Flexible assembly system and method for large-size vertical guide system electronic warehouse

Abstract

The invention discloses a flexible assembly system and method for a large-size vertical guiding system electronic bin, and relates to the technical field of petroleum drilling instruments. The device comprises a clamping device, a leveling assembly shaft, an electronic bin mounting sleeve, a heavy load platform, an assembly shaft sleeve and a push-pull device. The vulcanized rubber layer on the inner wall of the electronic bin mounting sleeve deforms after being extruded, so that the to-be-assembled electronic bin has a passive flexible alignment function in the assembly process, the alignment precision of the drill collar and the bin body can be ensured, and the use requirement is met. A limiting conical surface I of the electronic bin mounting sleeve, a limiting conical surface II of the inner wall of the limiting sleeve, a limiting conical surface I of the electronic bin mounting sleeve and a supporting rubber O-shaped ring on the outer circumferential surface also provide a flexible assembly space, so that the electronic bin mounting sleeve and the leveling assembly shaft can move to a certain extent; and through arrangement of a limiting sleeve and a limiting check ring, it can be guaranteed that the to-be-assembled electronic bin has certain flexibility, and the movement range does not exceed the allowable range.

Description

Technical Field

[0001] The invention relates to the technical field of oil drilling instruments, and more specifically to a flexible assembly system and method for an electronic warehouse of a large-size vertical guide system. Background Art

[0002] In oil drilling instruments, the boreholes for vertical guidance systems are generally between 12 inches and 28 inches. Accordingly, the vertical guidance system instruments are large in size, with large outer diameters of drill collars and electronic chambers and heavy weight. The electronic chamber integrates many circuits and is a precision electronic component. When operating underground, it is installed in the drill collar and needs to be isolated from mud, which requires sealing.

[0003] To ensure the isolation of mud, a rubber sealing O-ring is used to seal the electronic chamber and the drill collar. The gap between the sealing surface is only 30μm~50μm, and the roughness requirement is Ra1.6. Due to the increased weight of the electronic chamber (>100kg), the O-ring used is larger in size, and the assembly resistance is also larger, so it cannot be assembled by hand. During installation, the coaxiality of the electronic chamber and the inner hole of the drill collar is slightly deviated, and the posture is tilted, which will cause a sharp increase in assembly force, scratch the inner wall of the drill collar and the sealing surface of the electronic chamber, resulting in sealing failure.

[0004] The vertical guide system is heavy, and the assembly of the large-sized and heavy electronic magazine and the drill collar mainly involves the fixation and movement of the heavy electronic magazine, the alignment accuracy between the electronic magazine and the drill collar, and the guarantee of the travel stability during the assembly and pushing process.

[0005] At present, high-precision alignment methods generally include machine vision alignment and assembly contact force alignment. The former requires the use of a cubic prism, a CCD camera and a computer processing algorithm, which is more difficult for electronic bins with complex shapes. When the electronic bin is replaced, the image changes greatly and the recognition algorithm needs to be replaced. The latter also requires a six-dimensional force sensor to be set at the end of the drill collar as well as corresponding display and processing equipment and algorithms.

[0006] For the above two alignment methods, the tooling is required to have the function of precise (μm level) posture adjustment, which can adjust the drill collar or electronic warehouse posture according to the image and six-dimensional assembly force results to achieve high-precision assembly.

[0007] For heavy drill collars (>100kg) and heavy electronic warehouses (>100kg), high-precision alignment is difficult to achieve. High-precision CCD cameras and six-dimensional force sensors that can be used for large size and heavy weight are extremely expensive. In addition, the adjustment accuracy of heavy-load platforms is generally poor (mm level), and the cost of high-precision posture adjustment is also extremely high. Summary of the invention

[0008] In order to overcome the defects and shortcomings existing in the above-mentioned prior art, the present invention provides a flexible assembly system and method for an electronic warehouse of a large-size vertical guide system. The purpose of the present invention is to provide a flexible assembly system and method for an electronic warehouse of a large-size vertical guide system, which adopts a passive compliant assembly method (that is, the mechanical structure is compliant under the action of external force and does not actively collect information feedback) to complete the assembly, and can complete the assembly under relatively large errors, so as to achieve the purpose of significantly saving assembly costs.

[0009] In order to solve the above problems existing in the prior art, the present invention is implemented through the following technical solutions.

[0010] A first aspect of the present invention provides a flexible assembly system for a large-size vertical guide system electronic warehouse, the system comprising a clamping device, a leveling assembly shaft, an electronic warehouse installation sleeve, a heavy-load platform, an assembly shaft sleeve and a push-pull device; The clamping device is used to fix and clamp the end of the leveling assembly shaft, the electronic warehouse installation sleeve is sleeved on the leveling assembly shaft, and one end of the electronic warehouse installation sleeve close to the clamping device is limited and fixed by a limit sleeve, and the other end is limited and fixed by a limit retaining ring; the end of the electronic warehouse installation sleeve that is limited and fixed by the limit sleeve is provided with a limit conical surface I, the inner wall of the limit sleeve is provided with a limit conical surface II that matches the limit conical surface, and the inner wall of the electronic warehouse installation sleeve is provided with a vulcanized rubber layer, and the vulcanized rubber layer is located between the inner wall of the electronic warehouse installation sleeve and the outer wall of the leveling assembly shaft; The electronic bin installation sleeve is used to install the electronic bin to be assembled, and a positioning block for positioning and limiting the electronic bin to be assembled is provided at one end of the electronic bin installation sleeve close to the limiting sleeve; The assembly shaft sleeve is sleeved on the end of the leveling assembly shaft away from the electronic warehouse installation sleeve, and the two ends of the assembly shaft sleeve are respectively fixed by limit rings; the end of the leveling assembly shaft installation transfer shaft sleeve is inserted into the drill collar to be assembled, and a part of the inner hole of the drill collar to be assembled is slidably matched with the assembly shaft sleeve; The heavy-load platform is arranged below the drill collar to be assembled which is sleeved on the leveling assembly shaft, and is used to support the drill collar to be assembled; the heavy-load platform includes a linear guide rail, which is arranged axially along the drill collar to be assembled and the electronic warehouse to be assembled, and a plurality of multi-degree-of-freedom adjustment platforms are slidably mounted on the linear guide rail, and the drill collar to be assembled is supported on the multi-degree-of-freedom adjustment platform; The push-pull device is connected to the end of the drill collar to be assembled, and drives the drill collar to be assembled to move toward the electronic warehouse to be assembled, so as to sleeve the drill collar to be assembled on the electronic warehouse to be assembled; the push-pull device is provided with a force sensor for detecting assembly force during the assembly process.

[0011] Further preferably, an O-ring groove is provided on the limiting conical surface I of the electronic compartment mounting sleeve, and the O-ring groove is used for assembling a supporting rubber O-ring.

[0012] More preferably, the outer wall of the electronic compartment mounting sleeve that matches the inner hole of the electronic compartment to be assembled has a plurality of O-ring grooves distributed along its axial direction, and supporting rubber O-rings are installed in the O-ring grooves.

[0013] More preferably, the positioning block on the electronic warehouse mounting sleeve is arranged on the outer circumference of the electronic warehouse mounting sleeve, and the positioning block cooperates with the tail positioning groove of the electronic warehouse to be assembled to axially and circumferentially position and fix the electronic warehouse to be assembled.

[0014] Further preferably, both the inner wall and the outer wall of the assembly shaft sleeve are provided with a hard alloy layer; and the outer wall of the leveling assembly shaft corresponding to the inner wall of the assembly shaft sleeve is provided with a hard alloy layer.

[0015] Further preferably, the leveling assembly shaft is threadedly connected to the limit sleeve, and a limit retaining ring groove for assembling a limit retaining ring is provided on the leveling assembly shaft.

[0016] Further preferably, the push-pull device includes a push-pull sleeve connected to the drill collar to be assembled, an anti-rotation push-pull plate assembly assembled at the rear of the push-pull sleeve, a push-pull drive assembly connected to the anti-rotation push-pull plate assembly for driving the push-pull sleeve and the drill collar to be assembled to move, and a fixed seat for supporting and fixing the push-pull drive assembly.

[0017] More preferably, the rear end face of the push-pull sleeve is provided with a force sensor mounting hole, the force sensor is provided with a threaded through hole, fixedly connected to the push-pull sleeve by screws, and the working surface of the force sensor is pressed and fitted with the end face of the push-pull sleeve.

[0018] More preferably, the force sensor is a six-dimensional force sensor electrically connected to the display controller.

[0019] Further preferably, the anti-rotation push-pull plate assembly includes an anti-rotation push-pull plate, a bearing seat, a tapered roller bearing, and a bearing limit retaining ring. The anti-rotation push-pull plate is fixedly connected to the push-pull sleeve. The anti-rotation push-pull plate is assembled on the bearing seat through the tapered roller bearing, and the tapered roller bearing is limited and fixed on the bearing seat through the bearing limit retaining ring. The rear end of the bearing seat is provided with a male thread that cooperates with the push-pull drive assembly.

[0020] Further preferably, the push-pull drive assembly includes a roller screw, a screw nut and a screw drive motor. The screw nut and the screw drive motor are assembled on a fixed seat. The screw drive motor drives the screw nut to rotate. The roller screw and the screw nut are cooperatively connected. The end of the roller screw is provided with an internal thread for connecting with the male thread at the tail of the bearing seat of the anti-rotation push-pull plate assembly.

[0021] Further preferably, the multi-degree-of-freedom adjustment platform is equipped with a roller bracket for supporting the drill collar to be assembled.

[0022] More preferably, the multi-degree-of-freedom adjustment platform is a six-degree-of-freedom adjustment platform.

[0023] A second aspect of the present invention provides a flexible assembly method for a large-size vertical guide system electronic warehouse, the method comprising the following steps: S1. Assembly steps of the flexible assembly system: hoist the leveling assembly shaft to the clamping device for clamping and fixing; select the electronic warehouse installation sleeve and assembly shaft sleeve of appropriate size according to the specifications of the electronic warehouse to be assembled and the drill collar to be assembled; fit the electronic warehouse installation sleeve to the corresponding position of the leveling assembly shaft, install the supporting rubber O-ring on the outer circumference of the electronic warehouse installation sleeve and the limiting conical surface Ⅰ, and fix the electronic warehouse installation sleeve with the limiting sleeve and the limiting retaining ring respectively; fit the electronic warehouse to be assembled onto the electronic warehouse installation sleeve; fit the assembly shaft sleeve to the corresponding position of the leveling assembly shaft The drill collar to be assembled is hoisted to the working area and mounted on the assembly shaft sleeve; the push-pull sleeve is connected to the tail of the drill collar to be assembled, and the force sensor is fixedly connected to the end of the push-pull sleeve; the push-pull drive assembly is fixed to the fixed seat, and the push-pull drive assembly is connected to the anti-rotation push-pull plate assembly. After the anti-rotation push-pull plate assembly contacts the force sensor, the anti-rotation push-pull plate assembly is fixed to the push-pull sleeve; the height and angle of the multi-degree-of-freedom adjustment platform are adjusted so that the roller bracket on the multi-degree-of-freedom adjustment platform contacts the drill collar to support the drill collar to be transferred; S2, flexible assembly step of the drill collar and the electronic compartment, the push-pull drive assembly is started, and the push-pull sleeve is driven to drive the drill collar to be assembled to move toward the electronic compartment to be assembled; the drill collar to be assembled moves until it contacts the electronic compartment to be assembled, and the lateral assembly force F during assembly is detected by the force sensor x and axial assembly force F z ; When the lateral assembly force F x Less than the set lateral standard value When the lateral assembly force F x The vulcanized rubber layer on the inner wall of the electronic warehouse installation sleeve is squeezed, as well as the limiting conical surface I and the supporting rubber O-ring on the outer circumference of the electronic warehouse installation sleeve. The posture of the electronic warehouse to be assembled changes according to the deformation of the vulcanized rubber layer and the supporting rubber O-ring to adapt to the posture of the drill collar to be assembled. When the lateral assembly force F x Greater than the set lateral standard value When adjusting the multi-degree-of-freedom adjustment platform, adjust the drill collar position to make the lateral assembly force F x Less than the set lateral standard value After that, continue with assembly; When the lateral assembly force Fx Less than the set lateral standard value , but the axial assembly force F z Greater than the set axial standard value , stop assembly and investigate the cause; S3, a step of dismantling the flexible assembly system, after the electronic compartment to be assembled is assembled into the drill collar to be assembled, the flexible assembly system is dismantled.

[0024] Compared with the prior art, the beneficial technical effects brought by the present invention are as follows: 1. The present invention can complete the precise assembly of large-size and heavy-weight electronic warehouses in vertical guide systems; the present invention utilizes the vulcanized rubber layer on the inner wall of the electronic warehouse installation sleeve to be deformed after being squeezed, so that the electronic warehouse to be assembled has a passive and flexible alignment function during the assembly process, which can ensure the alignment accuracy of the drill collar and the warehouse body and meet the use requirements. The limiting conical surface I of the electronic warehouse installation sleeve, the limiting conical surface II of the inner wall of the limiting sleeve, the limiting conical surface I of the electronic warehouse installation sleeve and the supporting rubber O-ring on the outer circumference also provide a flexible assembly space, so that the electronic warehouse installation sleeve and the leveling assembly shaft can move to a certain extent. The setting of the limiting sleeve and the limiting retaining ring can ensure that the electronic warehouse to be assembled has a certain flexibility and the range of movement will not exceed the allowable range.

[0025] 2. The flexible assembly system of the present invention has a posture adjustment function with a certain precision when the posture error of the drill collar and the electronic bin is large, the coaxiality error exceeds the allowable range, and the assembly cannot be completed. The posture can be calibrated and the posture of the electronic bin or drill collar to be assembled can be adjusted to within the allowable error range. While achieving assembly, the tooling cost is relatively low. In the present invention, a multi-degree-of-freedom adjustment platform is used to adjust the posture of the drill collar. When adjusting the posture of the drill collar, the assembler manually adjusts the multi-degree-of-freedom adjustment platform to achieve high-precision adjustment. Compared with the electric adjustment method, the accuracy requirements for the multi-degree-of-freedom adjustment platform are reduced, thereby reducing the equipment cost.

[0026] 3. The present invention monitors the stress conditions during the assembly process through force sensors, and adjusts the posture according to the axial assembly force and lateral assembly force monitored by the force sensors. It can provide timely feedback on the assembly conditions. When the assembly force is too large, it can stop the assembly in time to avoid damage to the drill collar and electronic compartment to be assembled, which is conducive to the investigation of abnormal causes.

[0027] 4. In the present invention, a hard alloy layer is provided on the contact surface between the leveling assembly shaft and the assembly shaft sleeve, and a hard alloy layer is provided on the contact surface between the assembly shaft sleeve and the drill collar, which can reduce the friction coefficient, facilitate the movement of the drill collar, and also facilitate the adjustment of the rotation angle of the drill collar.

[0028] 5. The present invention provides an electronic bin installation sleeve and an assembly shaft sleeve, through which the electronic bin installation sleeve and the assembly shaft sleeve are adapted to level the gap between the assembly shaft and the electronic bin to be assembled and the drill collar to be assembled. For electronic bins and drill collars of different sizes and specifications, electronic bin installation sleeves and assembly shaft sleeves of corresponding sizes can be selected for adaptation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a schematic diagram of the assembly structure of the flexible assembly system of the present invention; Figure 2 It is a schematic diagram of the structure of the electronic warehouse to be assembled according to the present invention; Figure 3 It is a structural schematic diagram of the drill collar to be assembled according to the present invention; Figure 4 It is a structural schematic diagram of the leveling assembly axis in the flexible assembly system of the present invention; Figure 5 It is a structural schematic diagram of a limit sleeve in the flexible assembly system of the present invention; Figure 6 It is a structural schematic diagram of an electronic warehouse installation sleeve in the flexible assembly system of the present invention; Figure 7 It is a structural schematic diagram of an assembly shaft sleeve in the flexible assembly system of the present invention; Figure 8 It is a structural schematic diagram of a push-pull sleeve in the flexible assembly system of the present invention; Fig. 9 It is a schematic diagram of the three-dimensional structure of the force sensor in the flexible assembly system of the present invention; Fig.10 It is a schematic cross-sectional view of the force sensor in the flexible assembly system of the present invention; Fig.11 It is a schematic cross-sectional structural diagram of an anti-rotation push-pull plate assembly in the flexible assembly system of the present invention; Fig.12 It is a structural schematic diagram of a roller bracket on a multi-degree-of-freedom adjustment platform in the flexible assembly system of the present invention; Figure numerals: 1, clamping device, 2, leveling assembly shaft, 3, electronic warehouse, 4, electronic warehouse installation sleeve, 5, drill collar, 6, heavy load platform, 7, assembly shaft sleeve, 8, push-pull device, 9, limit sleeve, 10, limit cone surface I, 11, limit cone surface II, 12, vulcanized rubber layer, 13, positioning block, 14, limit retaining ring, 15, linear guide rail, 16, multi-degree-of-freedom adjustment platform, 17, force sensor, 18, support Support rubber O-ring, 19. Carbide layer, 20. Limit retaining ring groove, 21. Push-pull sleeve, 22. Push-pull drive assembly, 23. Fixed seat, 24. Force sensor mounting hole, 25. Threaded through hole, 26. Working surface of force sensor, 27. Display controller, 28. Anti-rotation push-pull plate, 29. Anti-rotation push-pull plate assembly, 30. Bearing seat, 31. Tapered roller bearing, 32. Bearing limit retaining ring, 33. Roller bracket. DETAILED DESCRIPTION

[0031] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0032] Example 1 As a preferred embodiment of the present invention, refer to the attached specification Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, this embodiment discloses a flexible assembly system for a large-size vertical guide system electronic warehouse, the system comprising a clamping device 1, a leveling assembly shaft 2, an electronic warehouse 3, an electronic warehouse installation sleeve 4, a drill collar 5, a heavy-load platform 6, an assembly shaft sleeve 7 and a push-pull device 8; The clamping device 1 is used to fix and clamp the end of the leveling assembly shaft 2, the electronic warehouse installation sleeve 4 is sleeved on the leveling assembly shaft 2, and one end of the electronic warehouse installation sleeve 4 close to the clamping device 1 is limited and fixed by a limit sleeve 9, and the other end is limited and fixed by a limit retaining ring 14; the end of the electronic warehouse installation sleeve 4 that is limited and fixed by the limit sleeve 9 is provided with a limited conical surface I10, the inner wall of the limit sleeve 9 is provided with a limited conical surface II11 that matches the limited conical surface, and the inner wall of the electronic warehouse installation sleeve 4 is provided with a vulcanized rubber layer 12, and the vulcanized rubber layer 12 is located between the inner wall of the electronic warehouse installation sleeve 4 and the outer wall of the leveling assembly shaft 2; The electronic bin installation sleeve 4 is used to install the electronic bin 3 to be assembled, and a positioning block 13 for positioning and limiting the electronic bin 3 to be assembled is provided at one end of the electronic bin installation sleeve 4 close to the limiting sleeve 9; The assembly shaft sleeve 7 is sleeved on the end of the leveling assembly shaft 2 away from the electronic warehouse installation sleeve 4, and the two ends of the assembly shaft sleeve 7 are respectively fixed by limit rings 14; the end of the leveling assembly shaft 2 installation transfer shaft sleeve 7 is inserted into the drill collar 5 to be assembled, and a part of the inner hole of the drill collar 5 to be assembled is slidably matched with the assembly shaft sleeve 7; The heavy-load platform 6 is arranged below the drill collar 5 to be assembled which is sleeved on the leveling assembly shaft 2, and is used to support the drill collar 5 to be assembled; the heavy-load platform 6 includes a linear guide rail 15, which is arranged axially along the drill collar 5 to be assembled and the electronic compartment 3 to be assembled, and a plurality of multi-degree-of-freedom adjustment platforms 16 are slidably mounted on the linear guide rail 15, and the drill collar 5 to be assembled is supported on the multi-degree-of-freedom adjustment platform 16; The push-pull device 8 is connected to the end of the drill collar 5 to be assembled, and the push-pull device 8 drives the drill collar 5 to be assembled to move toward the electronic warehouse 3 to be assembled, and the drill collar 5 to be assembled is mounted on the electronic warehouse 3 to be assembled; the push-pull device 8 is provided with a force sensor 17 for detecting the assembly force during the assembly process.

[0033] Example 2 As another preferred embodiment of the present invention, this embodiment is based on the above-mentioned embodiment 1, and further supplements and explains the technical solution of the present invention in detail. Figure 6 As shown, an O-ring groove is provided on the limiting conical surface Ⅰ10 of the electronic warehouse installation sleeve 4, and the O-ring groove is used to assemble the supporting rubber O-ring 18. The outer wall of the electronic warehouse installation sleeve 4, which matches the inner hole of the electronic warehouse 3 to be assembled, has multiple O-ring grooves distributed along its axial direction, and the supporting rubber O-ring 18 is installed in the O-ring groove. The positioning block 13 on the electronic warehouse installation sleeve 4 is set on the outer circumference of the electronic warehouse installation sleeve 4, and the positioning block 13 cooperates with the tail positioning groove of the electronic warehouse 3 to be assembled, and axially and circumferentially positions and fixes the electronic warehouse 3 to be assembled.

[0034] Example 3 As another preferred embodiment of the present invention, this embodiment is based on the above-mentioned embodiment 1, and further supplements and explains the technical solution of the present invention in detail. Figure 4 and attached Figure 7 As shown, the inner wall and outer wall of the assembly shaft sleeve 7 are both provided with a hard alloy layer 19; the outer wall of the leveling assembly shaft 2 corresponding to the inner wall of the assembly shaft sleeve 7 is provided with a hard alloy layer 19. The leveling assembly shaft 2 is threadedly connected with the limit sleeve 9, and the leveling assembly shaft 2 is provided with a limit ring groove 20 for assembling the limit ring 14.

[0035] Example 4 As another preferred embodiment of the present invention, this embodiment is based on the above-mentioned embodiment 1, and further supplements and explains the technical solution of the present invention in detail. Figure 1 , Attachment Figure 8 and attached Fig.11 As shown, the push-pull device 8 includes a push-pull sleeve 21 for connecting to the drill collar 5 to be assembled, an anti-rotation push-pull plate assembly 29 assembled at the rear of the push-pull sleeve 21, a push-pull drive assembly 22 connected to the anti-rotation push-pull plate assembly 29 for driving the push-pull sleeve 21 and the drill collar 5 to be assembled to move, and a fixed seat 23 for supporting and fixing the push-pull drive assembly 22.

[0036] As an example of this embodiment, refer to the attached Fig. 9 and attached Fig.10 As shown, the rear end face of the push-pull sleeve 21 is provided with a force sensor mounting hole 24, and the force sensor 17 is provided with a threaded through hole 25, which is fixedly connected to the push-pull sleeve 21 by screws, and the working surface 26 of the force sensor 17 is pressed and matched with the end face of the push-pull sleeve 21. As an example, the force sensor 17 is a six-dimensional force sensor, which is electrically connected to the display controller 27.

[0037] As another example of this embodiment, refer to the attached Fig.11 As shown, the anti-rotation push-pull plate assembly 29 includes an anti-rotation push-pull plate 28, a bearing seat 30, a tapered roller bearing 31, and a bearing limit retaining ring 32. The anti-rotation push-pull plate 28 is fixedly connected to the push-pull sleeve 21. The anti-rotation push-pull plate 28 is assembled on the bearing seat 30 through the tapered roller bearing 31, and the tapered roller bearing 31 is limited and fixed on the bearing seat 30 through the bearing limit retaining ring 32. The tail of the bearing seat 30 is provided with a male thread that cooperates with the push-pull drive assembly 22.

[0038] As another example of this embodiment, the push-pull drive assembly 22 includes a roller screw, a screw nut and a screw drive motor. The screw nut and the screw drive motor are assembled on a fixed seat 23. The screw drive motor drives the screw nut to rotate. The roller screw is cooperatively connected with the screw nut. The end of the roller screw is provided with an internal thread for connecting with the male thread at the tail of the bearing seat 30 of the anti-rotation push-pull plate assembly 29.

[0039] As another example of this embodiment, a roller support 33 for supporting the drill collar 5 to be assembled is mounted on the multi-degree-of-freedom adjustment platform 16. The multi-degree-of-freedom adjustment platform 16 is a six-degree-of-freedom adjustment platform.

[0040] Example 5 As another preferred embodiment of the present invention, refer to the attached specification Figure 1 As shown, this embodiment discloses a flexible assembly method for a large-size vertical guide system electronic warehouse, the method comprising the following steps: S1, assembly steps of the flexible assembly system, hoist the leveling assembly shaft 2 to the clamping device 1 for clamping and fixing; select the electronic warehouse installation sleeve 4 and the assembly shaft sleeve 7 of appropriate size according to the specifications of the electronic warehouse 3 to be assembled and the drill collar 5 to be assembled; install the electronic warehouse installation sleeve 4 to the corresponding position of the leveling assembly shaft 2, install the supporting rubber O-ring 18 on the outer circumference of the electronic warehouse installation sleeve 4 and the limiting conical surface Ⅰ10, and fix the electronic warehouse installation sleeve 4 with the limiting sleeve 9 and the limiting retaining ring 14 respectively; install the electronic warehouse 3 to be assembled onto the electronic warehouse installation sleeve 4; install the assembly shaft sleeve 7 to the corresponding position of the leveling assembly shaft 2, and use the limiting retaining ring 14 on both sides to fix the electronic warehouse installation sleeve 4; The retaining ring 14 is fixed; the drill collar 5 to be assembled is hoisted to the working area and mounted on the assembly shaft sleeve 7; the push-pull sleeve 21 is connected to the tail of the drill collar 5 to be assembled, and the force sensor 17 is fixedly connected to the end of the push-pull sleeve 21; the push-pull drive assembly 22 is fixed to the fixed seat 23, and the push-pull drive assembly 22 is connected to the anti-rotation push-pull plate assembly 29. After the anti-rotation push-pull plate assembly 29 contacts the force sensor 17, the anti-rotation push-pull plate assembly 29 is fixed to the push-pull sleeve 21; the height and angle posture of the multi-degree-of-freedom adjustment platform 16 are adjusted so that the roller bracket 33 on the multi-degree-of-freedom adjustment platform 16 contacts the drill collar 5 to support the drill collar 5 to be transferred; S2, flexible assembly step of the drill collar and the electronic compartment, the push-pull drive assembly 22 is started, and the push-pull sleeve 21 is driven to drive the drill collar 5 to be assembled to move toward the electronic compartment 3 to be assembled; the drill collar 5 to be assembled moves until it contacts the electronic compartment 3 to be assembled, and the lateral assembly force F during assembly is detected by the force sensor 17 x and axial assembly force F z ; When the lateral assembly force F x Less than the set lateral standard value When the lateral assembly force F x The vulcanized rubber layer 12 on the inner wall of the electronic warehouse installation sleeve 4, as well as the limiting conical surface Ⅰ10 and the supporting rubber O-ring 18 on the outer circumference of the electronic warehouse installation sleeve 4 are squeezed, and the posture of the electronic warehouse 3 to be assembled changes according to the deformation of the vulcanized rubber layer 12 and the supporting rubber O-ring 18 to adapt to the posture of the drill collar 5 to be assembled; When the lateral assembly force F x Greater than the set lateral standard value When adjusting the multi-degree-of-freedom adjustment platform 16, adjust the drill collar 5 posture so that the lateral assembly force F x Less than the set lateral standard value After that, continue with assembly; When the lateral assembly force F x Less than the set lateral standard value , but the axial assembly force F z Greater than the set axial standard value , stop assembly and investigate the cause; S3, a step of dismantling the flexible assembly system. After the electronic compartment 3 to be assembled is assembled into the drill collar 5 to be assembled, the flexible assembly system is dismantled.

[0041] Example 6 As the best embodiment of the present invention, this embodiment provides a flexible assembly system for a large-size vertical guide system electronic warehouse. Figure 1 As shown, the system includes a clamping device 1, a leveling assembly shaft 2, an electronic warehouse installation sleeve 4, a heavy-load platform 6, an assembly shaft sleeve 7 and a push-pull device 8; the clamping device 1 is used to fix the end of the clamping and leveling assembly shaft 2, the electronic warehouse installation sleeve 4 is sleeved on the leveling assembly shaft 2, and the end of the electronic warehouse installation sleeve 4 close to the clamping device 1 is limited and fixed by a limit sleeve 9, and the other end is limited and fixed by a limit retaining ring 14; a limit cone is set at the end of the electronic warehouse installation sleeve 4 that is limited and fixed by the limit sleeve 9 The inner wall of the limiting sleeve 9 is provided with a limiting conical surface II 11 matched with the limiting conical surface, and the inner wall of the electronic warehouse installation sleeve 4 is provided with a vulcanized rubber layer 12, and the vulcanized rubber layer 12 is located between the inner wall of the electronic warehouse installation sleeve 4 and the outer wall of the leveling assembly shaft 2; the electronic warehouse installation sleeve 4 is used to install the electronic warehouse 3 to be assembled, and the end of the electronic warehouse installation sleeve 4 close to the limiting sleeve 9 is provided with a positioning block 13 for positioning and limiting the electronic warehouse 3 to be assembled; the assembly shaft sleeve 7 is sleeved on the leveling assembly The shaft 2 is away from the end of the electronic warehouse installation sleeve 4, and the two ends of the assembly shaft sleeve 7 are respectively fixed by limit rings 14; the end of the leveling assembly shaft 2 installation transfer shaft sleeve 7 is inserted into the drill collar 5 to be assembled, and a part of the inner hole of the drill collar 5 to be assembled is slidably matched with the assembly shaft sleeve 7; the heavy-load platform 6 is arranged under the drill collar 5 to be assembled on the leveling assembly shaft 2, and is used to support the drill collar 5 to be assembled; the heavy-load platform 6 includes a linear guide rail 15, and the linear guide rail 15 is inserted into the drill collar 5 to be assembled along the drill collar 5 to be assembled. The drill collar 5 and the electronic warehouse 3 to be assembled are arranged axially, and a plurality of multi-degree-of-freedom adjustment platforms 16 are slidably mounted on the linear guide rail 15, and the drill collar 5 to be assembled is supported on the multi-degree-of-freedom adjustment platform 16; a push-pull device 8 is connected to the end of the drill collar 5 to be assembled, and the push-pull device 8 drives the drill collar 5 to be assembled to move toward the electronic warehouse 3 to be assembled, and the drill collar 5 to be assembled is mounted on the electronic warehouse 3 to be assembled; a force sensor 17 for detecting the assembly force during the assembly process is arranged on the push-pull device 8.

[0042] Refer to the instruction manual Figure 2 As shown, the electronic warehouse 3 to be assembled has an inner hole of the flow channel, and sealing surfaces are provided at the front and back. O-ring grooves are provided at the sealing surfaces for installing O-rings made of rubber material. In order to ensure the seal, the roughness requirement of the sealing surface is Ra1.6. The head of the electronic warehouse 3 has a positioning pin for anti-rotation, and the tail is provided with a positioning groove for anti-rotation and positioning.

[0043] Refer to the instruction manual Figure 3As shown, the drill collar 5 to be assembled is provided with an electronic warehouse installation inner hole and a flow channel inner hole of different diameters. The roughness of the electronic warehouse installation inner hole is required to be Ra1.6 to ensure sealing; the step surface where the electronic warehouse installation inner hole and the flow channel inner hole are reduced in diameter is the positioning reference surface for the electronic warehouse installation stop, and is provided with a positioning pin hole.

[0044] The clamping device 1 is a hydraulic clamping machine, which is fixed to the ground and has a heavy-duty hydraulic clamping function, and can stably clamp a heavy-weight and large-size leveling assembly shaft 2 .

[0045] Refer to the instruction manual Figure 4 As shown, the leveling assembly shaft 2 has a thread on one side for installing a limit sleeve 9 and a plurality of limit retaining ring grooves 20 for installing a limit retaining ring 14; a section of hard alloy surface is provided at the tail end for reducing the friction coefficient and facilitating rotation and sliding.

[0046] Refer to the instruction manual Figure 5 As shown, the inner hole of the limiting sleeve 9 is provided with threads, and is tightened on the leveling assembly shaft 2 through the threads; a limiting conical surface II 11 is provided inside, which cooperates with the limiting conical surface I 10 of the electronic compartment installation sleeve 4 to limit the range of movement of the electronic compartment installation sleeve 4.

[0047] Refer to the instruction manual Figure 6 As shown, the inner hole of the electronic warehouse installation sleeve 4 is provided with a vulcanized rubber layer 12, and the end surface is provided with a limiting conical surface Ⅰ10. The limiting conical surface Ⅰ10 and the outer circumferential surface are provided with O-ring grooves for installing a supporting rubber O-ring 18; the outer circumference is provided with a positioning block 13 for cooperating with the ear-type positioning groove at the rear of the electronic warehouse 3 to achieve axial and circumferential fixation of the electronic warehouse 3. For electronic warehouses 3 with different flow channel inner hole sizes, electronic warehouse installation sleeves 4 with different outer diameter specifications can be selected; when in use, the electronic warehouse installation sleeve 4 is sleeved on the leveling assembly shaft 2, the front end is limited by a limiting sleeve 9, and the rear end is fixed by a limiting retaining ring 14.

[0048] Refer to the instruction manual Figure 7 As shown, the assembly shaft sleeve 7 is a hollow metal tube, the inner diameter of which is consistent with the carbide surface of the leveling assembly shaft 2, and the outer diameter is consistent with the inner hole of the flow channel of the drill collar 5. The inner and outer circumferential surfaces are sprayed with a carbide layer 19 to reduce friction and facilitate rotation and sliding. For drill collars 5 of different specifications, assembly shaft sleeves 7 of different specifications and sizes can be selected; when in use, they are mounted on the leveling assembly shaft 2 and fixed with a limit ring 14.

[0049] Refer to the instruction manual Figure 1As shown, the push-pull device 8 includes a push-pull sleeve 21 for connecting with the drill collar 5 to be assembled, an anti-rotation push-pull plate assembly 29 assembled at the rear of the push-pull sleeve 21, a push-pull drive assembly 22 connected to the anti-rotation push-pull plate assembly 29 to drive the push-pull sleeve 21 and the drill collar 5 to be assembled to move, and a fixed seat 23 for supporting and fixing the push-pull drive assembly 22. Figure 8 As shown, the push-pull sleeve 21 is a metal sleeve with a flange on the end face, a thread on the head, and can be threadedly connected to the drill collar 5; a force sensor mounting threaded through hole 24 is provided on the tail end face; and a process hole is provided on the circumference for rotating the push-pull sleeve 21 using a hook wrench.

[0050] Refer to the instruction manual Fig. 9 and attached Fig.10 As shown, the force sensor 17 is a six-dimensional force sensor. A threaded through hole 25 is provided on the force sensor 17. When in use, the force sensor 17 is fixedly connected to the push-pull sleeve 21 by screws, and the working surface 26 is pressed tightly against the end surface of the push-pull sleeve 21.

[0051] Refer to the instruction manual Fig.11 As shown, the anti-rotation push-pull plate assembly 29 is composed of an anti-rotation push-pull plate 28, a bearing seat 30, a tapered roller bearing 31, and a bearing limit ring 32. The anti-rotation push-pull plate 28 is fixedly connected to the push-pull sleeve 21 by screws, and the tapered roller bearing 31 is used to isolate the rotation of the push-pull drive assembly 22 to prevent the drill collar 5 and the push-pull sleeve 21 from being driven to rotate by the push-pull drive assembly 22; the rear end of the bearing seat 30 is provided with a male thread for being fixedly connected to the push-pull drive assembly 22.

[0052] The push-pull drive assembly 22 includes a roller screw, a screw nut and a screw drive motor. The screw nut and the screw drive motor are assembled on a fixed seat 23. The screw drive motor drives the screw nut to rotate. The roller screw and the screw nut are matched and connected. The end of the roller screw is provided with an internal thread for connecting with the male thread at the tail of the bearing seat 30 of the anti-rotation push-pull plate assembly 29.

[0053] Refer to the instruction manual Figure 1 As shown, the force sensor 17 is a six-dimensional force sensor, which is electrically connected to the display controller 27. The accuracy requirement is lower than that of active assembly, and a certain range of error is allowed.

[0054] Refer to the instruction manual Figure 1 As shown, the linear guide 15 is a standard linear guide, which is composed of a guide rail and a slider that can slide along the guide rail, and can support a heavy drill collar 5.

[0055] The multi-degree-of-freedom adjustment platform 16 is a six-degree-of-freedom adjustment platform. The six-degree-of-freedom adjustment platform is a rectangular flat plate structure, which can adjust six degrees of freedom within a certain stroke. It is fixed on the slider of the linear guide 15 with screws, and a roller bracket 33 is installed on the top; it is used to support the drill collar 5 and adjust the posture of the drill collar 5.

[0056] Refer to the instruction manual Fig.12 As shown, the roller bracket 33 is installed above the six-degree-of-freedom adjustment platform 16 and the slider of the linear guide 15, and has a rotatable roller, which can meet the function of supporting the drill collar 5 and rotating the drill collar 5. The combination of the linear guide 15, the six-degree-of-freedom electric platform and the roller bracket 33 can meet the functions of adjusting the posture of the drill collar 5, and translating and rotating with high precision. The fixed seat 23 is fixedly connected to the ground.

[0057] The working mode of the flexible assembly system of the above-mentioned large-size vertical guide system electronic warehouse is as follows: When the flexible assembly system of the large-size vertical guide system electronic warehouse is used, first install the locking sleeve on the leveling assembly shaft 2, and hoist the leveling assembly shaft 2 to the clamping device 1 for fixation. According to the specifications of the electronic warehouse 3 to be assembled and the drill collar 5 to be assembled, select the electronic warehouse installation sleeve 4 and the assembly shaft sleeve 7 of appropriate size; install the electronic warehouse installation sleeve 4 to the corresponding position of the leveling assembly shaft 2, install the supporting rubber O-ring 18 on the outer circumference of the electronic warehouse installation sleeve 4 and the limiting conical surface Ⅰ10, and fix the electronic warehouse installation sleeve 4 with the limiting sleeve 9 and the limiting retaining ring 14 respectively; install the electronic warehouse 3 to be assembled onto the electronic warehouse installation sleeve 4; A vulcanized rubber layer 12 is provided inside the electronic compartment installation sleeve 4, which realizes the support function and can move to a certain extent; at the same time, the electronic compartment installation sleeve 4 is limited by the limit sleeve 9 and the limit retaining ring 14, and the range of movement is limited. A support rubber O-ring 18 is provided between the electronic compartment 3 and the electronic compartment installation sleeve 4, which can improve the straightening effect and increase the amount of movement. The above vulcanized rubber layer 12, support rubber O-ring 18, limit sleeve 9, and limit retaining ring 14 can ensure that the electronic compartment 3 has a certain flexibility and the range of movement does not exceed the allowable range.

[0058] Put the assembly shaft sleeve 7 into the corresponding position of the leveling assembly shaft 2, and fix it with the limit ring 14 on both sides; hoist the drill collar 5 to be assembled to the working area, and put it onto the assembly shaft sleeve 7; connect the push-pull sleeve 21 with the tail of the drill collar 5 to be assembled, and fix the force sensor 17 with the end of the push-pull sleeve 21; fix the push-pull drive assembly 22 on the fixed seat 23, connect the push-pull drive assembly 22 with the anti-rotation push-pull plate assembly 29, and after the anti-rotation push-pull plate assembly 29 contacts with the force sensor 17, fix the anti-rotation push-pull plate assembly 29 with the push-pull sleeve 21; adjust the height and angle posture of the multi-degree-of-freedom adjustment platform 16, so that the roller bracket 33 on the multi-degree-of-freedom adjustment platform 16 contacts with the drill collar 5, and supports the drill collar 5 to be transferred.

[0059] In the flexible assembly step of the drill collar and the electronic compartment, the push-pull drive assembly 22 is started, and the push-pull sleeve 21 is driven to drive the drill collar 5 to be assembled to move toward the electronic compartment 3 to be assembled; the drill collar 5 to be assembled moves until it contacts the electronic compartment 3 to be assembled, and the lateral assembly force F during assembly is detected by the force sensor 17. x and axial assembly force F z ; When the lateral assembly force F x Less than the set lateral standard value When the lateral assembly force F x The vulcanized rubber layer 12 on the inner wall of the electronic warehouse installation sleeve 4, as well as the limiting conical surface Ⅰ10 and the supporting rubber O-ring 18 on the outer circumference of the electronic warehouse installation sleeve 4 are squeezed, and the posture of the electronic warehouse 3 to be assembled changes according to the deformation of the vulcanized rubber layer 12 and the supporting rubber O-ring 18 to adapt to the posture of the drill collar 5 to be assembled; When the lateral assembly force F x Greater than the set lateral standard value When adjusting the multi-degree-of-freedom adjustment platform 16, adjust the drill collar 5 posture so that the lateral assembly force F x Less than the set lateral standard value After that, continue with assembly; When the lateral assembly force F x Less than the set lateral standard value , but the axial assembly force F z Greater than the set axial standard value , stop assembly and investigate the cause; When the lateral assembly force and the axial assembly force are both less than the set values, drive the push-pull device 8 to move the drill collar 5 forward to the position where the electronic bin 3 is completely loaded into the drill collar 5. During the assembly process, observe the position of the locating pin of the electronic bin 3, use a bearing hook wrench or chain pliers, rotate the push-pull sleeve 21 to drive the drill collar 5 to rotate, so that the locating pin is aligned with the locating pin hole to complete the assembly.

[0060] After the electronic warehouse 3 to be assembled is assembled into the drill collar 5 to be assembled, the flexible assembly system is removed; the electronic warehouse 3 and the drill collar 5 are rotated to make them disengage from the push-pull sleeve 21, and the push-pull sleeve 21, the force sensor 17, the anti-rotation push-pull plate assembly 29 and the push-pull drive assembly 22 are disassembled, and the drill collar 5 and the electronic warehouse 3 are disengaged from the leveling assembly shaft 2.

[0061] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A flexible assembly system for a large-size vertical guide system electronic warehouse, characterized by: It comprises a clamping device (1), a leveling assembly shaft (2), an electronic compartment installation sleeve (4), a heavy-load platform (6), an assembly shaft sleeve (7) and a push-pull device (8); The clamping device (1) is used to fix and clamp the end of the leveling assembly shaft (2); the electronic warehouse installation sleeve (4) is sleeved on the leveling assembly shaft (2); and one end of the electronic warehouse installation sleeve (4) close to the clamping device (1) is limited and fixed by a limit sleeve (9), and the other end is limited and fixed by a limit retaining ring (14); the end of the electronic warehouse installation sleeve (4) limited and fixed by the limit sleeve (9) is provided with a limit conical surface I (10); the inner wall of the limit sleeve (9) is provided with a limit conical surface II (11) matched with the limit conical surface; the inner wall of the electronic warehouse installation sleeve (4) is provided with a vulcanized rubber layer (12); the vulcanized rubber layer (12) is located between the inner wall of the electronic warehouse installation sleeve (4) and the outer wall of the leveling assembly shaft (2); The electronic bin installation sleeve (4) is used to install the electronic bin (3) to be assembled, and a positioning block (13) for positioning and limiting the electronic bin (3) to be assembled is provided at one end of the electronic bin installation sleeve (4) close to the limiting sleeve (9); The assembly shaft sleeve (7) is sleeved on the end of the leveling assembly shaft (2) away from the electronic compartment installation sleeve (4), and the two ends of the assembly shaft sleeve (7) are respectively fixed by limit rings (14); the end of the leveling assembly shaft (2) installation transfer shaft sleeve (7) is inserted into the drill collar (5) to be assembled, and a part of the inner hole of the drill collar (5) to be assembled is slidably matched with the assembly shaft sleeve (7); The heavy-load platform (6) is arranged below the drill collar (5) to be assembled which is sleeved on the leveling assembly shaft (2) and is used to support the drill collar (5) to be assembled; the heavy-load platform (6) comprises a linear guide rail (15), the linear guide rail (15) is arranged axially along the drill collar (5) to be assembled and the electronic compartment (3) to be assembled, and a plurality of multi-degree-of-freedom adjustment platforms (16) are slidably mounted on the linear guide rail (15), and the drill collar (5) to be assembled is supported on the multi-degree-of-freedom adjustment platforms (16); The push-pull device (8) is connected to the end of the drill collar (5) to be assembled, and the push-pull device (8) drives the drill collar (5) to be assembled to move in the direction of the electronic compartment (3) to be assembled, so that the drill collar (5) to be assembled is sleeved on the electronic compartment (3) to be assembled; the push-pull device (8) is provided with a force sensor (17) for detecting assembly force during the assembly process.

2. The flexible assembly system for a large-size vertical guide system electronic warehouse as claimed in claim 1, characterized in that: An O-ring groove is provided on the limiting conical surface I (10) of the electronic compartment mounting sleeve (4), and the O-ring groove is used for assembling a supporting rubber O-ring (18).

3. The flexible assembly system for a large-size vertical guide system electronic warehouse as claimed in claim 1, characterized in that: The outer wall of the electronic compartment installation sleeve (4) that matches the inner hole of the electronic compartment (3) to be assembled has a plurality of O-ring grooves distributed along its axial direction, and supporting rubber O-rings (18) are installed in the O-ring grooves.

4. A flexible assembly system for a large-size vertical guide system electronic warehouse as described in any one of claims 1 to 3, characterized in that: The positioning block (13) on the electronic bin installation sleeve (4) is arranged on the outer circumference of the electronic bin installation sleeve (4), and the positioning block (13) cooperates with the rear positioning groove of the electronic bin (3) to be assembled to axially and circumferentially position and fix the electronic bin (3) to be assembled.

5. A flexible assembly system for a large-size vertical guide system electronic warehouse as described in any one of claims 1 to 3, characterized in that: The inner wall and the outer wall of the assembly shaft sleeve (7) are both provided with a hard alloy layer (19); and the outer wall of the leveling assembly shaft (2) corresponding to the inner wall of the assembly shaft sleeve (7) is provided with a hard alloy layer (19).

6. A flexible assembly system for a large-size vertical guide system electronic warehouse as described in any one of claims 1 to 3, characterized in that: The leveling assembly shaft (2) is threadedly connected to the limiting sleeve (9), and a limiting retaining ring groove (20) for assembling a limiting retaining ring (14) is provided on the leveling assembly shaft (2).

7. A flexible assembly system for a large-size vertical guide system electronic warehouse as claimed in any one of claims 1 to 3, characterized in that: The push-pull device (8) comprises a push-pull sleeve (21) for connecting to a drill collar (5) to be assembled, an anti-rotation push-pull plate assembly (29) assembled at the rear of the push-pull sleeve (21), a push-pull drive assembly (22) connected to the anti-rotation push-pull plate assembly (29) for driving the push-pull sleeve (21) and the drill collar (5) to be assembled to move, and a fixed seat (23) for supporting and fixing the push-pull drive assembly (22).

8. The flexible assembly system for a large-size vertical guide system electronic warehouse as claimed in claim 7, characterized in that: The rear end surface of the push-pull sleeve (21) is provided with a force sensor mounting hole (24), and the force sensor (17) is provided with a threaded through hole (25) and is fixedly connected to the push-pull sleeve (21) by means of screws, and the working surface (26) of the force sensor (17) is pressed and fitted with the end surface of the push-pull sleeve (21).

9. The flexible assembly system for a large-size vertical guide system electronic warehouse as claimed in claim 7, characterized in that: The anti-rotation push-pull plate assembly (29) comprises an anti-rotation push-pull plate (28), a bearing seat (30), a tapered roller bearing (31), and a bearing limit retaining ring (32); the anti-rotation push-pull plate (28) is fixedly connected to the push-pull sleeve (21); the anti-rotation push-pull plate (28) is assembled on the bearing seat (30) via the tapered roller bearing (31), and the tapered roller bearing (31) is fixedly fixed on the bearing seat (30) via the bearing limit retaining ring (32); and a male thread that cooperates with the push-pull drive assembly (22) is provided on the upper tail of the bearing seat (30).

10. A flexible assembly system for a large-size vertical guide system electronic warehouse as claimed in claim 9, characterized in that: The push-pull drive assembly (22) comprises a roller screw, a screw nut and a screw drive motor. The screw nut and the screw drive motor are mounted on a fixed seat (23). The screw drive motor drives the screw nut to rotate. The roller screw and the screw nut are connected in a cooperative manner. The end of the roller screw is provided with an internal thread for connecting with the male thread at the rear of the bearing seat (30) of the anti-rotation push-pull plate assembly (29).

11. A flexible assembly system for a large-size vertical guide system electronic warehouse according to any one of claims 1 to 3, characterized in that: The force sensor (17) is a six-dimensional force sensor and is electrically connected to the display controller (27).

12. A flexible assembly system for a large-size vertical guide system electronic warehouse according to any one of claims 1 to 3, characterized in that: The multi-degree-of-freedom adjustment platform (16) is equipped with a roller bracket (33) for supporting the drill collar (5) to be assembled.

13. A flexible assembly system for a large-size vertical guide system electronic warehouse as claimed in claim 12, characterized in that: The multi-degree-of-freedom adjustment platform (16) is a six-degree-of-freedom adjustment platform.

14. The method for assembling a flexible assembly system for a large-size vertical guide system electronic warehouse according to any one of claims 1 to 13, characterized in that: The assembly method comprises the following steps: S1, the assembly steps of the flexible assembly system, hoisting the leveling assembly shaft (2) to the clamping device (1) for clamping and fixing; according to the specifications of the electronic warehouse (3) to be assembled and the drill collar (5) to be assembled, selecting the electronic warehouse installation sleeve (4) and the assembly shaft sleeve (7) of appropriate size; fitting the electronic warehouse installation sleeve (4) to the corresponding position of the leveling assembly shaft (2), installing the supporting rubber O-ring (18) on the outer circumference and the limiting conical surface I (10) of the electronic warehouse installation sleeve (4), and fixing the electronic warehouse installation sleeve (4) with the limiting sleeve (9) and the limiting retaining ring (14) respectively; fitting the electronic warehouse (3) to be assembled onto the electronic warehouse installation sleeve (4); fitting the assembly shaft sleeve (7) to the corresponding position of the leveling assembly shaft (2), and using the limiting retaining rings on both sides; The drill collar (5) to be assembled is fixed with a ring (14); the drill collar (5) to be assembled is hoisted to the working area and mounted on the assembly shaft sleeve (7); the push-pull sleeve (21) is connected to the tail of the drill collar (5) to be assembled, and the force sensor (17) is fixedly connected to the end of the push-pull sleeve (21); the push-pull drive assembly (22) is fixed to the fixed seat (23), the push-pull drive assembly (22) is connected to the anti-rotation push-pull plate assembly (29), and after the anti-rotation push-pull plate assembly (29) is in contact with the force sensor (17), the anti-rotation push-pull plate assembly (29) is fixed to the push-pull sleeve (21); the height and angle posture of the multi-degree-of-freedom adjustment platform (16) are adjusted so that the roller bracket (33) on the multi-degree-of-freedom adjustment platform (16) is in contact with the drill collar (5), thereby supporting the drill collar (5) to be assembled; S2, a flexible assembly step of the drill collar and the electronic compartment, the push-pull drive assembly (22) is started, and the push-pull sleeve (21) is driven to drive the drill collar (5) to be assembled to move in the direction of the electronic compartment (3) to be assembled; the drill collar (5) to be assembled moves until it contacts the electronic compartment (3) to be assembled, and the lateral assembly force F during assembly is detected by the force sensor (17). x and axial assembly force F z ; When the lateral assembly force F x Less than the set lateral standard value When the lateral assembly force F x The vulcanized rubber layer (12) on the inner wall of the electronic bin installation sleeve (4), as well as the limiting conical surface I (10) and the supporting rubber O-ring (18) on the outer circumference of the electronic bin installation sleeve (4) are squeezed, so that the posture of the electronic bin (3) to be assembled changes according to the deformation of the vulcanized rubber layer (12) and the supporting rubber O-ring (18), thereby adapting to the posture of the drill collar (5) to be assembled; When the lateral assembly force F x Greater than the set lateral standard value When the multi-degree-of-freedom adjustment platform (16) is adjusted, the position of the drill collar (5) is adjusted so that the lateral assembly force F x Less than the set lateral standard value After that, continue with assembly; When the lateral assembly force F x Less than the set lateral standard value , but the axial assembly force F z Greater than the set axial standard value , stop assembly and find out the cause; S3, a step of dismantling the flexible assembly system, after the electronic compartment (3) to be assembled is assembled into the drill collar (5) to be assembled, the flexible assembly system is dismantled.

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