A horizontal assembly device for cylindrical components

Abstract

This invention discloses a horizontal assembly device for cylindrical components, relating to the field of large equipment manufacturing. A group of transport trolleys moves along a transport track to move the cylindrical components. Intelligent attitude-adjusting piers adjust the shape of their contact surface with the cylindrical components through their compliant mechanisms, thereby adjusting the posture of the cylindrical components. A support beam supports the intelligent attitude-adjusting piers. A supporting base pier supports the support beam of the pier group, bearing the weight of the horizontal assembly device for the cylindrical components. An optical measurement system is positioned on the side of the docking end face of the cylindrical components to measure the spatial coordinates of multiple points on the side and end face of the cylindrical components. This invention employs an integrated control system to automatically control the docking and transport trolleys, uses an optical measurement system to measure the real-time posture of the entire segment, uses an attitude-adjusting planning system to calculate the attitude adjustment amount in real time, and uses intelligent attitude-adjusting piers to support the components and perform attitude adjustment. It has the advantages of high automation and high integration, achieving higher docking accuracy and assembly efficiency.

Description

Technical Field

[0001] This invention relates to the field of large-scale equipment manufacturing, and in particular to a horizontal assembly device for cylindrical components. Background Technology

[0002] Large equipment, such as aircraft and ships, can reach hundreds of meters in length and weigh tens of millions of tons. Characterized by their large size and heavy weight, they are typically divided into several parts according to manufacturing processes or functions, and each part is processed separately; these parts are called sections or segments. After each section is constructed in its respective location, transport and assembly devices are used to move them to a nearby position for assembly. When two sections are joined, one section remains fixed and is called the reference section, while the other section, called the section to be positioned, is adjusted relative to the reference section and gradually joined with it. This method is called the section construction method. The section construction method is an effective way to improve the quality and efficiency of large equipment manufacturing. However, in my country, section joining mainly relies on worker experience and manual operation of equipment, resulting in relatively backward section joining technology and lower precision and efficiency.

[0003] In the manufacturing of large aircraft, large pipelines, and deep-sea high-tech products, the assembly of cylindrical components is a common task. Large cylindrical components are characterized by high flexibility and significant deformation under their own weight. During assembly, it is necessary to control the structure's posture and deformation to ensure the final assembly effect. There are two assembly methods for cylindrical components: vertical assembly and horizontal assembly. Longer components primarily use horizontal assembly. In horizontal assembly, controlling the deformation of the cylindrical component is more difficult, and the uneven stress in different directions on the cylinder also reduces the positioning accuracy of the component. In the assembly of some thin-walled parts, due to their relatively light weight, simple base structures can be used for support and assembly to meet the process requirements, such as the Chinese invention patent CN202322198314.4, "A Horizontal Frame for Ensuring the Riveting Geometric Dimensions of Shell Sections." However, with the further development of the overall section construction model, the application scope of horizontal assembly of cylindrical components has expanded. The overall section size is becoming larger, and the self-weight load is becoming more extreme, placing higher demands on the assembly equipment. In the manufacturing of heavy-duty thick-walled cylindrical sections and deep-sea high-tech products, the self-weight of the entire section can reach thousands of tons. In actual production sites, conventional tooling cannot meet the support and attitude adjustment requirements. Therefore, a method of manually adjusting the wooden supports and visually inspecting the component's condition is used to adjust the posture of the cylindrical component. This method has three major problems: primitive equipment and methods, low precision and efficiency, and significant safety risks for personnel. Therefore, there is an urgent need for a dedicated horizontal assembly device for ultra-large-scale cylindrical components to improve overall docking accuracy and assembly efficiency.

[0004] Therefore, those skilled in the art are dedicated to developing a horizontal assembly device for cylindrical components. Summary of the Invention

[0005] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a special horizontal assembly device for ultra-large cylindrical components to complete the posture adjustment of cylindrical components.

[0006] To achieve the above objectives, the present invention provides a horizontal assembly device for cylindrical components, characterized in that it includes a transfer track, a group of transfer trolleys, an intelligent attitude-adjusting pier group, a pier group support beam, a device support base, and an optical measurement system, wherein...

[0007] The transport track is configured as multiple sets of steel tracks, and the track spacing of the steel tracks is set to be the same;

[0008] The group of transfer trolleys moves along the transfer track. The group of transfer trolleys consists of multiple transfer trolleys and works together to transfer the section to be positioned in the cylindrical component.

[0009] The intelligent posture-adjusting pier assembly is installed on the support beam of the pier assembly to support the cylindrical component. The intelligent posture-adjusting pier assembly adjusts itself to change the shape of the contact surface with the cylindrical component, thereby achieving posture adjustment of the cylindrical component.

[0010] The pier group support beam is installed on the device support base pier to support the intelligent attitude adjustment pier group. The pier group support beam is placed orthogonally to the transfer track.

[0011] The device support pier is installed on the outside of the transfer track, supports the pier group support beam, and bears the weight of the cylindrical component horizontal assembly device;

[0012] The optical measurement system is positioned on the side of the docking end face of the section to be positioned and the fixed section of the cylindrical component, facing the cylindrical section, and measures the spatial coordinate information of multiple points on the side and end face of the cylindrical component.

[0013] Furthermore, a group of transfer trolleys is provided below both the section to be positioned and the fixed section of the cylindrical component, and the group of transfer trolleys provided below the section to be positioned consists of 10 transfer trolleys.

[0014] Furthermore, the intelligent posture adjustment block group set below the segment to be positioned supports the gravity of the segment to be positioned. The intelligent posture adjustment block group is equipped with a compliant mechanism. By adjusting the compliant mechanism, the shape of the contact surface with the segment to be positioned is changed, thereby adjusting the posture of the segment to be positioned.

[0015] Furthermore, the intelligent posture adjustment pier group consists of multiple intelligent posture adjustment piers, with 15 of the intelligent posture adjustment piers installed below the section to be positioned.

[0016] Furthermore, multiple pier support beams are provided below the section to be positioned, and the spacing between the pier support beams is equal.

[0017] Furthermore, five pier support beams are provided below the section to be positioned, and three intelligent attitude-adjusting piers are installed above each pier support beam.

[0018] Furthermore, 10 device support piers are provided below the section to be positioned, and the device support piers are movable.

[0019] Furthermore, the device also includes an integrated control system and an attitude planning system, wherein,

[0020] The integrated control system connects the hardware system and software module of the device through a system bus, realizing communication and data interaction between the hardware system and software module within the device, and issuing commands through the system bus to control the movement of the transfer trolley group and the intelligent posture adjustment block group.

[0021] The attitude adjustment planning system acquires measurement results through the system bus, calculates the current pose and the target motion trajectory of each of the intelligent attitude adjustment piers, and after the calculation is completed, sends the instruction information to the control system of the intelligent attitude adjustment pier group through the system bus to control the movement of the intelligent attitude adjustment piers and realize the docking attitude adjustment operation.

[0022] Furthermore, the integrated control system includes the system bus, the transfer trolley group control module, the optical measurement system control module, and the intelligent attitude adjustment pier group control module, wherein,

[0023] The system bus is an industrial internet bus specifically designed for the horizontal assembly of cylindrical components, enabling communication and data interaction between all hardware and software within the device.

[0024] The transfer trolley group control module receives instructions from the system bus and directs the transfer trolley group to lift or lower the section to be positioned, the intelligent attitude-adjusting pier group, and the pier group support beam; it sets instructions for the transfer trolley group, controls the movement speed and target trajectory endpoint of the transfer trolley group, and monitors the position, speed, and load status of the transfer trolley group during movement;

[0025] The optical measurement system control module controls the optical measurement system to perform automatic measurements according to the instructions issued by the system bus, and returns the measurement data of the optical measurement system to the system bus.

[0026] The intelligent posture adjustment pier group control module connects all the intelligent posture adjustment piers. The intelligent posture adjustment pier group control module communicates with the system bus, receives motion commands, and returns the pier group status and motion information.

[0027] Furthermore, the attitude planning system obtains the measured coordinate information of key points of the segment to be positioned and the fixed segment through the system bus, calculates the current attitude of the segment to be positioned and the fixed segment, and calculates the target attitude of the segment to be positioned with the merging of the segment to be positioned and the fixed segment as the goal.

[0028] In a preferred embodiment of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. Using the device provided by the present invention, the position and attitude adjustment of the cylindrical component section can be completed automatically, replacing the existing relatively primitive equipment and methods, and significantly improving the automation level of assembly and joining.

[0030] 2. Using the device provided by this invention, the position and attitude of cylindrical components can be automatically adjusted under various working conditions, making it suitable for different scenarios and greatly improving the docking accuracy and overall efficiency of cylindrical components;

[0031] 3. Using the device provided by this invention, the real-time position and orientation of the segment to be positioned can be automatically calculated during the orientation adjustment stage of horizontal assembly of cylindrical components, thereby reducing the number of adjustments and improving docking accuracy and orientation adjustment efficiency.

[0032] 4. Using the device provided by this invention can eliminate the personal safety risks associated with the current common method of using industrial raw materials such as wooden blocks and steel plates for support and manually adjusting the position and quantity of support components.

[0033] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall composition of an embodiment of the present invention;

[0035] Figure 2 This is a schematic side view of an embodiment of the present invention;

[0036] Figure 3This is a schematic diagram of the effective range of the visual measurement system according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic flowchart illustrating an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the integrated control system according to an embodiment of the present invention.

[0039] The labels in the diagram are explained as follows:

[0040] 101-Horizontal cylindrical component, 102-Transfer track, 103-Transfer trolley group, 104-Intelligent attitude adjustment pier group, 105-Pier group support beam, 106-Equipment support pier, 107-Optical measurement system;

[0041] 101-1 - Section to be located, 101-2 - Fixed section;

[0042] 301 - Visual measurement range. Detailed Implementation

[0043] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0044] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0045] like Figure 1 and Figure 2As shown in the figure, an embodiment of the present invention provides a horizontal assembly device for cylindrical components. This device includes a transport track 102, a transport trolley group 103, an intelligent attitude-adjusting pier group 104, a pier group support beam 105, a device support base 106, an optical measurement system 107, an integrated control system, and an attitude-adjusting planning system, among other hardware and software components. The transport track 102 and the transport trolley group 103 are responsible for the transfer of each section of the cylindrical component; the optical measurement system 107 is responsible for the attitude recognition of the sections during assembly; the attitude-adjusting planning system calculates the attitude and deformation adjustment of the two sections; the intelligent attitude-adjusting pier group 104 supports the sections and adjusts their attitude; the pier group support beam 105 and the device support base 106 provide support for the sections and the pier group; the integrated control system integrates all hardware and software components for centralized control. This horizontal assembly device for cylindrical components has good structural strength, high positioning accuracy, good safety, and is easy to control. Using this device, the spatial orientation and adjustment of the section to be positioned relative to the reference section can be automatically completed, changing the traditional working state of occupying the crane for a long time and relying on the operation of workers during the merging operation, and significantly improving the quality and efficiency of horizontal assembly and merging of cylindrical components.

[0046] like Figure 1 As shown, in this embodiment, the horizontal assembly device for cylindrical components includes:

[0047] 1) Horizontal cylindrical component 101 is a cylindrical component to be assembled. This component includes two sections: the section to be positioned 101-1 and the fixed section 101-2.

[0048] 2) The transfer track 102 is set as multiple sets of steel tracks, and the track spacing of the steel tracks is set to be the same.

[0049] In this embodiment, the transfer track 102 is divided into two groups of steel tracks with the same track spacing.

[0050] 3) The transfer trolley group 103 moves along the transfer track 102. The transfer trolley group 103 consists of multiple transfer trolleys that work together to transfer the main section 101-1 to be positioned in the horizontal cylindrical component 101.

[0051] In this example, a group of transfer trolleys 103 is provided below both the section to be positioned 101-1 and the fixed section 101-2 of the horizontal cylindrical component 101. The group of transfer trolleys 103 below the section to be positioned 101-1 consists of 10 transfer trolleys, which together realize the transfer of the section to be positioned 101-1.

[0052] 4) The intelligent attitude-adjusting pier assembly 104 is installed on the pier assembly support beam 105, serving to support the gravity of the section 101-1 to be positioned within the horizontal cylindrical component 101. The intelligent attitude-adjusting pier assembly 104 is equipped with a compliant mechanism. Through adjustment of its own compliant mechanism, the shape of the contact surface with the horizontal cylindrical component 101 changes, thereby achieving attitude adjustment of the section 101-1 to be positioned within the horizontal cylindrical component 101. The intelligent attitude-adjusting pier assembly 104 consists of multiple intelligent attitude-adjusting piers.

[0053] In this example, a total of 15 intelligent posture adjustment piers are installed below the section to be positioned 101-1, forming 5 groups of intelligent posture adjustment piers 104.

[0054] 5) The pier group support beam 105 is installed on the device support pier 106 and serves to support the intelligent posture adjustment pier group 104. Each pier group support beam 105 is placed orthogonally to the transfer track 102, and the spacing between each pier group support beam 105 is equal.

[0055] In this example, there are 5 pier support beams 105 below the section to be positioned 101-1, and 3 intelligent attitude adjustment piers are placed on top of each pier support beam 105.

[0056] 6) The device support pier 106 is installed on the outside of the transfer track 102, and serves to support the crossbeam 105 of the support pier group so as to bear the weight of the entire device.

[0057] In this example, there are 10 device support piers 106 under the section to be positioned 101-1, all of which are movable.

[0058] 7) The optical measurement system 107 is placed on the side of the docking end face of the section to be positioned 101-1 and the fixed section 101-2, facing the cylindrical section, to measure the spatial coordinate information of multiple points on the side and end face of the horizontal cylindrical component 101. The measurement range of the optical measurement system 107 covers the entire docking end face, such as... Figure 3 As shown.

[0059] In this example, the visual measurement range of the optical measurement system 107 includes the entire visual measurement range 301 area.

[0060] In this embodiment of the invention, the horizontal assembly device for cylindrical components includes an integrated control system and an attitude adjustment planning system, such as... Figure 5 As shown.

[0061] The integrated control system connects the hardware system and software modules of the above-mentioned horizontal assembly device for cylindrical components via a system bus, enabling communication and data interaction between the hardware system and software modules within the device. It also issues commands via the system bus to control the movement of the transfer trolley group 103 and the intelligent posture adjustment block group 104.

[0062] like Figure 5 As shown, in this embodiment, the integrated control system includes the system bus, the transfer trolley group control module, the optical measurement system control module, and the intelligent attitude adjustment pier group control module, wherein,

[0063] The system bus is the core of the integrated control system, enabling communication and data exchange between all hardware and software within the entire device. The system bus used in this example is an industrial internet bus specifically designed for this scenario, featuring high speed and low latency.

[0064] The trolley group control module receives commands from the system bus and directs the trolley group to lift or lower the section to be positioned, the intelligent attitude-adjusting pier group, and the pier group support beams. It sets commands for the trolley group, controls its movement speed and target trajectory endpoint, and monitors the position, speed, and load status of the trolley group during movement. Each trolley has its own independent underlying control system, all connected and integrated through the trolley group control module. The trolley group control module communicates with the system bus, receives movement commands, and returns hardware status, movement information, and other data.

[0065] The optical measurement system control module controls the optical measurement system to perform automatic measurements according to instructions issued by the system bus, and returns the measurement data of the optical measurement system to the system bus. In this embodiment, the optical measurement system 107 receives system instructions through the optical measurement system control module, performs automatic measurements during operation, and returns the measurement data to the system bus through the optical measurement system control module.

[0066] The intelligent posture adjustment beacon group control module connects all the intelligent posture adjustment beacons. This module communicates with the system bus, receives motion commands, and returns beacon group status and motion information. In this embodiment, each intelligent posture adjustment beacon has its own independent underlying control system, and all intelligent posture adjustment beacons are integrated through the intelligent posture adjustment beacon group control module. The intelligent posture adjustment beacon group control module communicates with the system bus, receives motion commands, and returns beacon group status, motion information, and other data.

[0067] The attitude adjustment planning system acquires measurement results through the system bus, calculates the current pose and the target motion trajectory of each intelligent attitude adjustment beacon, and after the calculation is completed, sends the instruction information to the control system of the intelligent attitude adjustment beacon group 104 through the system bus to control the movement of the intelligent attitude adjustment beacon and realize the docking attitude adjustment operation.

[0068] In this embodiment, the attitude planning system obtains the key point coordinate information of the target segment 101-1 and the fixed segment 101-2 through the system bus, calculates the current attitude of the target segment 101-1 and the fixed segment 101-2, and calculates the target attitude of the target segment 101-1 with the goal of the target segment 101-1 and the fixed segment 101-2 closing together.

[0069] like Figure 4 As shown, the implementation process of this example includes the following steps:

[0070] Step 1: Once the preceding process is completed, that is, after the positioning section 101-1 is finished, this device will officially begin operation.

[0071] Step 2: The integrated control system connects various hardware systems and software modules through the system bus. If any hardware or software goes offline, the system will alarm and notify the user.

[0072] Step 3: The integrated control system issues instructions through the system bus to direct the transfer trolley group 103 to lift the main section 101-1 to be positioned, the intelligent posture adjustment pier group 104, the pier group support beam 105 and other hardware.

[0073] Step 4: Set instructions for the transfer trolley group 103 to control its movement speed and target trajectory endpoint, and monitor its position status, speed status and load status during movement;

[0074] Step 5: After the positioning section 101-1 reaches the vicinity of the fixed section 101-2, the integrated control system issues an instruction to control the transfer trolley group to lower the positioning section 101-1, the intelligent posture adjustment pier group 104, the pier group support beam 105 and other hardware, so that the pier group support beam 105 falls on the device support pier 106.

[0075] Step 6: The optical measurement system 107 starts working and measures the spatial coordinate information of multiple points on the side and end faces of the segment to be positioned 101-1 and the fixed segment 101-2 through visual measurement.

[0076] Step 7: The attitude planning system acquires the measured coordinates of key points of the overall segment through the system bus and calculates the current attitude of the segment to be positioned 101-1 and the fixed segment 101-2. Taking the merging of the two segments as the goal, the target attitude of the segment to be positioned 101-1 is calculated.

[0077] Step 8: Based on the target attitude of the segment 101-1 to be positioned, the attitude planning system calculates the motion path of each intelligent attitude adjustment pier. The integrated control system sends commands to control the movement of the intelligent attitude adjustment piers. During the movement, the optical measurement system 107 continuously tracks and measures the segment 101-1 to be positioned.

[0078] Step 9: Once the target pose is reached, the docking and pose adjustment process ends.

[0079] Compared with the prior art, the horizontal assembly device for cylindrical components provided in the embodiments of the present invention has the following beneficial effects:

[0080] 1. Given the large size and extreme self-weight of ultra-large cylindrical components, and the rudimentary nature of existing equipment and methods, there is an urgent need for a specialized horizontal assembly device with a high degree of automation and integration. This invention provides a device for the horizontal assembly of cylindrical components. This device includes a group of transport trolleys, component transport tracks, an optical measurement system, an attitude adjustment planning system, intelligent attitude adjustment piers, pier support beams, and device support bases, among other hardware and software components. It automatically completes the position and attitude adjustment of the cylindrical component segments. The transport trolley group and component transport tracks are responsible for the transfer of each segment; the optical measurement system is responsible for the attitude recognition of the segments during assembly; the attitude adjustment planning system calculates the adjustment amounts of the attitude and deformation of the two segments; the intelligent attitude adjustment piers support the segments and perform attitude adjustment; and the pier support beams and device support bases provide support for the segments and the pier groups. Using the device provided by this invention, the position and attitude adjustment of the cylindrical component segments can be automatically completed, replacing the existing relatively rudimentary equipment and methods, and significantly improving the automation level of assembly and assembly.

[0081] 2. Existing horizontal assembly and docking of cylindrical components relies on worker experience and manual adjustment of the transport vehicle to achieve positional adjustment and manual addition of wooden blocks to achieve posture adjustment, resulting in low accuracy and efficiency. This invention adopts a track-based walking structure capable of bearing loads of hundreds to thousands of tons and adapting to automatic positional adjustment of cylindrical components. It employs a posture adjustment method combining intelligent posture-adjusting blocks and a posture-adjusting planning system to achieve automatic posture adjustment of the cylindrical components. The transport vehicle is designed as a load-bearing structure, equipped with a track-based walking system, and achieves a wide range of positional adjustments through a hydraulic system. The intelligent posture-adjusting blocks are in direct contact with the cylindrical components, adjusting the component's posture by changing the position and posture of the contact surfaces between each support block and the component. An integrated control system is constructed to automate the calculation, issuance, and execution of adjustment commands. Using the device provided by this invention, automatic positional and posture adjustments of cylindrical components can be achieved under various working conditions, making it suitable for different scenarios. This significantly improves the docking accuracy and overall efficiency of cylindrical components.

[0082] 3. Existing methods for horizontal assembly and docking of cylindrical components rely on manual experience and visual inspection of the component's condition to determine attitude adjustment commands. This lack of effective automated and intelligent calculation methods leads to repeated adjustments. This invention addresses this issue by using an optical measurement system to measure key points on the surface of the segment to be positioned in real time during the attitude adjustment stage. An attitude planning system calculates the segment's attitude, determining its real-time position and adjustment amount. At least three key feature points are set on the side of the segment to be positioned. An optical measurement system is positioned at a certain distance from the measurement points to measure the real-time coordinates of these key feature points. The real-time pose of the segment is calculated based on these coordinates. The target pose of the segment to be positioned is pre-calculated, and the attitude adjustment amount is calculated based on the real-time pose. Using the device provided by this invention, the real-time pose of the segment to be positioned can be automatically calculated during the attitude adjustment stage of horizontal assembly of cylindrical components, thereby reducing the number of adjustments and improving docking accuracy and attitude adjustment efficiency.

[0083] 4. Existing horizontal assembly and docking of cylindrical components relies on manual adjustment using wooden blocks, posing safety risks to personnel. This invention employs intelligent posture-adjusting blocks for overall section support and adjustment. Each block directly contacts the component, and posture adjustment is achieved through automatic adjustment of the blocks. Two rows of intelligent posture-adjusting blocks are symmetrically placed below the cylindrical component along its axis, with the two rows arranged symmetrically relative to the component's center plane. Each block has two degrees of freedom, enabling its own posture adjustment. Using the device provided by this invention eliminates the personal safety risks associated with the current common method of using industrial raw materials such as wooden blocks and steel plates for support, and manually adjusting the position and number of support components.

[0084] The horizontal assembly device for cylindrical components provided in this embodiment of the invention has the following technical advantages compared with the prior art:

[0085] 1) The device provided by this invention has a high degree of automation and integration.

[0086] Existing assembly devices rely on manual adjustment of the trolley to adjust the position of cylindrical components; they depend on human experience and visual judgment of the adjustment amount; and they use wooden blocks or steel plates to support the components while manually adjusting them to complete the posture adjustment of the cylindrical components. The device provided by this invention, however, uses an integrated system to automatically control the docking and transfer trolley, achieving automatic position adjustment; it uses an optical measurement system to measure the real-time posture of the entire section, and an attitude adjustment planning system to calculate the attitude adjustment amount in real time, achieving automatic calculation of the attitude adjustment amount; it uses intelligent attitude adjustment blocks to support the components and perform attitude adjustment, achieving automatic posture adjustment. Compared with existing devices, it has the advantages of high automation and high integration.

[0087] 2) The device provided by the present invention can achieve higher docking accuracy in application.

[0088] Existing assembly devices rely on manual adjustment of wooden blocks after visually inspecting the component's condition to adjust the posture of cylindrical components. However, the inconsistent shapes and significant deformation of these wooden blocks affect the component's position and orientation, making it difficult to guarantee the final docking accuracy. In contrast, the device provided by this invention uses an intelligent posture-adjusting block assembly. This assembly consists entirely of metal components, minimizing deformation and ensuring greater accuracy in actual posture adjustment compared to existing devices.

[0089] 3) The device provided by the present invention can achieve higher assembly efficiency in application.

[0090] Existing assembly equipment has low levels of automation and integration, lacks a measurement system, and requires repeated attitude confirmation and adjustment; the entire process relies heavily on manual operation, which is time-consuming and labor-intensive. The device provided by this invention achieves a high degree of automation in the entire process of cylindrical component position adjustment, attitude measurement, attitude calculation, and posture adjustment, greatly reducing the problems of repeated adjustments caused by existing equipment. Furthermore, this invention integrates all hardware and software through an integrated control system, ensuring rapid connection between processes and achieving a high degree of integration. This reduces time consumption at each stage and throughout the overall process, resulting in higher assembly efficiency.

[0091] 4) The device provided by the present invention eliminates personal safety risks during assembly.

[0092] Existing assembly equipment requires manual stacking and adjustment of wooden blocks, posing significant personal safety risks. As the size of the target cylindrical section increases, the entire process consumes even more manpower, further escalating the safety risks. The device provided by this invention uses an automated system to control the trolley and intelligent support assembly, replacing manual adjustment of the wooden blocks during the adjustment process and eliminating personal safety risks during assembly.

[0093] The horizontal assembly device for cylindrical components provided in this embodiment of the invention has better performance in the following aspects:

[0094] 1) Automation level: The automation rate of the entire process of horizontal assembly of cylindrical components reaches more than 80%.

[0095] In a preferred embodiment of the present invention, the current assembly process consists of 26 steps. With the device provided by the present invention, 21 steps can be completed automatically, achieving an automation rate of 80.8%.

[0096] 2) Assembly accuracy: Achieve an assembly accuracy no less than that of manual assembly.

[0097] In a preferred embodiment of the present invention, an assembly accuracy higher than that achieved by manual assembly is achieved for the joint seam of the main sections.

[0098] 3) Assembly efficiency: Achieve an overall efficiency improvement of over 50% and an attitude adjustment efficiency improvement of over 100%.

[0099] In a preferred embodiment of the present invention, the assembly time is reduced from 32 days to 11 days, and the overall efficiency is improved by 65.6%; the attitude adjustment time is reduced from 18 days to 1.5 days, and the attitude adjustment efficiency is improved by 1200%.

[0100] 4) Personal safety: Reduces personal safety risks by 100%.

[0101] In a preferred embodiment of the present invention, the number of human personnel involved in posture adjustment is reduced from 4-5 to 0, thereby reducing personal safety risks by 100%.

[0102] The horizontal assembly device for cylindrical components provided in this invention has the following advantages in production implementation:

[0103] 1) Horizontal assembly devices for cylindrical components can be applied to the assembly process in large equipment manufacturing fields such as large aircraft, large pipelines, and deep-sea high-tech products. Currently, assembly in my country mainly relies on worker experience and manual operation, and the technology, equipment, systems, and devices are relatively backward, indicating significant application potential.

[0104] 2) The horizontal assembly device for cylindrical components provided by the present invention integrates all hardware and software through an integrated system, which is simple and quick to deploy, convenient for overall debugging, and has good scalability;

[0105] 3) The horizontal assembly device for cylindrical components provided by this invention is based on modular design and development. For special scenarios, one or more subsystems can be partially adjusted to quickly adapt to different production scenarios, and it has high reconfigurability.

[0106] 4) The horizontal assembly device for cylindrical components provided by the present invention achieves a high degree of integration of various modules, hardware and software in the device through an integrated system. When a fault or damage occurs, the source and location of the fault can be quickly located according to the system bus information, and it has a strong fault location capability.

[0107] 5) The horizontal assembly device for cylindrical components provided by the present invention has high substitutability for each subsystem. When the device malfunctions and the fault location is located, only the specific module can be repaired or replaced, resulting in controllable maintenance costs.

[0108] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A horizontal assembly device for cylindrical components, characterized in that, This includes a transfer track, a group of transfer trolleys, intelligent attitude-adjusting piers, pier support beams, device support base piers, and an optical measurement system. The transfer track is configured as multiple sets of steel tracks, and the track spacing of the steel tracks is set to be the same; The group of transfer trolleys moves along the transfer track. The group of transfer trolleys consists of multiple transfer trolleys and works together to transfer the section to be positioned in the cylindrical component. The intelligent posture-adjusting pier assembly is installed on the support beam of the pier assembly to support the cylindrical component. The intelligent posture-adjusting pier assembly adjusts itself to change the shape of the contact surface with the cylindrical component, thereby achieving posture adjustment of the cylindrical component. The pier group support beam is installed on the device support base pier to support the intelligent attitude adjustment pier group. The pier group support beam is placed orthogonally to the transfer track. The device support pier is installed on the outside of the transfer track, supports the pier group support beam, and bears the weight of the cylindrical component horizontal assembly device; The optical measurement system is positioned on the side of the docking end face of the section to be positioned and the fixed section of the cylindrical component, facing the cylindrical section, and measures the spatial coordinate information of multiple points on the side and end face of the cylindrical component.

2. The apparatus as claimed in claim 1, characterized in that, The group of transfer trolleys is provided below both the section to be positioned and the fixed section of the cylindrical component. The group of transfer trolleys provided below the section to be positioned consists of 10 transfer trolleys.

3. The apparatus as described in claim 1, characterized in that, The intelligent posture adjustment block group, which is set below the section to be positioned, supports the gravity of the section to be positioned. The intelligent posture adjustment block group is equipped with a compliant mechanism. By adjusting the compliant mechanism, the shape of the contact surface with the section to be positioned is changed, thereby adjusting the posture of the section to be positioned.

4. The apparatus as described in claim 3, characterized in that, The intelligent posture adjustment pier group consists of multiple intelligent posture adjustment piers, with 15 of the intelligent posture adjustment piers installed below the section to be positioned.

5. The apparatus as claimed in claim 1, characterized in that, Multiple pier support beams are installed below the section to be positioned, and the spacing between the pier support beams is equal.

6. The apparatus as claimed in claim 4, characterized in that, Five pier support beams are installed below the section to be positioned, and three intelligent attitude-adjusting piers are installed above each pier support beam.

7. The apparatus as claimed in claim 1, characterized in that, Ten device support piers are provided below the section to be positioned, and the device support piers are movable.

8. The apparatus according to any one of claims 1-7, characterized in that, The device also includes an integrated control system and an attitude planning system, wherein... The integrated control system connects the hardware system and software module of the device through a system bus, realizing communication and data interaction between the hardware system and software module within the device, and issuing commands through the system bus to control the movement of the transfer trolley group and the intelligent posture adjustment block group. The attitude adjustment planning system acquires measurement results through the system bus, calculates the current pose and the target motion trajectory of each of the intelligent attitude adjustment piers, and after the calculation is completed, sends the instruction information to the control system of the intelligent attitude adjustment pier group through the system bus to control the movement of the intelligent attitude adjustment piers and realize the docking attitude adjustment operation.

9. The apparatus as claimed in claim 8, characterized in that, The integrated control system includes a system bus, a transfer trolley group control module, an optical measurement system control module, and an intelligent attitude adjustment pier group control module, wherein... The system bus is an industrial internet bus specifically designed for the horizontal assembly of cylindrical components, enabling communication and data interaction between all hardware and software within the device. The transfer trolley group control module receives instructions from the system bus and directs the transfer trolley group to lift or lower the section to be positioned, the intelligent attitude-adjusting pier group, and the pier group support beam; it sets instructions for the transfer trolley group, controls the movement speed and target trajectory endpoint of the transfer trolley group, and monitors the position, speed, and load status of the transfer trolley group during movement; The optical measurement system control module controls the optical measurement system to perform automatic measurements according to the instructions issued by the system bus, and returns the measurement data of the optical measurement system to the system bus. The intelligent posture adjustment pier group control module connects all the intelligent posture adjustment piers. The intelligent posture adjustment pier group control module communicates with the system bus, receives motion commands, and returns the pier group status and motion information.

10. The apparatus as claimed in claim 9, characterized in that, The attitude planning system obtains the measured coordinate information of key points of the segment to be positioned and the fixed segment through the system bus, calculates the current attitude of the segment to be positioned and the fixed segment, and calculates the target attitude of the segment to be positioned with the segment to be positioned and the fixed segment merging as the goal.

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