A sphere posture adjusting device and method

Abstract

This invention relates to a spherical attitude adjustment device and method, comprising a robotic arm, an end-face positioning plate, a suction cup, a hollow hemisphere, an X-axis electric displacement stage, a hollow rotary platform, a hemispherical clamp, a motor, a cylinder, a Z-axis electric displacement stage, a positioning block, an electric lifting platform, a camera, a Y-axis electric displacement stage, a support, and a worktable. The method includes steps such as positioning the hemisphere in the hemispherical clamp, rotating the hemispherical clamp, performing a centering motion, detecting the sphere's sway, adsorbing the sphere, and adjusting the sphere's sway around the Z-axis and Y-axis circumferential directions. This invention enables automatic clamping, precise positioning, and attitude adjustment of hollow hemispheres. The clamping of the hollow hemisphere requires no manual intervention, is safe and reliable, and features time-saving, labor-saving, and high processing efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of intelligent manufacturing, and relates to a spherical body posture adjusting device and method. BACKGROUND

[0002] In the processing of a hollow sphere, a thin plate of copper alloy, stainless steel, aluminum alloy, etc. is usually used to form a hollow hemisphere through stamping, and then the hollow hemisphere is subjected to edge cutting processing. Subsequently, after two hollow hemispheres are buckled, welding is performed, and finally a complete hollow sphere structure is formed. However, before welding, the buckled hollow sphere must be accurately adjusted to the correct welding position. At present, manual clamping is adopted before the hollow sphere is welded, but manual adjustment has limited accuracy, is time-consuming and laborious, and has low efficiency. Therefore, a device capable of automatically adjusting the position of the hollow sphere is needed to improve the welding accuracy to ensure the welding quality, and the device should be capable of accurately capturing the position and posture of the hollow sphere and automatically adjusting the position and posture, thereby providing more stable and efficient support for subsequent welding work. SUMMARY

[0003] The application aims to provide a spherical body posture adjusting device and method, which has the advantages of simple structure, high automation, high precision, safety and reliability, and can realize automatic clamping, accurate positioning and posture adjustment of the spherical body.

[0004] To solve the above problems in the prior art, the application provides a spherical body posture adjusting device and method, and the adjusting device is composed of a mechanical arm, an end face positioning plate, a suction cup, a hollow hemisphere, an X-axis electric displacement table, a hollow rotating platform, a hemisphere clamp, a motor, an air cylinder, a Z-axis electric displacement table, a positioning block, an electric lifting table, a camera, a Y-axis electric displacement table, a support and a workbench.

[0005] The suction cup I is fixedly connected to the end of the mechanical arm, and the end face positioning plate is fixedly connected to the suction cup I. The hollow rotating platform I and the hollow rotating platform II are fixedly connected to the X-axis electric displacement table I and the X-axis electric displacement table II, respectively. The hemisphere clamp I and the hemisphere clamp II are fixedly connected to the hollow rotating platform I and the hollow rotating platform II, respectively. The Z-axis electric displacement table I and the Z-axis electric displacement table II are fixedly connected to the Y-axis electric displacement table I and the Y-axis electric displacement table II, respectively. The hollow rotating platform III and the hollow rotating platform IV are fixedly connected to the Z-axis electric displacement table I and the Z-axis electric displacement table II, respectively. The positioning block I and the positioning block II are fixedly connected to the hollow rotating platform III and the hollow rotating platform IV, respectively. The suction cup II and the suction cup III are fixedly connected to the positioning block I and the positioning block II, respectively. The hollow rotating platform V is fixedly connected to the electric lifting table. The positioning block III is fixedly connected to the hollow rotating platform V. The suction cup IV is fixedly connected to the positioning block III. The camera is fixedly connected to the support.

[0006] The posture adjusting method comprises the following steps:

[0007] Step 1: The machine arm uses the end suction disc I to position two hollow hemispheres into two hemispherical clamps in sequence, and uses the cylinder in the hemispherical clamp to perform suction by vacuumizing;

[0008] Step 2: The two hollow rotating platforms are used to rotate the two hemispherical clamps counterclockwise by 90° and clockwise by 90° respectively;

[0009] Step 3: The two X-axis electric displacement tables drive the two hemispherical clamps to perform centring movement until the two hollow hemispheres are closed and are in a pre-tightening state;

[0010] Step 4: The motor drives the two hemispherical clamps to rotate, the camera above detects the spherical joint, and the deviation amount of the sphere in the Y-axis and Z-axis circumferential directions is obtained;

[0011] Step 5: The electric lifting table drives the suction disc IV to move in the +Z direction, and after reaching the predetermined position, the suction disc IV adsorbs the sphere, and then the two hemispherical clamps perform centrifugal movement;

[0012] Step 6: The hollow rotating platform V above the electric lifting table is rotated to adjust the deviation amount of the sphere around the Z-axis circumferential direction;

[0013] Step 7: The two Y-axis electric displacement tables drive the two Z-axis electric displacement tables to perform centring movement, and after reaching the predetermined position, the suction disc on the Z-axis electric displacement table adsorbs the sphere;

[0014] Step 8: The hollow rotating platform on the Z-axis electric displacement table is used to adjust the deviation amount of the sphere around the Y-axis circumferential direction;

[0015] Step 9: The two X-axis electric displacement tables drive the two hemispherical clamps to perform centring movement, and after reaching the predetermined position, the cylinder in the two hemispherical clamps adsorbs the sphere by vacuumizing.

[0016] The X-axis electric displacement table I and the X-axis electric displacement table II are symmetrically distributed on both sides of the central axis of the workbench.

[0017] The Y-axis electric displacement table I and the Y-axis electric displacement table II are symmetrically distributed on both sides of the central axis of the workbench.

[0018] The hemispherical clamp I and the hemispherical clamp II have coaxial rotation axes.

[0019] The electric lifting table is located at the intersection of the central axis of the workbench and drives the hollow rotating platform V to move up and down.

[0020] The mechanical arm adopts a multi-joint structure and has good mechanical flexibility and precision.

[0021] The end face positioning plate has a circular groove with a diameter consistent with the diameter of the hollow hemisphere.

[0022] The present application has the following beneficial effects:

[0023] The device can realize automatic clamping, accurate positioning and posture adjustment of the hollow hemisphere, and the clamping of the hollow hemisphere does not need manual participation, which is safe and reliable, time-saving and labor-saving, and has the characteristics of high processing efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a axonometric view of the ball posture adjustment device of the present application;

[0025] Figure 2 It is a ball deflection schematic diagram of the present application;

[0026] Figure 3 It is a schematic diagram of the suction cup structure of the present application;

[0027] Figure 4 It is a schematic diagram of the hollow rotating platform structure of the present application;

[0028] Figure 5 It is a schematic diagram of the Y-axis electric displacement table structure of the present application;

[0029] Figure 6 It is a schematic diagram of the Z-axis electric displacement table structure of the present application;

[0030] Figure 7 It is a schematic diagram of the X-axis electric displacement table structure of the present application;

[0031] Figure 8 It is a schematic diagram of the hemisphere clamp structure of the present application;

[0032] Figure 9 It is a schematic diagram of the positioning block structure of the present application. DETAILED EMBODIMENT

[0033] The present application will be described in detail below in combination with the drawings and specific embodiments. The present embodiment is implemented on the basis of the technical scheme of the present application, and gives a detailed implementation manner and specific operation process, but the protection scope of the present application is not limited to the following embodiments.

[0034] The attitude adjustment method of the spherical attitude adjustment device is characterized in that: the adjustment device comprises a mechanical arm (1), an end face positioning plate (2), a suction cup (3), a hollow hemisphere (4), an X-axis electric displacement table (5), a hollow rotating platform (6), a hemisphere clamp (7), a motor (8), an air cylinder (9), a Z-axis electric displacement table (10), a positioning block (11), an electric lifting table (12), a camera (13), a Y-axis electric displacement table (14), a support (15), and a workbench (16); the suction cup I (17) is fixedly connected to the end of the mechanical arm (1), the end face positioning plate (2) is fixedly connected to the suction cup I (17), the hollow rotating platform I (18) and the hollow rotating platform II (19) are fixedly connected to the X-axis electric displacement table I (20) and the X-axis electric displacement table II (21) respectively, the hemisphere clamp I (22) and the hemisphere clamp II (23) are fixedly connected to the hollow rotating platform I (18) and the hollow rotating platform II (19) respectively, the Z-axis electric displacement table I (24) and the Z-axis electric displacement table II (25) are fixedly connected to the Y-axis electric displacement table I (26) and the Y-axis electric displacement table II (27) respectively, the hollow rotating platform III (28) and the hollow rotating platform IV (29) are fixedly connected to the Z-axis electric displacement table I (24) and the Z-axis electric displacement table II (25) respectively, the positioning block I (30) and the positioning block II (31) are fixedly connected to the hollow rotating platform III (28) and the hollow rotating platform IV (29) respectively, the suction cup II (32) and the suction cup III (33) are fixedly connected to the positioning block I (30) and the positioning block II (31) respectively, the hollow rotating platform V (34) is fixedly connected to the electric lifting table (12), the positioning block III (35) is fixedly connected to the hollow rotating platform V (34), the suction cup IV (36) is fixedly connected to the positioning block III (35), and the camera (13) is fixedly connected to the support (15);

[0035] The attitude adjustment method of the spherical attitude adjustment device is characterized in that: the adjustment device comprises a mechanical arm (1), an end face positioning plate (2), a suction cup (3), a hollow hemisphere (4), an X-axis electric displacement table (5), a hollow rotating platform (6), a hemisphere clamp (7), a motor (8), an air cylinder (9), a Z-axis electric displacement table (10), a positioning block (11), an electric lifting table (12), a camera (13), a Y-axis electric displacement table (14), a support (15), and a workbench (16); the suction cup I (17) is fixedly connected to the end of the mechanical arm (1), the end face positioning plate (2) is fixedly connected to the suction cup I (17), the hollow rotating platform I (18) and the hollow rotating platform II (19) are fixedly connected to the X-axis electric displacement table I (20) and the X-axis electric displacement table II (21) respectively, the hemisphere clamp I (22) and the hemisphere clamp II (23) are fixedly connected to the hollow rotating platform I (18) and the hollow rotating platform II (19) respectively, the Z-axis electric displacement table I (24) and the Z-axis electric displacement table II (25) are fixedly connected to the Y-axis electric displacement table I (26) and the Y-axis electric displacement table II (27) respectively, the hollow rotating platform III (28) and the hollow rotating platform IV (29) are fixedly connected to the Z-axis electric displacement table I (24) and the Z-axis electric displacement table II (25) respectively, the positioning block I (30) and the positioning block II (31) are fixedly connected to the hollow rotating platform III (28) and the hollow rotating platform IV (29) respectively, the suction cup II (32) and the suction cup III (33) are fixedly connected to the positioning block I (30) and the positioning block II (31) respectively, the hollow rotating platform V (34) is fixedly connected to the electric lifting table (12), the positioning block III (35) is fixedly connected to the hollow rotating platform V (34), the suction cup IV (36) is fixedly connected to the positioning block III (35), and the camera (13) is fixedly connected to the support (15);

[0036] Step 1: The mechanical arm (1) uses the suction cup I (17) at the end to sequentially position two hollow hemispheres (4) into two hemisphere clamps (7), and uses the air cylinder (9) in the hemisphere clamp (7) to perform suction by vacuumizing;

[0037] Step 2: Two hollow rotating platforms (6) are used to rotate the two hemisphere clamps (7) counterclockwise by 90° and clockwise by 90° respectively;

[0038] Step 3: Two X-axis electric displacement tables (5) drive two hemisphere clamps (7) to perform centering motion until two hollow hemispheres (4) are closed and are in a pre-tightened state;

[0039] Step 4: The motor (8) drives the two hemispherical clamps (7) to rotate, and the camera (13) takes pictures of the seam to detect the sway of the sphere around the Y-axis and Z-axis.

[0040] Step 5: The electric lifting platform (12) drives the suction cup IV (36) to move in the +Z direction. After reaching the predetermined position, the suction cup IV (36) picks up the sphere. At the same time, the cylinder (9) in the two hemispherical clamps stops evacuating the vacuum. Then, the two hemispherical clamps (7) perform centrifugal motion.

[0041] Step 6: Driven by the hollow rotating platform V (34) above the electric lifting platform (12), the sphere begins to adjust its attitude around the Z-axis circumference;

[0042] Step 7: The two Y-axis electric displacement stages (14) drive the two Z-axis electric displacement stages (10) to perform a concentric motion. After reaching the predetermined position, the sphere is attracted by the suction cup (3) on the Z-axis electric displacement stage (10).

[0043] Step 8: Driven by the hollow rotating platform (6) on the Z-axis electric displacement stage (10), the sphere begins to adjust its attitude around the Y-axis circumference.

[0044] Step 9: The two X-axis electric displacement stages (5) drive the two hemispherical clamps (7) to perform a centering motion. After reaching the predetermined position, the cylinders (9) in the two hemispherical clamps (7) draw a vacuum to adsorb the spheres.

[0045] When the two hollow hemispheres (4) are joined together, if there is a swaying phenomenon, there are three possible scenarios, such as... Figure 2 As shown, the first type is that the sphere has a sway around the Y-axis, so the sphere's attitude around the Y-axis is adjusted only by driving the hollow rotating platform (6) on the Z-axis electric displacement stage (10); the second type is that the sphere has a sway around the Z-axis, so the sphere's attitude around the Z-axis is adjusted only by driving the hollow rotating platform V (34) above the electric lifting stage (12); the third type is that the sphere has a sway around both the Z-axis and Y-axis, so the sphere's attitude around the Y-axis is adjusted first, and then the attitude around the Z-axis is adjusted.

[0046] The X-axis electric displacement stage I (20) and X-axis electric displacement stage II (21) are symmetrically distributed on both sides of the central axis of the worktable (16) to realize the translation and positioning of the sphere.

[0047] The Y-axis electric displacement stage I (26) and Y-axis electric displacement stage II (27) are symmetrically distributed on both sides of the central axis of the worktable (16) to realize the translation and positioning of the sphere.

[0048] The rotation axes of the hemispherical clamp I (22) and the hemispherical clamp II (23) are coaxial, so that the two hollow hemispheres (4) are coaxial.

[0049] The hemispherical clamp I (22) and the hemispherical clamp II (23) are respectively located on the central axes of the hollow rotating platform I (18) and the hollow rotating platform II (19), and are symmetrically distributed about the central axis of the workbench (16).

[0050] The electric lifting platform (12) is located at the intersection of the central axis of the workbench (16), driving the hollow rotating platform V (34) to move up and down.

[0051] The mechanical arm (1) adopts a multi-joint structure, has 6 degrees of freedom, has good mechanical flexibility and precision, and can realize complex motion trajectory control.

[0052] The hollow rotating platform (6) adopts high-precision manufacturing process, high-quality bearing, and high-precision driving system, and has high rotation precision and stability.

[0053] The end face positioning plate (2) has a circular groove with a diameter consistent with the diameter of the hollow hemisphere (4), which plays a role in positioning the hollow hemisphere (4).

[0054] The hemispherical clamp I (22) and the hemispherical clamp II (23) are respectively located on the central axes of the hollow rotating platform I (18) and the hollow rotating platform II (19), and are symmetrically distributed about the central axis of the workbench (16).

[0055] The above examples are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made in accordance with the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. A method of adjusting the attitude of a spherical attitude adjustment device, characterized by: The adjusting device comprises a mechanical arm (1), an end face positioning plate (2), a suction cup (3), a hollow hemisphere (4), an X-axis electric displacement table (5), a hollow rotating platform (6), a hemisphere clamp (7), a motor (8), an air cylinder (9), a Z-axis electric displacement table (10), a positioning block (11), an electric lifting table (12), a camera (13), a Y-axis electric displacement table (14), a support (15) and a workbench (16); the suction cup I (17) is fixedly connected to the tail end of the mechanical arm (1), the end face positioning plate (2) is fixedly connected to the suction cup I (17), the hollow rotating platform I (18) and the hollow rotating platform II (19) are fixedly connected to the X-axis electric displacement table I (20) and the X-axis electric displacement table II (21) respectively, the hemisphere clamp I (22) and the hemisphere clamp II (23) are fixedly connected to the hollow rotating platform I (18) and the hollow rotating platform II (19) respectively, the Z-axis electric displacement table I (24) and the Z-axis electric displacement table II (25) are fixedly connected to the Y-axis electric displacement table I (26) and the Y-axis electric displacement table II (27) respectively, the hollow rotating platform III (28) and the hollow rotating platform IV (29) are fixedly connected to the Z-axis electric displacement table I (24) and the Z-axis electric displacement table II (25) respectively, the positioning block I (30) and the positioning block II (31) are fixedly connected to the hollow rotating platform III (28) and the hollow rotating platform IV (29) respectively, the suction cup II (32) and the suction cup III (33) are fixedly connected to the positioning block I (30) and the positioning block II (31) respectively, the hollow rotating platform V (34) is fixedly connected to the electric lifting table (12), the positioning block III (35) is fixedly connected to the hollow rotating platform V (34), the suction cup IV (36) is fixedly connected to the positioning block III (35), and the camera (13) is fixedly connected to the support (15); The posture adjusting method comprises the following steps: Step 1: the mechanical arm (1) uses the suction cup I (17) at the tail end to position two hollow hemispheres (4) into two hemisphere clamps (7) in sequence, and uses the air cylinder (9) in the hemisphere clamp (7) to perform suction by vacuumizing; Step 2: the two hollow rotating platforms (6) are used to rotate the two hemisphere clamps (7) counterclockwise by 90° and clockwise by 90° respectively; Step 3: the two X-axis electric displacement tables (5) drive the two hemisphere clamps (7) to perform centring movement until the two hollow hemispheres (4) are closed and are in a pre-tightening state; Step 4: the motor (8) drives the two hemisphere clamps (7) to rotate, and the camera (13) above detects the ball joint, so as to obtain the amount of deflection of the ball in the Y-axis and Z-axis circumferential directions; Step 5: the electric lifting table (12) drives the suction cup IV (36) to move in the +Z direction, and after reaching a predetermined position, the suction cup IV (36) adsorbs the ball, at the same time, the air cylinder (9) in the two hollow hemisphere clamps is stopped to vacuumize, and then the two hemisphere clamps (7) perform centrifugal movement; Step 6: the hollow rotating platform V (34) above the electric lifting table (12) is rotated to adjust the amount of deflection of the ball around the Z-axis circumferential direction. Step 7: The two Y-axis electric displacement tables (14) drive the two Z-axis electric displacement tables (10) to move to the center, and after reaching the predetermined position, the Z-axis electric displacement tables (10) are used to suck the sphere with the suction cups (3); Step 8: The hollow rotating platform (6) on the Z-axis electric displacement table (10) is used to adjust the circumferential direction of the sphere; Step 9: The two X-axis electric displacement tables (5) drive the two hemispherical body clamps (7) to move to the center, and after reaching the predetermined position, the two hemispherical body clamps (7) are used to suck the sphere with the air cylinders (9).

2. The method of claim 1, wherein: The X-axis electric displacement table I (20) and the X-axis electric displacement table II (21) are symmetrically distributed on both sides of the central axis of the workbench (16).

3. The method of claim 1, wherein: The Y-axis electric displacement table I (26) and the Y-axis electric displacement table II (27) are symmetrically distributed on both sides of the central axis of the workbench (16).

4. The method of claim 1, wherein: The hemispherical body clamp I (22) and the hemispherical body clamp II (23) have coaxial rotating shafts.

5. The method of claim 1, wherein: The electric lifting platform (12) is located at the intersection of the central axis of the workbench (16) and drives the hollow rotating platform V (34) to move up and down.

6. A method of adjusting the attitude of a ball according to claim 1, characterized in that: The mechanical arm (1) adopts a multi-joint structure and has good mechanical flexibility and precision.

7. A method of adjusting the attitude of a ball according to claim 1, characterized in that: The end face positioning plate (2) has a circular groove with a diameter consistent with the diameter of the hollow hemisphere (4).

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