Cylinder section automatic butt joint detection device and method

Abstract

The invention discloses a cylinder section automatic butt joint detection device and method, and relates to the field of automatic assembling.The cylinder section automatic butt joint detection device comprises a detection mechanism, the detection mechanism is arranged on an omni-directional moving transfer platform, and a first linear guide rail is arranged on the omni-directional moving transfer platform; the detection mechanism and the posture adjusting mechanism are slidably connected to the omni-directional moving transfer platform through the first linear guide rail. The posture adjusting mechanism is used for driving the cylinder section to move along the first linear guide rail. The detection mechanism comprises a support and three detection sensors, the support is connected to the omni-directional moving transfer platform in a sliding mode through a first linear guide rail, the three detection sensors are all installed on the support, the three detection sensors are located on the same detection circumference, and the three detection sensors are sequentially arranged on the same detection circumference at intervals of 90 degrees. The assembling precision and quality are remarkably improved, the butt-joint assembling efficiency is improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of automatic equipment assembly. Combining automatic assembly technology and visual inspection technology, etc., the present application proposes an automatic docking detection method for product barrel sections and a corresponding docking detection device. In conjunction with a multi-degree-of-freedom posture adjustment mechanism, the automatic docking of barrel sections can be achieved while meeting the docking accuracy and reliability requirements. Background Art

[0002] In the process of product manufacturing, final assembly is the key link that determines the manufacturing efficiency and quality of the product. However, the automatic docking and assembly technology of large barrel sections is a key technical issue that restricts the development of my country's technology. The automatic docking and assembly mechanism and method of the docking platform are the key to improving the assembly technology. At present, the domestic docking assembly generally fixes the target barrel section on the docking platform, fixes the follower barrel section on the docking frame, moves the docking frame along the track to the barrel section docking position, and completes the docking assembly through manual observation and manual adjustment of the position and posture of the barrel section. The entire docking process requires a high level of technical skills from the workers and has great safety hazards. In addition, due to the low degree of automation and intelligence in the docking process, the product consistency is poor and the quality is unstable. It is imperative for automated docking technology to replace traditional manual docking processes such as manually operated overhead crane hoisting and support systems, which will greatly improve the quality and efficiency of assembly. Summary of the invention

[0003] The technical problem solved by the present application is: to overcome the deficiencies of the prior art and provide a device and method for automatic docking detection of barrel sections. The automatic docking detection and assembly mechanism of the docking platform is the key to improving assembly technology. The automatic docking assembly method significantly improves assembly quality and accuracy, reduces the labor intensity of workers, and improves assembly efficiency, which is of great significance to improving the intelligent level of product docking.

[0004] The technical solutions provided by this application are as follows:

[0005] A barrel section automatic docking detection device comprises a detection mechanism, which is arranged on an omnidirectional mobile transfer platform, on which a first linear guide is arranged, the detection mechanism and a posture adjustment mechanism are both slidably connected to the omnidirectional mobile transfer platform via the first linear guide, and the posture adjustment mechanism is used to drive the barrel section to move along the first linear guide; the detection mechanism comprises a bracket and three detection sensors, the bracket is slidably connected to the omnidirectional mobile transfer platform via the first linear guide, the three detection sensors are all installed on the bracket, the three detection sensors are located on the same detection circumference, and the three detection sensors are arranged on the same detection circumference in sequence at intervals of 90°.

[0006] The bracket includes a bottom bracket and an upper bracket. The bottom bracket is slidably connected to the omnidirectional mobile transfer platform through a first linear guide rail. A horizontal mounting groove is arranged on the top of the bottom bracket. The upper bracket includes a first vertical rod, a second vertical rod, a first connecting rod and a second connecting rod. The first vertical rod and the second vertical rod are both connected to the mounting groove on the top of the bottom bracket by bolts. One end of the first connecting rod is connected to the first vertical rod, and the other end is connected to the top of the bottom bracket. One end of the second connecting rod is connected to the second vertical rod, and the other end is connected to the top of the bottom bracket. The first connecting rod is located on a side of the first vertical rod facing the second vertical rod, and the second connecting rod is located on a side of the second vertical rod facing the first vertical rod. Three detection sensors are respectively installed on the first vertical rod, the second vertical rod and the bottom bracket.

[0007] The bottoms of the first vertical rod, the second vertical rod, the first connecting rod and the second connecting rod are all provided with mounting ears, and a nut is provided in the mounting groove at the top of the bottom bracket. The nut is located in the mounting groove and the thread cannot rotate in the mounting groove and can only move along the mounting groove. The bolt passes through the mounting ear and is threadedly connected to the nut, so that the installation position of the first vertical rod, the second vertical rod, the first connecting rod and the second connecting rod on the bottom bracket can be adjusted.

[0008] The bottom bracket includes an upper support rod, a lower support rod and three vertical support rods. The upper support rod and the lower support rod are horizontally arranged. The three vertical support rods are all connected between the upper support rod and the lower support rod. The mounting groove is arranged on the top of the upper support rod. The lower support rod is slidably connected to the omnidirectional mobile transfer platform through a first linear guide rail. A detection sensor is installed on the middle vertical support rod among the three vertical support rods.

[0009] Each of the detection sensors comprises a 3D laser profile sensor and an area array camera, and the 3D laser profile sensor and the area array camera are installed on two surfaces of the bracket that are perpendicular to the axis direction of the barrel section.

[0010] The surfaces of the first vertical rod, the second vertical rod and the vertical support rod for installing the detection sensor are provided with vertical fixing grooves, the 3D laser profile sensor and the area array camera are provided with fixing ears, a nut is provided in the fixing groove, the nut is located in the fixing groove and the thread can only move along the fixing groove, the bolt passes through the fixing ear and is threadedly connected to the nut.

[0011] A driving and moving mechanism is arranged between the bottom bracket of the bracket and the omnidirectional movable transfer platform, and the driving and moving mechanism is used to drive the bracket to move along the direction of the first linear guide rail.

[0012] The driving and moving mechanism includes a support and a screw rod. The support is fixedly connected to the omnidirectional mobile transfer platform, the screw rod is rotatably connected to the support, and the screw rod is connected to a motor that drives itself to rotate. The screw rod is threadedly connected to the bracket.

[0013] A detection method for a barrel section automatic docking detection device, comprising:

[0014] The 3D laser profile sensor is used to measure the distance between the two butt end faces of the two barrel sections at the position directly facing the 3D laser profile sensor and the height difference of the contour arc top line. When the measurement values ​​of the distance between the two butt end faces of the three sets of 3D laser profile sensors are a=b=c, the end face distances are consistent, and the two butt end faces are determined to be parallel. When the height difference of the contour arc top line is 0, the two butt end faces are coaxial, and the barrel section attitude is adjusted by the attitude adjustment mechanism until the yaw angle and pitch angle of the two butt end faces are adjusted to within the allowable deviation range of the butt.

[0015] The docking pin holes of the two barrel segments are scanned by an area array camera to determine the circumferential adjustment angle of the barrel segment and the docking moving distance. The barrel segment is driven to move according to the circumferential adjustment angle and then to move according to the docking moving distance through the posture adjustment mechanism to complete the docking.

[0016] In summary, this application at least includes the following beneficial technical effects:

[0017] The implementation of this invention provides a new, efficient and convenient barrel section docking assembly detection device and method. The automatic docking detection method significantly improves the assembly accuracy and quality, improves the docking assembly efficiency, and reduces the labor intensity of workers. It is of great significance to improve the intelligent level of product docking assembly.

[0018] It is integrated with omnidirectional mobile assembly platform vehicles, multi-degree-of-freedom posture adjustment mechanisms, docking detection mechanisms, etc. to meet the development needs of automated and intelligent docking of product barrel sections. It uses a combination of multiple groups of 3D laser profile sensors and 2D array cameras to provide high-precision detection methods to ensure the completion of automatic docking.

[0019] The successful implementation of automatic docking of barrel sections can be widely used in the automated assembly of products, especially for the final assembly of products that are difficult to manually dock. The automatic docking assembly system combined with the omnidirectional mobile platform can organize the automatic docking production of barrel sections, which has a good prospect for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an overall schematic diagram of the cylinder section automatic docking detection device and the omnidirectional mobile transfer platform;

[0021] Figure 2 It is a structural schematic diagram of a cylinder section automatic docking detection device;

[0022] Figure 3 It is a schematic diagram of docking detection parameters;

[0023] Figure 4 Schematic diagram of camera detection principle.

[0024] Description of the accompanying drawings: 1. first platform vehicle; 2. posture adjustment mechanism; 3. first barrel section; 4. detection mechanism; 5. second barrel section; 6. second platform vehicle;

[0025] 4-1, screw; 4-2, bracket; 4-3, 3D laser profile sensor; 4-4, area array camera. DETAILED DESCRIPTION

[0026] 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.

[0027] The present application embodiment discloses a cylinder section automatic docking detection device, such as Figure 1 As shown, it includes a detection mechanism 4, which is arranged on an omnidirectional mobile transfer platform, on which a first linear guide rail is arranged, and the detection mechanism 4 and the posture adjustment mechanism 2 are both slidably connected to the omnidirectional mobile transfer platform through the first linear guide rail, and the posture adjustment mechanism 2 is used to drive the barrel section to be docked to move along the first linear guide rail. The barrel section automatic docking device is used in the barrel section final assembly docking process, and is used in conjunction with the omnidirectional mobile assembly platform vehicle and the posture adjustment mechanism 2 to detect whether the barrel section docking is accurate.

[0028] Each omnidirectional mobile transfer platform supports a barrel segment through the posture adjustment mechanism 2. After the two barrel segments are transferred to the assembly station through the omnidirectional mobile transfer platform, one of the omnidirectional mobile transfer platforms transports the fixed barrel segment to the position and adjusts the horizontal fixation, and the other omnidirectional mobile transfer platform transfers the barrel segment to be docked to the initial docking position. The two omnidirectional mobile transfer platforms are fixed to complete the rigid connection to ensure the benchmark accuracy requirements of the automatic docking platform, such as Figure 1 and 2 . After the two omnidirectional mobile transfer platforms are moved into place and fixed to each other, the barrel segments are driven to move through the posture adjustment mechanism 2, so that the two barrel segments are accurately docked. Specifically, the omnidirectional mobile transfer platform includes a first platform vehicle 1 and a second platform vehicle 6. The first barrel segment 3 is supported on the first platform vehicle 1 through the posture adjustment mechanism 2, and the second barrel segment 5 is supported on the rear side 6 of the second platform through the posture adjustment mechanism 2. When the second platform vehicle 6 transports the second barrel segment 5 to the designated position, the first platform vehicle 1 drives the first barrel segment 3 to approach the second barrel segment 5. During the docking process, the end face of the first barrel segment 3 is inserted into the second barrel segment 5, and at the same time, the second barrel segment 5 is connected to the end face of the first barrel segment 3 by radial holes and screws, and the center line of the radial hole is perpendicular to the barrel segment axis.

[0029] The detection mechanism 4 includes a bracket 4-2 and a detection sensor. The bracket 4-2 is slidably connected to the first linear guide rail on the omnidirectional mobile transfer platform. The entire frame of the bracket 4-2 is constructed with profiles, and each surface of the profile is provided with mounting grooves distributed along the length direction of the profile. The detection sensor is used to detect whether the ends of the barrel section are aligned. Bracket 4-2 includes a bottom bracket and an upper bracket. The bottom bracket is slidably connected to the omnidirectional mobile transfer platform through a first linear guide rail. The upper bracket includes a first vertical rod, a second vertical rod, a first connecting rod and a second connecting rod. The first vertical rod and the second vertical rod are both connected to the mounting groove at the top of the bottom bracket by bolts. Specifically, the nut is located in the mounting groove and the thread cannot rotate in the mounting groove and can only move along the mounting groove. The bolt passes through the mounting lug at the bottom of the first vertical rod or the second vertical rod and is threadedly connected to the nut, so that the installation position of the first vertical rod and the second vertical rod can be adjusted. One end of the first connecting rod is connected to the first vertical rod and the other end is connected to the top of the bottom bracket. One end of the second connecting rod is connected to the second vertical rod and the other end is connected to the top of the bottom bracket. The first connecting rod is located on the side of the first vertical rod facing the second vertical rod, and the second connecting rod is located on the side of the second vertical rod facing the first vertical rod. A detection sensor is connected to each of the first vertical rod, the second vertical rod and the bottom bracket. The connecting line of the detection sensors connected to the first vertical rod and the second vertical rod coincides with a diameter of the barrel section. The detection sensor connected to the bottom bracket is directly opposite to the bottom of the barrel section.

[0030] The detection sensor includes a 3D laser profile sensor 4-3 and an array camera 4-4. On the first vertical rod, the 3D laser profile sensor 4-3 and the array camera 4-4 are respectively connected to the two surfaces of the first vertical rod perpendicular to the axis of the barrel section. The detection sensor is installed at the corresponding position of the profile frame, and the installation position can be adjusted on the profile. Each detection device can move with the profile frame as a whole, such as Figure 2 shown.

[0031] Three groups of 3D laser profile sensors and area array cameras are installed on the profile rack. The three groups are distributed on the circumference to be detected and arranged at intervals of 90°, corresponding to the position of the barrel segment quadrant line, and are used to determine the positional relationship between the barrel segment to be connected and the fixed barrel segment.

[0032] A driving mechanism is provided between the bottom bracket of the bracket 4-2 and the omnidirectional mobile transfer platform, and the driving mechanism is used to drive the bracket 4-2 to move along the direction of the first linear guide rail. The driving mechanism includes a support and a screw 4-1, the support is fixedly connected to the omnidirectional mobile transfer platform, the screw 4-1 is rotatably connected to the support, and the screw 4-1 is connected to a motor that drives itself to rotate, and the screw 4-1 is threadedly connected to the bracket 4-2. The motor drives the screw 4-1 to achieve linear motion, which can satisfy the switching of the 3D laser profile sensor and the area array camera to the appropriate viewing angle range, so as to adjust the field of view of the detection device 4, improve the detection accuracy, and can remove the detection device to leave space for assembly operations after the docking is completed.

[0033] This patent integrates the detection mechanism 4 and the posture adjustment mechanism 2 into an omnidirectional mobile transfer platform. From barrel section transfer, docking assembly to final assembly and testing, there is no need to lift the product, thus reducing the number of lifting times.

[0034] like Figure 3 and Figure 4 As shown, the above-mentioned method of the barrel section automatic docking detection device includes:

[0035] The 3D laser profile sensor is used to measure the distance between the two butt end faces and the height difference of the top line of the profile arc at the position directly facing the 3D laser profile sensor. Figure 4 , the attitude of the butt-jointed barrel section is adjusted by the attitude adjustment mechanism 2. When the three sets of sensor measurement values ​​a=b=c, that is, when the end face distances are consistent, it is determined that the two end faces are parallel; the radial misalignment distance of the two barrel sections is determined by the height difference of the contour arc top line; the attitude of the two barrel sections is ensured by the attitude adjustment mechanism 2 and the adjustment motion algorithm, and the yaw angle and pitch angle are adjusted to the allowable deviation range of the butt-jointed, that is, the axes of the two barrel sections are ensured to basically coincide;

[0036] Use an area array camera to scan the docking pin holes of the two barrel segments. Determine the circumferential adjustment angle of the barrel segments and the docking moving distance through the imaging roundness and spacing of the two docking pin holes. When the circumferential angle is adjusted to the right position, that is, the roundness of the two docking pin holes completely overlaps, move the barrel segments to be docked axially a specified distance for docking, and determine the docking accuracy by detecting the overlap of the two pin holes. Otherwise, continue to adjust until the docking is completed.

[0037] Three groups of 4-3 laser profile sensors are arranged on the left and right sides and directly below the 4-2 bracket, and two groups of 4-4 area array cameras are arranged on the left and right sides; when the 5 second barrel section and the 3 first barrel section are close to the detection field of view of the 4 detection device, the 4-3 laser profile sensor in the detection device detects the distance between the two barrel sections to be connected and the height difference of the contour arc top line (such as Figure 4 As shown), 3 groups of 4-3 laser profile sensors collect the distance value of the butt joint tube segment ( Figure 3 By comparing the gap between the spacing values ​​a, b, c) and the height value of the top line of the contour arc, the yaw angle and pitch angle of the axis of the barrel section to be connected are calculated, and the yaw angle and pitch angle of the barrel section to be connected are fed back to the attitude adjustment mechanism to adjust the yaw angle and pitch angle of the barrel section to be connected. In this way, the end faces of the first barrel section 3 and the second barrel section 5 can be made parallel, ensuring that the end face plugging work can be achieved during the docking process. The imaging roundness and spacing of the radial holes of the docking barrel section are judged by the 4-4 array camera, and the gap between the roundness and spacing of the holes is determined, and the feedback is given to the attitude adjustment mechanism to adjust the hole position alignment to ensure the screw assembly work during the docking process.

[0038] When the yaw angle and pitch angle are adjusted to within the allowable deviation range of docking and the projection circles of the docking holes completely overlap, the barrel section to be docked can be moved axially for a specified distance. After the axial movement is in place, the docking of the two barrel sections is completed.

[0039] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

[0040] 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 cylinder section automatic docking detection device, characterized in that: The device comprises a detection mechanism (4), the detection mechanism (4) is arranged on an omnidirectional mobile transfer platform, a first linear guide rail is arranged on the omnidirectional mobile transfer platform, the detection mechanism (4) and the posture adjustment mechanism (2) are both slidably connected to the omnidirectional mobile transfer platform via the first linear guide rail, and the posture adjustment mechanism (2) is used to drive the barrel section to move along the first linear guide rail; The detection mechanism (4) comprises a bracket (4-2) and three detection sensors; the bracket (4-2) is slidably connected to the omnidirectional mobile transfer platform via a first linear guide rail; the three detection sensors are all mounted on the bracket (4-2); the three detection sensors are located on the same detection circumference; and the three detection sensors are arranged in sequence on the same detection circumference.

2. The automatic tube segment docking detection device according to claim 1, characterized in that: The bracket (4-2) comprises a bottom bracket and an upper bracket, the bottom bracket is slidably connected to the omnidirectional mobile transfer platform through a first linear guide rail, a horizontal mounting groove is arranged on the top of the bottom bracket, the upper bracket comprises a first vertical rod, a second vertical rod, a first connecting rod and a second connecting rod, the first vertical rod and the second vertical rod are both connected to the mounting groove on the top of the bottom bracket through bolts, one end of the first connecting rod is connected to the first vertical rod and the other end is connected to the top of the bottom bracket, one end of the second connecting rod is connected to the second vertical rod and the other end is connected to the top of the bottom bracket, the first connecting rod is located on the side of the first vertical rod facing the second vertical rod, and the second connecting rod is located on the side of the second vertical rod facing the first vertical rod; three detection sensors are respectively installed on the first vertical rod, the second vertical rod and the bottom bracket.

3. The automatic tube segment docking detection device according to claim 2 is characterized in that: The bottoms of the first vertical rod, the second vertical rod, the first connecting rod and the second connecting rod are all provided with mounting ears, and a nut is provided in the mounting groove at the top of the bottom bracket. The nut is located in the mounting groove and the thread cannot rotate in the mounting groove and can only move along the mounting groove. The bolt passes through the mounting ear and is threadedly connected to the nut, so that the installation position of the first vertical rod, the second vertical rod, the first connecting rod and the second connecting rod on the bottom bracket can be adjusted.

4. The automatic tube segment docking detection device according to claim 1 or 2, characterized in that: The bottom bracket includes an upper support rod, a lower support rod and three vertical support rods. The upper support rod and the lower support rod are horizontally arranged. The three vertical support rods are all connected between the upper support rod and the lower support rod. The mounting groove is arranged on the top of the upper support rod. The lower support rod is slidably connected to the omnidirectional mobile transfer platform through a first linear guide rail. A detection sensor is installed on the middle vertical support rod among the three vertical support rods.

5. The automatic tube segment docking detection device according to claim 4 is characterized in that: Each of the detection sensors comprises a 3D laser profile sensor (4-3) and an area array camera (4-4), and the 3D laser profile sensor (4-3) and the area array camera (4-4) are mounted on two surfaces of the bracket (4-2) that are perpendicular to the axis direction of the barrel section.

6. The automatic tube segment docking detection device according to claim 5, characterized in that: The surfaces of the first vertical rod, the second vertical rod and the vertical support rod for installing the detection sensor are provided with vertical fixing grooves, the 3D laser profile sensor (4-3) and the area array camera (4-4) are provided with fixing ears, a nut is provided in the fixing groove, the nut is located in the fixing groove and the thread can only move along the fixing groove in the fixing groove, and the bolt passes through the fixing ear and is threadedly connected to the nut.

7. The automatic tube segment docking detection device according to claim 1 is characterized in that: A driving and moving mechanism is provided between the bottom bracket of the bracket (4-2) and the omnidirectional moving transfer platform, and the driving and moving mechanism is used to drive the bracket (4-2) to move along the direction of the first linear guide rail.

8. The automatic tube segment docking detection device according to claim 7, characterized in that: The driving movement mechanism comprises a support and a screw rod (4-1); the support is fixedly connected to the omnidirectional mobile transfer platform; the screw rod (4-1) is rotatably connected to the support; the screw rod (4-1) is connected to a motor for driving itself to rotate; and the screw rod (4-1) is threadedly connected to the support (4-2).

9. The automatic tube segment docking detection device according to claim 1, characterized in that: The three detection sensors are respectively a first sensor, a second sensor and a third sensor. On the same detection circle, the center angle between the first sensor and the second sensor is 90°, and the center angle between the second sensor and the third sensor is 90°.

10. A detection method for a cylinder section automatic docking detection device according to claims 1 to 9, characterized in that: include: The 3D laser contour sensor is used to measure the distance between the two butt end faces of the two barrel segments at the position directly facing the 3D laser contour sensor and the height difference of the contour arc top line. When the measurement values ​​of the distance between the two butt end faces of the three sets of 3D laser contour sensors are a=b=c, the end face distances are consistent, and the two butt end faces are determined to be parallel. When the height difference of the contour arc top line is 0, the two butt end faces are coaxial. The barrel segment is adjusted in attitude by the attitude adjustment mechanism (2) until the yaw angle and the pitch angle of the two butt end faces are adjusted to within the allowable deviation range of the butt. The docking pin holes of the two barrel segments are scanned by an array camera to determine the circumferential adjustment angle and docking moving distance of the barrel segments, and the barrel segments are driven to move according to the circumferential adjustment angle and then move according to the docking moving distance by the posture adjustment mechanism (2) to complete the docking.

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