Large cylinder precision instrument automatic mounting device and control method thereof

Abstract

The application discloses an automatic mounting device for large-scale cylindrical precision instruments and a control method thereof.The device comprises a rack, a motion adjusting device, an error compensation device, a quick switching tool, a laser positioning device, a bracket, a field terminal and a monitoring camera.The motion adjusting device comprises a lifting module and a horizontal adjusting module, the lifting module is installed on the rack, the horizontal adjusting module is installed on a platform of the lifting module, and the horizontal adjusting module comprises a Z-axis axial rotating assembly, an X-direction adjusting assembly and a Y-direction adjusting assembly.The error compensation device is installed at the bottom of the Y-direction adjusting assembly and has a three-direction motion error compensation function.Control button boxes, field terminals, endoscopes and other human-computer interaction devices are used to assist in completing docking assembly work.The monitoring camera is installed at the bottom of the Y-direction adjusting assembly and is used for video recording of on-site operation.The scheme is suitable for vertical assembly of large-scale cylindrical precision instruments, can reduce labor resource cost, improve work efficiency and optimize the precision of vertical assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision instrument assembly technology of cylinder, and particularly to a large cylinder precision instrument automatic installation device and a control method thereof. BACKGROUND

[0002] With the development of intelligent manufacturing technology, the current automatic installation device of cylinder precision instrument is rapidly progressing. The combination of industrial robots and laser trackers can improve the efficiency and quality of automatic installation, reduce the labor intensity of operators, and is widely used in horizontal installation occasions. However, in vertical installation occasions, there is currently a lack of a solution that is highly adaptable, highly flexible, efficient, and cost-friendly for the installation of cylinder precision instruments. For the vertical installation of cylinder precision instruments with multiple varieties, small batches, and strong rhythm, most current enterprises still rely on manual hoisting in the production process. This method requires high experience and intensity of operators, and the entire installation process is complicated, inefficient, and prone to bumps. SUMMARY

[0003] The present application proposes a high-precision cylinder precision instrument automatic installation device based on laser positioning and error compensation for fast automatic positioning and fast switching, which can meet the flexible production needs of multiple products, is highly efficient and flexible, and effectively reduces labor intensity and bump risk.

[0004] The present application is a large cylinder precision instrument automatic installation device. The installation device includes a rack 1, a motion adjustment device 2, an error compensation device 3, a fast switching tool 4, a laser positioning device 5, a bracket 6, a field terminal 8, and a monitoring camera 9.

[0005] The rack is used to install and fix each part. The motion adjustment device 2 is installed above the rack. The error compensation device 3 and the fast switching tool 4 are connected in sequence below the motion adjustment device 2, which is used to realize the fast hoisting of the cylinder precision instrument below.

[0006] The bracket 6 is located on the bottom surface inside the rack and is used to support the cylinder precision instrument. The laser positioning device 5 is provided above the cylinder precision instrument. The monitoring camera is provided in the motion adjustment device 2, and the laser positioning device 5 faces the motion adjustment device 2. The field terminal 8 is provided on one side of the cylinder precision instrument.

[0007] Further, the motion adjustment device 2 comprises a lifting module 21 and a horizontal adjustment module 22; the horizontal adjustment module 22 comprises a Z-axis axial rotation assembly 221, an X-direction adjustment assembly 222 and a Y-direction adjustment assembly 223, which are alternately arranged in different planes in the vertical direction; the Z-axis axial rotation assembly 221 comprises a first servo motor, a first speed reducer and a slewing bearing; the X-direction adjustment assembly 222 comprises a second servo motor, a second speed reducer, a trapezoidal screw and two groups of guide rail and slide block combinations; and the Y-direction adjustment assembly 223 comprises a third servo motor, a third speed reducer, a trapezoidal screw and two groups of guide rail and slide block combinations.

[0008] Further, the error compensation device 3 is internally integrated with a pneumatic locking device, has X, Y and Z three-direction motion error compensation functions, and is switched to a rigid state when the motion adjustment device 2 moves; when the motion adjustment device 2 stops moving and the cylindrical precision instrument is ready to be installed, the error compensation device 3 is switched to a flexible state to compensate for the motion error generated by the motion adjustment device 2.

[0009] Further, the quick switching tool 4 comprises a double-headed stud 41, a base 42, a cross roller bearing 43, a tool 44 and a bolt 45; one end of the double-headed stud 41 is externally threaded and used for connecting four threaded interfaces at the top of the cylindrical precision instrument; a step surface is arranged at the end of the external thread to ensure the consistent screwing depth, thereby ensuring the horizontal lifting of the cylindrical precision instrument; the other end is internally threaded and used for installing a lifting ring screw for facilitating the lifting by a truss crane; a through hole is formed in the middle and connected with the tool 44.

[0010] The upper end surface of the base 42 is connected with the error compensation device 3, the lower end surface is connected with the outer ring of the cross roller bearing 42, the inner ring of the cross roller bearing 42 is connected with the tool 43, a through hole is formed in the tool 43 and connected with the middle through hole of the double-headed stud 41, and the bolt 45 connects and fixes the double-headed stud 41 with the tool 43 to complete the quick lifting of the cylindrical precision instrument.

[0011] Further, the laser positioning device 5 comprises a laser emitter 51, a positioning tool 52 and a target point tool 53; two positioning pins are installed on the positioning tool 52 and are in butt joint with two positioning pin holes in the upper end surface of the shell, so as to convert the position of the inner pin of the shell to the positioning tool 52; the laser emitter 51 is installed on the positioning tool 52 and represents the inner pin of the shell; the target point tool 53 is installed in the pin hole of the cylindrical precision instrument; the laser emitter 51 emits laser upward, the position of the cylindrical precision instrument is adjusted by the motion adjustment device 2, and the target point tool 53 receives the laser, indicating that the inner pin of the shell and the pin hole of the cylindrical precision instrument are preliminarily positioned.

[0012] Further, the bracket 6 comprises a cylinder precision instrument bracket 61 and a shell bracket 62 for transferring the cylinder precision instrument and the shell; the bracket is pasted with felt to prevent scratching the product, and brake casters are installed at the bottom of the bracket to prevent the bracket from moving during installation.

[0013] Further, the on-site terminal 8 is installed on the rack 1 for showing the current installation state of the cylinder precision instrument;

[0014] The monitoring camera 9 is installed at the bottom of the Y-direction adjusting assembly 223 for monitoring and video recording the installation process.

[0015] Further, the installation device is also provided with the endoscope 10 for observing the alignment between the cylinder precision instrument pin hole and the shell pin inside the shell.

[0016] Based on the above-mentioned automatic installation device for large cylinder precision instruments, the application also provides a control method thereof, which comprises the following steps:

[0017] 1) The cylinder precision instrument bracket 61 is distributed to the inside of the rack 1 and connected with the limiting frame 13, and the brake caster of the bracket 61 is stepped down;

[0018] 2) The lifting ring screw on the double-end stud 41 at the upper end surface of the cylinder precision instrument is disassembled, and the target point tool 53 is installed in the cylinder precision instrument pin hole;

[0019] 3) The motion adjusting device 2 is lowered, the error compensation device 3 is switched to the flexible state, the pin 45 fixes the double-end stud 41 and the tool 43, and the hoisting preparation of the cylinder precision instrument is completed;

[0020] 4) The error compensation device 3 is switched to the rigid state, the motion adjusting device is raised, and the cylinder precision instrument is hoisted;

[0021] 5) The cylinder precision instrument bracket 61 is withdrawn from the rack 1;

[0022] 6) The shell bracket 62 is distributed to the inside of the rack 1 and connected with the limiting frame 13, and the brake caster of the bracket 62 is stepped down;

[0023] 7) The positioning tool 52 of the laser positioning device 5 is installed on the upper end surface of the shell;

[0024] 8) The laser emitter 51 is turned on, and the motion adjusting device 2 is operated to adjust the position of the target point tool 53;

[0025] 9) The target point tool 53 receives the laser, and the positioning tool 52 is disassembled;

[0026] 10) The motion adjusting device 2 is lowered;

[0027] 11) When the cylindrical precision instrument is lowered to the set height, the motion adjustment device 2 stops lowering;

[0028] 12) The alignment between the cylindrical precision instrument pin hole and the shell pin is observed with the endoscope 10. If not aligned, the button box 7 is used to adjust the position of the cylindrical precision instrument;

[0029] 13) The error compensation device 3 is switched to a flexible state, the motion adjustment device 2 continues to lower, and the docking of the cylindrical precision instrument and the shell is completed. Advantages

[0030] The automatic installation device and its control method provided by the present application realize rapid automatic positioning and high-precision cylindrical precision instrument automatic installation device with rapid switching based on laser positioning and error compensation, can meet the flexible production needs of various products, has high efficiency and good flexibility, and effectively reduces labor intensity and collision risk. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the large cylindrical precision instrument automatic installation device of the present application;

[0032] In the figure, 1 is a rack, 2 is a motion adjustment device, 3 is an error compensation device, 4 is a rapid switching tool, 5 is a laser positioning device, 6 is a bracket, 7 is a button box, 8 is a field terminal, 9 is a monitoring camera, and 10 is an endoscope 10

[0033] Figure 2 It is a schematic diagram of the structure of the rack part in the embodiment;

[0034] In the figure, 11 is a vertical column, 12 is a cross beam, 13 is a limiting frame, and 21 is a lifting module;

[0035] Figure 3 It is a schematic diagram of the structure of the lifting module in the embodiment;

[0036] In the figure, 221 is a Z-axis axial rotation assembly, 222 is an X-direction adjustment assembly, and 223 is a Y-direction adjustment assembly;

[0037] Figure 4 It is a schematic diagram of the structure of the rapid switching tool in the embodiment;

[0038] In the figure, 41 is a double-headed stud, 42 is a base, 43 is a cross roller bearing, 44 is a tool, and 45 is a latch;

[0039] Figure 5 It is a schematic diagram of the structure of the laser positioning device in the embodiment;

[0040] In the figure, 51 is a laser emitter, 52 is a positioning tool, and 53 is a target tool;

[0041] Figure 6 This is a schematic diagram of the bracket structure in the embodiment;

[0042] In the figure, 61-cylindrical precision instrument bracket, 62-shell bracket. Implementation

[0043] Example

[0044] This embodiment provides an automatic installation device for large cylindrical precision instruments. Based on laser positioning and error compensation, this device enables rapid automatic positioning and quick transfer for the automatic installation of high-precision cylindrical precision instruments. Figure 1 As shown, the device includes a frame 1, a motion adjustment device 2, an error compensation device 3, a quick-connect tooling 4, a laser positioning device 5, a bracket 6, a button box 7, a field terminal 8, a monitoring camera 9, and an endoscope 10.

[0045] The frame is used to install and fix the various parts. The motion adjustment device 2 is installed on the top of the frame. The error compensation device 3 and the quick transfer fixture 4 are connected in sequence to the motion adjustment device 2 to realize the quick lifting of the cylindrical precision instrument below.

[0046] The bracket 6 is located on the bottom surface inside the frame and is used to support the cylindrical precision instrument; a laser positioning device 5 is provided above the cylindrical precision instrument, and a monitoring camera is provided in the motion adjustment device 2. The laser positioning device 5 faces the motion adjustment device 2; a field terminal 8 is provided on one side of the cylindrical precision instrument.

[0047] like Figure 2 As shown, the frame 1 consists of a column 11, a crossbeam 12, and a limiting frame 13, the limiting frame 13 being used to restrict the movement of the bracket 5.

[0048] like Figure 3 As shown, the motion adjustment device 2 consists of a lifting module 21 and a horizontal adjustment module 22. The lifting module 21 consists of a servo motor, a reducer, a trapezoidal lead screw, and four sets of guide rail sliders. The horizontal adjustment module 22 includes a Z-axis axial rotation component 221, an X-axis adjustment component 222, and a Y-axis adjustment component 223. The Z-axis axial rotation component 221 consists of a servo motor, a reducer, and a slewing bearing. The X-axis adjustment component 222 consists of a servo motor, a reducer, a trapezoidal lead screw, and two sets of guide rail sliders. The Y-axis adjustment component 223 consists of a servo motor, a reducer, a trapezoidal lead screw, and two sets of guide rail sliders.

[0049] The error compensation device 3 is internally integrated with a pneumatic locking device, has X, Y and Z three-way motion error compensation functions, has a locking function at the central position, and can switch between rigidity and flexibility; when the motion adjustment device 2 moves, the error compensation device 3 switches to the rigid state; when the motion adjustment device 2 stops moving and the cylindrical precision instrument is ready to be installed, the error compensation device 3 switches to the flexible state to compensate for the motion error generated by the motion adjustment device 2.

[0050] As shown in Figure 4 The quick adapter tool 4 includes a stud 41, a base 42, a crossed roller bearing 43, a tool 44 and a latch 45; one end of the stud 41 is externally threaded and used to connect four threaded interfaces at the top of the cylindrical precision instrument; a step surface is arranged at the end of the external thread to ensure the consistent depth of the threaded screw, thereby ensuring the horizontal lifting of the cylindrical precision instrument; the other end is internally threaded and used to install a lifting ring screw for facilitating lifting by a gantry crane; a through hole is formed in the middle and connected with the tool 44.

[0051] The upper end surface of the base 42 is connected with the error compensation device 3, and the lower end surface is connected with the outer ring of the crossed roller bearing 42; the inner ring of the crossed roller bearing 42 is connected with the tool 43; a through hole is formed in the upper part of the tool 43 and connected with the middle through hole of the stud 41; the stud 41 and the tool 43 are connected and fixed by the latch 45 to complete the quick lifting of the cylindrical precision instrument.

[0052] As shown in Figure 5 The laser positioning device 5 includes a laser emitter 51, a positioning tool 52 and a target tool 53; two positioning pins are installed on the positioning tool 52 and are in butt joint with two positioning pin holes on the upper end surface of the shell, so as to convert the position of the internal pin of the shell to the positioning tool 52; the laser emitter 51 is installed on the positioning tool 52 and represents the internal pin of the shell; the target tool 53 is installed in the pin hole of the cylindrical precision instrument; the laser emitter 51 emits laser upward, and the motion adjustment device 2 adjusts the position of the cylindrical precision instrument, so that the target tool 53 receives the laser, indicating that the internal pin of the shell and the pin hole of the cylindrical precision instrument have completed preliminary positioning.

[0053] As shown in Figure 6 The bracket 6 includes a cylindrical precision instrument bracket 61 and a shell bracket 62 and is used to transfer the cylindrical precision instrument and the shell; the bracket is pasted with felt to prevent scratching the product, and brake casters are installed at the bottom of the bracket to prevent the bracket from moving during installation.

[0054] The button box 7 is installed on the rack 1 and is used to control the motion adjustment device 2 to adjust the position of the cylindrical precision instrument.

[0055] The on-site terminal 8 is installed on the rack 1 and is used to show the current installation state of the cylindrical precision instrument.

[0056] The monitoring camera 9 is installed at the bottom of the Y-direction adjustment assembly 223 to monitor and record the installation process.

[0057] The endoscope is used to observe the alignment between the pin hole of the cylindrical precision instrument and the shell pin inside the shell. Embodiment

[0058] Based on the above-mentioned large cylindrical precision instrument automatic installation device, the control method of the embodiment includes the following steps:

[0059] 1) Distribute the cylindrical precision instrument bracket 61 to the inside of the rack 1 and connect it with the limiting frame 13, and press down the brake casters of the bracket 61;

[0060] 2) Remove the lifting ring screw on the double-end stud 41 on the upper end surface of the cylindrical precision instrument, and install the target point tool 53 in the pin hole of the cylindrical precision instrument;

[0061] 3) Lower the motion adjustment device 2, switch the error compensation device 3 to the flexible state, fix the double-end stud 41 with the tool 43 by the latch 45, and complete the hoisting preparation of the cylindrical precision instrument;

[0062] 4) Switch the error compensation device 3 to the rigid state, and raise the motion adjustment device, and hoist the cylindrical precision instrument;

[0063] 5) Withdraw the cylindrical precision instrument bracket 61 from the rack 1;

[0064] 6) Distribute the shell bracket 62 to the inside of the rack 1 and connect it with the limiting frame 13, and press down the brake casters of the bracket 62;

[0065] 7) Install the positioning tool 52 of the laser positioning device 5 on the upper end surface of the shell;

[0066] 8) Turn on the laser emitter 51, and operate the motion adjustment device 2 to adjust the position of the target point tool 53;

[0067] 9) The target point tool 53 receives the laser, and removes the positioning tool 52;

[0068] 10) Lower the motion adjustment device 2;

[0069] 11) When the cylindrical precision instrument is lowered to the set height, stop the motion adjustment device 2 from descending;

[0070] 12) Observe the alignment between the pin hole of the cylindrical precision instrument and the shell pin inside the shell with the endoscope 10, and adjust the position of the cylindrical precision instrument with the button box 7 if it is not aligned;

[0071] 13) The error compensation device 3 switches to the flexible state, the motion adjustment device 2 continues to descend, and the docking of the cylindrical precision instrument and the shell is completed.

[0072] The application is suitable for vertical assembly of cylindrical precision instruments of a wide range of specifications, can reduce the cost of human resources, improve work efficiency, and optimize the precision of vertical assembly.

Claims

1. A large cylindrical precision instrument automatic mounting device, characterized by, The mounting device comprises a rack (1), a motion adjustment device (2), an error compensation device (3), a quick adapter tool (4), a laser positioning device (5), a bracket (6), a field terminal (8), a monitoring camera (9); The rack is used for mounting and fixing each part, the motion adjustment device (2) is mounted above the rack, the error compensation device (3) and the quick adapter tool (4) are connected in sequence below the motion adjustment device (2), and the quick adapter tool (4) is used for realizing quick hoisting of the lower cylindrical precision instrument; The bracket (6) is located on the bottom surface in the rack and is used for supporting the cylindrical precision instrument; the laser positioning device (5) is arranged above the cylindrical precision instrument, the monitoring camera is arranged in the motion adjustment device (2), and the laser positioning device (5) faces the motion adjustment device (2); the field terminal (8) is arranged on one side of the cylindrical precision instrument; The quick adapter tool (4) comprises a double-end stud (41), a base (42), a cross roller bearing (43), a tool (44) and a bolt (45); one end of the double-end stud (41) is provided with external threads and is used for being connected to four threaded interfaces at the top of the cylindrical precision instrument; a step surface is arranged at the end of the external threads to ensure that the threaded interfaces are screwed into the double-end stud (41) to a same depth, so that the hoisting of the cylindrical precision instrument is horizontal; the other end of the double-end stud (41) is provided with internal threads and is used for mounting a lifting ring screw, so that the double-end stud (41) is hoisted by a gantry crane; a through hole is formed in the middle of the double-end stud (41) and is connected to the tool (44); The base (42) is connected to the error compensation device (3) at the upper end surface and is connected to the outer ring of the cross roller bearing (43) at the lower end surface; the inner ring of the cross roller bearing (43) is connected to the tool (44); a through hole is formed in the tool (44) and is connected to the middle through hole of the double-end stud (41); the bolt (45) connects and fixes the double-end stud (41) and the tool (44), and the quick hoisting of the cylindrical precision instrument is completed; The laser positioning device (5) comprises a laser emitter (51), a positioning tool (52) and a target tool (53); the positioning tool (52) is mounted with two positioning pins and is connected to two positioning pin holes on the cylindrical precision instrument, so that the position of the pin inside the shell is converted to the positioning tool (52); the laser emitter (51) is mounted on the positioning tool (52) and represents the pin inside the shell; the target tool (53) is mounted in the pin hole of the cylindrical precision instrument; the laser emitter (51) emits laser light upward, the position of the cylindrical precision instrument is adjusted by the motion adjustment device (2), the target tool (53) receives the laser light, and it is indicated that the pin inside the shell and the pin hole of the cylindrical precision instrument are preliminarily positioned; The mounting device further comprises a laparoscope (10) and is used for observing the alignment between the pin hole of the cylindrical precision instrument and the pin inside the shell.

2. The automatic installation device for large cylindrical precision instruments according to claim 1, characterized in that, The motion adjustment device (2) comprises a lifting module (21) and a horizontal adjustment module (22); the horizontal adjustment module (22) comprises a Z-axis axial rotation assembly (221), an X-direction adjustment assembly (222) and a Y-direction adjustment assembly (223), and the Z-axis axial rotation assembly (221), the X-direction adjustment assembly (222) and the Y-direction adjustment assembly (223) are arranged alternately in different planes in the vertical direction; the Z-axis axial rotation assembly (221) comprises a first servo motor, a first speed reducer and a slewing bearing; the X-direction adjustment assembly (222) comprises a second servo motor, a second speed reducer, a trapezoidal screw and two groups of guide rail and slide block combinations; and the Y-direction adjustment assembly (223) comprises a third servo motor, a third speed reducer, a trapezoidal screw and two groups of guide rail and slide block combinations.

3. The automatic installation device for large cylindrical precision instruments according to claim 2, characterized in that, The error compensation device (3) is internally integrated with a pneumatic locking device, has X, Y and Z three-direction motion error compensation functions, and is switched to a rigid state when the motion adjustment device (2) moves; when the motion adjustment device (2) stops moving and the cylindrical precision instrument is ready to be installed, the error compensation device (3) is switched to a flexible state to compensate for the motion error generated by the motion adjustment device (2).

4. The automatic installation device for large cylindrical precision instruments according to claim 3, characterized in that, The bracket (6) comprises a cylindrical precision instrument bracket (61) and a shell bracket (62) for transferring the cylindrical precision instrument and the shell; the bracket is attached with a felt to prevent scratching the product, and the cylindrical precision instrument bracket (61) and the shell bracket (62) are provided with brake casters at the bottom to prevent the bracket from moving during installation.

5. The automatic installation device for large cylindrical precision instruments according to claim 4, characterized in that, The on-site terminal (8) is installed on the rack (1) and is used for displaying the current installation state of the cylindrical precision instrument.

6. The automatic installation device for large cylindrical precision instruments according to claim 5, characterized in that, The monitoring camera (9) is installed at the bottom of the Y-direction adjustment assembly (223) to monitor and record the video of the installation process.

7. The control method of the automatic installation device for large cylindrical precision instruments according to claim 6, characterized by, The control method comprises the following steps: 1) The cylindrical precision instrument bracket (61) is distributed to the inside of the rack (1) and connected with the limiting frame (13), and the brake caster of the cylindrical precision instrument bracket (61) is stepped on; 2) The lifting eye screw on the double-end stud (41) at the upper end surface of the cylindrical precision instrument is disassembled, and the target point tool (53) is installed in the pin hole of the cylindrical precision instrument; 3) The motion adjustment device (2) is lowered, the error compensation device (3) is switched to a flexible state, the latch (45) fixes the double-end stud (41) and the tool (44), and the hoisting preparation of the cylindrical precision instrument is completed; 4) The error compensation device (3) is switched to a rigid state, the motion adjustment device is raised, and the cylindrical precision instrument is hoisted; 5) The cylindrical precision instrument bracket (61) is withdrawn from the rack (1); 6) The shell bracket (62) is distributed to the inside of the rack (1) and connected with the limiting frame (13), and the brake caster of the shell bracket (62) is stepped on; 7) The positioning tool (52) of the laser positioning device (5) is installed on the upper end surface of the shell; 8) The laser emitter (51) is turned on, and the motion adjustment device (2) is operated to adjust the position of the target point tool (53); 9) The target point tool (53) receives the laser, and the positioning tool (52) is disassembled; 10) The motion adjustment device (2) is lowered; 11) When the cylinder precision instrument is lowered to the set height, the motion adjustment device (2) stops lowering; 12) The alignment between the cylinder precision instrument pin hole and the internal pin of the shell is observed by the endoscope (10). If it is not aligned, the button box (7) is taken to adjust the position of the cylinder precision instrument; 13) The error compensation device (3) is switched to a flexible state, the motion adjustment device (2) continues to lower, and the docking of the cylinder precision instrument and the shell is completed.

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