deviations in the Y and Z directions. The parallel laser beams emitted by the laser emitting devices 330 on both sides of the machine 300 are received by the laser positioning device 140. The photoelectric position sensor 143 obtains the y1 and z1 position values ​​according to the received laser beams. According to the focal length f of the convex lens 142 and the position l of the photoelectric position sensor 143 from the focal length, the actual deviations y2=y1*f / l and z2=z1*f / l are calculated. The two lifting mechanisms 120 perform Y and Z direction positioning according to the values. After the lifting mechanisms 120 are positioned, y1=0 and z1=0, and the positioning accuracy can reach 1mm. After positioning, the two air shafts 310 can be smoothly inserted into the two ends of the reel 210.

[0057] The docking equipment provided by the present invention arranges a convex lens 142 in front of the photoelectric position sensor 143 and utilizes the refraction principle of the convex lens 142 to compensate for the position deviation between the laser emitting device 330 and the photoelectric position sensor 143, thereby ensuring high-precision docking of the object to be docked and the docking part when the lifting mechanism 120 is deflected, so that the coaxiality deviation value of the object to be docked and the docking part reaches an accuracy of 1 mm, thereby ensuring docking accuracy and improving docking efficiency.

[0058] For details, please refer to Figure 1 As shown, in this embodiment, the docking device also includes a mobile body 110, and a power device is provided in the mobile body 110. The mobile body 110 can be driven by the power device to move horizontally along the Y direction to between the two platforms 300, and two lifting mechanisms 120 are arranged in parallel on the mobile body 110.

[0059] In this embodiment, the driving mechanism includes a linear displacement device and a lifting device, which is driven by the linear displacement device to horizontally displace along the Y direction, and driven by the lifting device to lift along the Z direction. The linear displacement device includes but is not limited to one of a cylinder, a slide, an electric push rod, and a linear slide; the lifting device includes but is not limited to one of a cylinder, a slide, an electric push rod, and a linear slide.

[0060] In this embodiment, the docking device further includes a controller, such as a commonly used PLC controller, etc., which is connected to the drive mechanism and the photoelectric position sensor 143 signal, and more specifically, is connected to the linear displacement device, the lifting device and the photoelectric position sensor 143 signal, and can control the movement and lifting of the lifting mechanism 120 according to the photoelectric position sensor 143 signal. This type of controller is a mature technology in this field, and its working principle will not be repeated.

[0061] As an optional solution for the docking device, the top of the lifting mechanism 120 is a concave arc surface, so that it can carry the reel 210 more stably.

[0062] refer to Figure 2 and Figure 8 As shown, in this embodiment, the laser positioning device 140 further includes a filter 141 for removing impurities. The filter 141 is located on a side of the convex lens 142 away from the photoelectric position sensor 143 to ensure the accuracy of the position judgment of the photoelectric position sensor 143.

[0063] This embodiment also provides a docking method for docking the reel 210 and the air shaft 310 using a docking device, and the docking method includes the following steps:

[0064] The two lifting mechanisms 120 are moved into the two platforms 300; more specifically, the two lifting mechanisms 120 are driven by the moving vehicle body 110 to enter the two platforms 300;

[0065] The photoelectric position sensor 143 detects a horizontal deviation value y1 and a vertical deviation value z1 between the position where the laser enters the photoelectric position sensor 143 and the center line of the photoelectric position sensor 143;

[0066] Adjust the horizontal position and vertical height of the lifting mechanism 120 according to the values ​​of y1 and z1 to y1=0, z1=0;

[0067] The reel 210 is docked with two air expansion shafts 310 that are arranged opposite to each other.

[0068] Note: For fixing methods not explicitly stated in the text, common fixing connection methods such as threaded connection, welding or bonding can be selected as needed.

[0069] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A docking device, located between two machines (300), used for docking a cylindrical object to be docked with two docking pieces arranged opposite to each other on the two machines (300), characterized in that: The docking device comprises: Two lifting mechanisms (120) are arranged in parallel with each other and are supported at intervals at two ends of the object to be docked, and are used to lift the object to be docked. Each of the lifting mechanisms (120) can move horizontally along the Y direction, and the Y direction is the direction of parallel lines of the two lifting mechanisms (120); A driving mechanism, used for driving the lifting mechanism (120) to move horizontally in the Y direction and to move up and down in the Z direction; Two groups of position detection components, each group of the position detection components comprises a laser positioning device (140) and a laser emitting device (330) arranged opposite to the laser positioning device (140), the laser positioning device (140) being fixed on one of the machine platform (300) or the lifting mechanism (120), and the laser emitting device (330) being fixed on the other of the two; The laser positioning device (140) comprises a convex lens (142) and a photoelectric position sensor (143) arranged in sequence, the center lines of the convex lens (142) and the photoelectric position sensor (143) coincide with each other, the convex lens (142) is located on the side of the laser emitting device (330) in the position detection assembly where the convex lens (142) is located, and the convex lens (142) is used to refract the laser emitted by the laser emitting device (330) onto the photoelectric position sensor (143); The laser positioning device (140) is configured such that, when preparing the laser positioning device (140), by adjusting the focal length f value of the convex lens (142) and the distance l value between the surface of the photoelectric position sensor (143) close to the convex lens (142) and the focus of the convex lens (142), when the position of the laser when it enters the convex lens (142) and the horizontal deviation value δ of the center line of the convex lens (142) are the same as the deviation value β between the vertical center line of the two ends of the object to be docked and the center line of the convex lens (142), the Y-direction deviation value y1 of the laser and the center line of the photoelectric position sensor (143) is 0, and the docking device can detect whether the two ends of the object to be docked have moved to the preset position through the value of y1.

2. The docking device according to claim 1, characterized in that: The docking device also includes a controller, which is signal-connected to the driving mechanism and the photoelectric position sensor (143).

3. The docking device according to claim 1, characterized in that: The laser emitting device (330) is fixed on the machine platform (300), and the laser positioning device (140) is fixed on the lifting mechanism (120).

4. The docking device according to claim 1, characterized in that: The laser positioning device (140) further comprises a filter (141), wherein the filter (141) is located on a side of the convex lens (142) away from the photoelectric position sensor (143).

5. The docking device according to claim 1, characterized in that: The driving mechanism comprises a linear displacement device and a lifting device.

6. The docking device according to claim 5, characterized in that: The linear displacement device comprises one of a cylinder, a slide table, an electric push rod and a linear slide rail.

7. The docking device according to claim 5, characterized in that: The lifting device comprises one of a cylinder, a slide table, an electric push rod and a linear slide rail.

8. The docking device according to claim 1, characterized in that: The top of the lifting mechanism (120) is a concave arc-shaped surface, which is used to carry the object to be docked.

9. The docking device according to claim 1, characterized in that: It also includes a movable body (110), wherein the movable body (110) can be horizontally moved along the Y direction to between the two platforms (300); and the two lifting mechanisms (120) are both arranged on the movable body (110).

10. A method for docking an object to be docked and a docking piece using the docking device according to any one of claims 1 to 9, characterized in that: The steps include: Moving the two lifting mechanisms (120) into the two machine platforms (300); The photoelectric position sensor (143) detects a horizontal deviation value y1 and a vertical deviation value z1 between a position where the laser enters the photoelectric position sensor (143) and a center line of the photoelectric position sensor (143); Adjusting the horizontal position and vertical height of the lifting mechanism (120) according to the values ​​of y1 and z1 to y1=0 and z1=0; The object to be butted is butted against the two butting pieces which are arranged opposite to each other.

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