Cylinder section automatic butt joint multi-degree-of-freedom posture adjusting mechanism

Abstract

The invention discloses a cylinder section automatic butt joint multi-degree-of-freedom posture adjusting mechanism, and relates to the field of equipment final assembly, the cylinder section automatic butt joint multi-degree-of-freedom posture adjusting mechanism comprises an upper platform, a rolling support and an arc support, the rolling support is arranged above the upper platform, a lifting mechanism is arranged on the upper surface of the upper platform, the lifting mechanism is used for driving the rolling support to vertically ascend and descend, and the upper surface of the rolling support is an arc-shaped surface; an arc-shaped guide rail is arranged on the arc-shaped surface of the rolling support, the arc support is slidably connected to the upper surface of the rolling support through the arc-shaped guide rail in the arc-shaped direction, and a rolling mechanism is arranged between the rolling support and the arc support and used for driving the arc support to rotate. And the automation level of final assembly butt joint of cylinder section products is improved.

Description

Technical Field

[0001] The invention belongs to the field of equipment assembly technology and is applied to the automatic docking of barrel sections. Specifically, it discloses a multi-degree-of-freedom attitude adjustment mechanism for the automatic docking of barrel sections. Background Art

[0002] Traditionally, workers often manually operate the docking of barrel sections during assembly, and the docking is achieved by observing and operating the mechanical structure to achieve the movement of the barrel sections. At present, the docking accuracy of barrel section products is getting higher and higher. The manual operation method requires a high level of workers, and the stability of workers is poor, which is prone to quality problems. The human operation efficiency is low, and it is impossible to achieve high-efficiency and high-quality assembly docking.

[0003] In the case of the implementation of the automated assembly mode for barrel section assembly, the traditional manual docking mode cannot meet the assembly requirements. Because the manual docking process is recorded through quality control cards and photographic records, it is easy to make mistakes. With the improvement of the automation level of barrel section product assembly, it is necessary to reduce the workload of human operation, introduce automated equipment, and introduce the posture adjustment mechanism into the automated system of workshop control. The requirement for the posture adjustment mechanism is that the posture adjustment mechanism must first become an automated posture adjustment mechanism, and can be used in conjunction with various automated equipment to become a part of the automation system of the assembly workshop. Summary of the invention

[0004] The technical problem solved by the present application is: to overcome the deficiencies of the prior art and provide an automated six-degree-of-freedom attitude adjustment mechanism, which makes barrel section docking more efficient through a multi-degree-of-freedom automated attitude adjustment mechanism, reduces labor costs, improves docking quality, and improves the automation level of barrel section product assembly docking.

[0005] It can be used in the automatic docking of barrel sections. In the current situation where barrel section products are in large batches and the demand for automation is high, it is necessary to adapt to the automatic posture adjustment mechanism to meet the batch production requirements, so the market prospect is relatively good and the application range is relatively wide.

[0006] The technical solutions provided by this application are as follows:

[0007] A multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections comprises an upper platform, a rolling support and an arc support, wherein the rolling support is arranged above the upper platform, a lifting mechanism is arranged on the upper surface of the upper platform, the lifting mechanism is used to drive the rolling support to vertically lift and lower, the upper surface of the rolling support is an arc surface, an arc guide rail is arranged on the arc surface of the rolling support, the arc support is connected to the upper surface of the rolling support by sliding along the arc direction through the arc guide rail, a rolling mechanism is arranged between the rolling support and the arc support, and the rolling mechanism is used to drive the arc support to rotate.

[0008] The rolling mechanism includes an arc-shaped gear ring, a driving gear and a rolling driving device. The arc-shaped gear ring is fixedly connected to the arc support, the driving gear is rotatably connected to the rolling support, the driving gear is meshed with the arc-shaped gear ring, and the rolling driving device is used to drive the driving gear to rotate, thereby driving the arc support to roll.

[0009] The upper surface of the upper platform is provided with two ends each fixedly connected to a support block, and the upper surface of each support block is provided with a weighing sensor. The top of the lifting mechanism and the rolling support are detachably connected so that when the lifting mechanism and the rolling support are connected, they are used to drive the rolling support to lift and lower. When the rolling support is driven to fall and contact with the weighing sensor, the connection between the lifting mechanism and the rolling support is released, and the weighing sensor weighs the rolling support.

[0010] The lifting mechanism includes a lift, which includes a shell and a lifting rod. The shell of the lift is fixedly connected to the surface of the upper platform, and the lifting rod of the lift can be vertically raised or lowered. Two lifts are provided, and the two lifts are respectively located on the inner sides of the two support blocks, and the lifting rod is detachably connected to the rolling support.

[0011] The line connecting the midpoints of the two weighing sensors is perpendicular to the axis corresponding to the sliding direction of the arc support relative to the rolling support.

[0012] The lifting mechanism also includes a lifting pin, a flange and an upper connecting plate. The upper connecting plate is located on the side of the lifter away from the upper platform. The top of the lifting rod is fixedly connected to the upper connecting plate. The side of the upper connecting plate away from the upper platform is fixedly connected with a lifting pin. The bottom of the rolling support is fixedly connected with a flange. The flange is provided with an assembly hole, and the lifting pin cooperates with the assembly hole.

[0013] The lifting mechanism also includes a guide rod, a lower connecting plate and a guide sleeve. The lower connecting plate is fixedly connected to the shell of the elevator. The guide rod is parallel to the lifting rod of the elevator. The top of the guide rod is fixedly connected to the upper connecting plate. The guide sleeve is fixedly connected to the lower connecting plate. The guide rod passes through the guide sleeve and is slidably connected to the guide sleeve.

[0014] A lower platform is arranged below the upper platform, and the AGV body is below the lower platform. The lower platform and the AGV body are horizontally slidably connected, and the upper platform and the lower platform are horizontally slidably connected. The horizontal sliding direction between the upper platform and the lower platform is perpendicular to the horizontal sliding direction between the lower platform and the AGV body, and the axis corresponding to the sliding direction of the arc support relative to the rolling support is perpendicular to the horizontal sliding direction between the upper platform and the lower platform.

[0015] In summary, this application at least includes the following beneficial technical effects:

[0016] 1. The posture adjustment mechanism uses high-precision motion mechanisms such as linear guides and arc guides to ensure motion accuracy, solving the problem of poor docking accuracy of barrel sections in the current general assembly stage. It adapts to the increasingly high barrel section docking hole accuracy at this stage.

[0017] 2. In order to solve the problem of low automation level of barrel section docking, explosion-proof motors are used to control each motion mechanism to achieve movement. The coordinated control of each motion mechanism can realize multi-degree-of-freedom posture adjustment of the barrel section and realize automatic docking.

[0018] 3. The posture adjustment mechanism is equipped with a mass center of mass measuring mechanism, which can measure the mass and center of mass of the barrel section through a bridge-type weighing sensor and a center of mass measuring mechanism. This avoids the problem of repeated lifting and measurement and improves the integration of the system.

[0019] 4. Each layer of the support frame of the posture adjustment mechanism adopts a concave structure and an escape hole, etc., so that the structure of the posture adjustment mechanism is very compact, so that the center height of the posture adjustment mechanism can be minimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the posture adjustment mechanism structure;

[0021] Figure 2 It is a top view of the posture adjustment mechanism;

[0022] Figure 3 It is the main view of the posture adjustment mechanism;

[0023] Figure 4 It is a structural schematic diagram of a posture adjustment mechanism used in a docking vehicle;

[0024] Figure 5 This is the structural diagram of the lifting mechanism.

[0025] Explanation of the accompanying symbols: 1. Arc support; 2. Arc guide rail; 3. Rolling support; 4. Weighing sensor; 5. Lifting mechanism; 5-1. Lifting pin; 5-2. Flange; 5-3. Upper connecting plate; 5-4. Guide rod; 5-5. Lower connecting plate; 5-6. Guide sleeve; 5-7. Lifter; 6. Upper platform; 7. Translation linear guide rail; 8. Lower platform; 9. Vehicle body direction movement mechanism; 9-1. Bevel gear; 9-2. Motor reducer; 9-3. Fixed bracket; 10. Horizontal movement mechanism; 10-1. Motor reducer; 10-2. Ball screw; 10-3. Fixed bracket; 10-4. Connector;

[0026] 11. Rolling drive device; 12. Rack; 13. Vehicle direction linear guide; 14. AGV vehicle body. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0028] The present application embodiment discloses a multi-degree-of-freedom posture adjustment mechanism for automatic docking of barrel segments, such as Figure 4 As shown, it is set on the AGV body, such as Figure 1 As shown, a multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections includes an arc support 1, an arc guide rail 2, a rolling support 3, a weighing sensor 4, a lifting mechanism 5, an upper platform 6, a translation linear guide rail 7 and a lower platform 8.

[0029] like Figure 1 As shown, the surface of the AGV body is provided with a body-direction linear guide 13, the lower platform 8 is connected to the body-direction linear guide 13, the lower platform 8 is slidably connected to the AGV body surface through the body-direction linear guide 13, and each AGV body is connected to at least two lower platforms 8. The upper surface of the AGV body lower platform 8 is provided with a translation linear guide 7, the upper platform 6 is connected to the translation linear guide 7, the upper platform 6 is slidably connected to the surface of the lower platform 8 through the translation linear guide 7, and the sliding direction of the upper platform 6 relative to the lower platform 8 is perpendicular to the sliding direction of the lower platform 8 relative to the AGV body. The rolling support 3 is connected to the surface of the upper platform 6 through a lifting mechanism. The upper surface of the rolling support 3 is an arc surface, and the arc surface of the rolling support 3 is provided with an arc guide 2, and the arc support 1 is slidably connected to the upper surface of the rolling support 3 along the arc direction through the arc guide 2, and the axis of the arc direction is perpendicular to the sliding direction of the upper platform 6 relative to the lower platform 8.

[0030] Specifically, Figure 5 As shown, the lifting mechanism 5 includes: a lifting pin 5-1, a flange 5-2, an upper connecting plate 5-3, a guide rod 5-4, a lower connecting plate 5-5, a guide sleeve 5-6 and an elevator 5-7; the elevator includes a shell and a lifting rod, the shell of the elevator is fixedly connected to the surface of the upper platform 6, the lifting rod of the elevator can be vertically raised or lowered, two elevators are provided, and the two elevators are respectively located on the inner sides of the two support blocks. The lower connecting plate 5-5 is fixedly connected to the shell of the elevator 5-7, the upper connecting plate 5-3 is located on the side of the lower connecting plate 5-5 away from the upper platform 6, the top of the lifting rod is fixedly connected to the upper connecting plate 5-3, and the upper connecting plate 5-3 is also fixedly connected to the guide rod 5-4 by screws, the lower connecting plate 5-5 is provided with a through hole, the guide sleeve 5-6 is installed in the through hole, the guide rod 5-4 passes through the guide sleeve 5-6 and is slidably connected to the guide sleeve 5-6, and the guide rod 5-4 plays a guiding role. The upper platform 6 has a lifting hole on its surface, and the guide rod 5-4 passes through the lower connecting plate and the bottom end of the lifting rod is inserted into the lifting hole. The upper connecting plate 5-3 is fixedly connected with a lifting pin 5-1 on the side away from the lower connecting plate 5-5 by bolts. The flange 5-2 is fixedly connected with the rolling support 3 by bolts, and the flange 5-2 has an assembly hole, and the lifting pin 5-1 cooperates with the assembly hole.

[0031] During the downward movement of the lifting rod of the elevator 5-7, if the rolling support 3 is located above the weighing sensor 4, the lifting pin 5-1 is inserted into the assembly hole of the flange 5-2, and the rolling support 3 and the lifting rod of the elevator 5-7 move downward together; until the rolling support 3 contacts the weighing sensor 4, as the lifting rod of the elevator 5-7 continues to move downward, the lifting pin 5-1 will come out of the flange 5-2, thereby separating from the rolling support 3 and entering a free state to measure the center of mass.

[0032] like Figure 1 and 3 As shown, the edge of the arc support 1 is provided with an arc gear ring, which is a gapless rack, and the rolling support 3 is rotatably connected to a driving gear, which meshes with the arc gear ring, and the rolling support 3 is connected to a rolling driving device 11, which is used to drive the driving gear to rotate, and then drive the arc support 1 to roll within a certain angle range through the cooperation of the driving gear and the arc gear ring. The accuracy of the arc movement control of the arc support 1 is guaranteed by this structure.

[0033] Two ends of the upper surface of the upper platform 6 are respectively fixedly connected to a support block, and a weighing sensor 4 is arranged on the upper surface of each support block.

[0034] When adjusting the posture, the lifting rod supports the rolling support 3 so that the bottom of the rolling support 3 is above the weighing sensor 4. When it is necessary to weigh the cylinder section on the arc support 1, the lifting rod drives the rolling support 3 to move downward until the rolling support 3 contacts the surface of the weighing sensor 4. Then the lifting rod is disassembled from the rolling support 3. At this time, the weighing sensor 4 weighs the rolling support 3, the arc support 1 and the cylinder thereon together.

[0035] like Figure 4 As shown, the vehicle body direction moving mechanism 9 includes a bevel gear 9-1, a motor reducer 9-2 and a fixed bracket 9-3. The fixed bracket 9-3 is screwed and fixed to the side of the lower platform 8. The motor reducer 9-2 is fixed to the upper surface of the fixed bracket 9-3, which is a flange output. The threaded hole on the end face of the output flange and the through hole on the bevel gear 9-1 are fastened with bolts. The rack 12 is fixed to the upper surface of the AGV body 14 and meshes with the bevel gear 9-1. When the motor reducer 9-2 drives the bevel gear 9-1 to rotate, the movement of the gear and the rack can drive the entire posture adjustment mechanism to move in the direction of the vehicle body. When the bevel gears 9-1 of the two posture adjustment mechanisms rotate in opposite directions, the two posture adjustment mechanisms can adjust their relative positions.

[0036] The horizontal moving mechanism 10 includes a motor reducer 10-1, a ball screw 10-2, and a fixed bracket 10-3. The fixed bracket 10-3 is screwed and fixed to the side of the lower platform 8. The motor reducer 10-1 is fixed to one side of the fixed bracket 10-3 and is fixed to the ball screw 10-2 through a coupling. The nut on the ball screw 10-2 is connected to the connecting piece 10-4. One side of the connecting piece 10-4 is screwed to the side of the upper platform 6. When the motor drives the screw to rotate, the nut will drive the connecting piece 10-4 and the upper platform 6 to move horizontally.

[0037] The present invention is mainly an automatic posture adjustment mechanism designed to solve the posture adjustment problem during the assembly and docking of barrel sections. A single posture adjustment mechanism can realize rolling, translation, lifting, and vehicle body direction movement with multiple degrees of freedom. The rolling drive device drives the arc gear ring and arc support 1 to move by controlling the driving gear through an explosion-proof motor; the translation linear guide 7 drives the upper platform 6 to move by controlling the ball screw through an explosion-proof motor; lifting is controlled by the explosion-proof motor through the commutator and the connecting rod to simultaneously control the lifting of the two elevators; the movement in the vehicle body direction is controlled by the explosion-proof motor to control the gear on the rack to drive the lower platform 8 to move. The two posture adjustment mechanisms can adjust the relative position in the vehicle body direction to adapt to barrel sections of different lengths.

[0038] The posture adjustment mechanism integrates a weighing sensor. The elevator lowers the height of the rolling bracket to make it contact with the support ball of the quality measurement mechanism, and then the elevator is lowered to separate the rolling bracket from the elevator. The bridge sensor is then used to measure the center of mass.

[0039] like Figure 2 and Figure 3 As shown, the barrel section is placed on two adjacent arc supports 1, and the gear rack mechanism 12 includes a gear and a rack movement in the vehicle body direction moving mechanism 9, and the distance between the two arc supports 1 is adjusted to adapt to the barrel section length. When adjusting the barrel section posture, the arc supports 1 are driven to roll using the rolling drive device 11 to make the barrel section roll;

[0040] The cylinder section is driven to move in the horizontal direction by the horizontal moving mechanism 10;

[0041] The cylinder section is driven up and down to a suitable height by the elevator;

[0042] The cylinder section is driven to move in the direction of the vehicle body by the gear rack mechanism 12 and the vehicle body direction linear guide 13;

[0043] The cylinder section is lowered by the elevator until it contacts the weighing sensor 4, and after the guide mechanism is disengaged, the cylinder section is weighed.

[0044] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

[0045] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

Claims

1. A multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections, characterized in that: The invention comprises an upper platform (6), a rolling support (3) and an arc support (1), wherein the rolling support (3) is arranged above the upper platform (6), and a lifting mechanism is arranged on the upper surface of the upper platform (6), and the lifting mechanism is used to drive the rolling support (3) to vertically lift and lower, and the upper surface of the rolling support (3) is an arc surface, and an arc guide rail (2) is arranged on the arc surface of the rolling support (3), and the arc support (1) is connected to the upper surface of the rolling support (3) by sliding along the arc direction through the arc guide rail (2), and a rolling mechanism is arranged between the rolling support (3) and the arc support (1), and the rolling mechanism is used to drive the arc support (1) to rotate.

2. The multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections according to claim 1 is characterized by: The rolling mechanism comprises an arc-shaped gear ring, a driving gear and a rolling driving device (11); the arc-shaped gear ring is fixedly connected to the arc support (1); the driving gear is rotatably connected to the rolling support (3); the driving gear is meshed with the arc-shaped gear ring; and the rolling driving device (11) is used to drive the driving gear to rotate, thereby driving the arc support (1) to roll.

3. The multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections according to claim 1 is characterized by: The upper surface of the upper platform (6) is provided with a support block fixedly connected at each of its two ends, and a weighing sensor (4) is provided on the upper surface of each support block. The top of the lifting mechanism is detachably connected to the rolling support (3), so that when the lifting mechanism is connected to the rolling support (3), it is used to drive the rolling support (3) to rise and fall. When the rolling support (3) is driven to fall and contact the weighing sensor (4), the connection between the lifting mechanism and the rolling support (3) is released, and at this time, the weighing sensor (4) weighs the rolling support (3).

4. The multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections according to claim 3 is characterized in that: The lifting mechanism comprises a lift (5-7), the lift (5-7) comprising a shell and a lifting rod, the shell of the lift (5-7) is fixedly connected to the surface of the upper platform (6), the lifting rod of the lift (5-7) can be vertically raised or lowered, two lifts are provided, the two lifts are respectively located on the inner sides of the two support blocks, and the lifting rod is detachably connected to the rolling support (3).

5. The multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections according to claim 3 is characterized by: The line connecting the midpoints of the two weighing sensors (4) is perpendicular to the axis corresponding to the sliding direction of the arc support (1) relative to the rolling support (3).

6. The multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections according to claim 4 is characterized by: The lifting mechanism further comprises a lifting pin (5-1), a flange (5-2) and an upper connecting plate (5-3); the upper connecting plate (5-3) is located on a side of the lifter (5-7) away from the upper platform (6); the top of the lifting rod is fixedly connected to the upper connecting plate (5-3); the side of the upper connecting plate (5-3) away from the upper platform (6) is fixedly connected to the lifting pin (5-1); the bottom of the rolling support (3) is fixedly connected to the flange (5-2); the flange (5-2) is provided with an assembly hole; the lifting pin (5-1) cooperates with the assembly hole.

7. The multi-degree-of-freedom attitude adjustment mechanism for automatic docking of barrel sections according to claim 6 is characterized by: The lifting mechanism further comprises a guide rod (5-4), a lower connecting plate (5-5) and a guide sleeve (5-6); the lower connecting plate (5-5) is fixedly connected to a housing of the lifter (5-7); the guide rod (5-4) is parallel to a lifting rod of the lifter (5-7); the top end of the guide rod (5-4) is fixedly connected to the upper connecting plate (5-3); the guide sleeve (5-6) is fixedly connected to the lower connecting plate (5-5); and the guide rod (5-4) passes through the guide sleeve (5-6) and is slidably connected to the guide sleeve (5-6).

8. The barrel segment automatic docking multi-degree-of-freedom posture adjustment mechanism according to claim 1, characterized in that: A lower platform (8) is arranged below the upper platform (6), and an AGV body is arranged below the lower platform (8). The lower platform (8) and the AGV body are horizontally slidably connected, and the upper platform (6) and the lower platform (8) are horizontally slidably connected. The horizontal sliding direction between the upper platform (6) and the lower platform (8) is perpendicular to the horizontal sliding direction between the lower platform (8) and the AGV body, and the axis corresponding to the sliding direction of the arc support (1) relative to the rolling support (3) is perpendicular to the horizontal sliding direction between the upper platform (6) and the lower platform (8).

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