Multi-cylinder-section posture adjusting and transferring device

Abstract

The invention provides a multi-cylinder-section posture adjusting and transferring device. The multi-cylinder-section posture adjusting and transferring device comprises a posture adjusting module, a rotating module, a supporting module and an AGV transfer trolley. The rotating module is supported by the supporting module, the posture adjusting module is installed on the rotating module to rotate, and an AGV transfer trolley is arranged near the supporting module; the posture adjusting module comprises a self-adjusting roller carrier and a track moving platform; the track moving platform is installed on the rotating module, the self-adjusting roller carrier is installed on the track moving platform and moves in the first horizontal direction through the track moving platform, and an X-direction moving mechanism is arranged in the self-adjusting roller carrier. The rollers of the self-adjusting roller carrier move in the second horizontal direction through the X-direction moving mechanism. Through cooperation of the multiple posture adjusting modules and the rotating module, posture adjustment of multiple cylinder sections is achieved.

Description

Technical Field

[0001] The present invention relates to the field of barrel segment processing, in particular to a multi-barrel segment posture adjustment and transportation device; in particular to a large-span multi-barrel segment posture adjustment and transportation device. Background Art

[0002] The size and weight of the barrel section are relatively large, and the operability of posture adjustment by manual operation and naked eye observation is relatively poor, which makes it difficult to meet the high-precision posture adjustment requirements. At present, there are few posture adjustment schemes for this type of device in the industrial field, and the degree of automation is relatively low. Therefore, it is of great significance to introduce automated posture adjustment mechanisms and systems.

[0003] The patent document with publication number CN104148914A discloses a posture adjustment assembly system and posture adjustment method for rocket component docking, but the patent cannot realize the posture adjustment and transportation of multiple barrel sections. The patent document with publication number CN117902016A discloses a coordinated posture adjustment device for the flexible docking of ship sections, which has a complex structure and is different from the structure of the present application, and cannot realize the posture adjustment of multiple barrel sections. The patent with publication number CN214212705U discloses an automatic cylinder welding device, which also cannot realize the posture adjustment of multiple barrel sections. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide a multi-drum segment posture adjustment and transportation device.

[0005] A multi-drum segment posture adjustment and transportation device provided by the present invention comprises: a posture adjustment module, a rotation module, a support module and an AGV transportation vehicle;

[0006] The rotating module is supported by the supporting module, the posture adjustment module is mounted on the rotating module for rotation, and an AGV transfer vehicle is arranged near the supporting module (the AGV transfer vehicle itself is a transfer device already known in the art);

[0007] The posture adjustment module comprises: a self-adjusting roller frame and a track moving platform;

[0008] The track moving platform is installed on the rotating module, the self-adjusting roller frame is installed on the track moving platform and moves along the first horizontal direction through the track moving platform, an X-direction moving mechanism is arranged inside the self-adjusting roller frame, and the rollers of the self-adjusting roller frame move along the second horizontal direction through the X-direction moving mechanism.

[0009] Preferably, the rotating module comprises: a rotating column and a rotating cantilever;

[0010] The rotating column is a columnar structure that can rotate around an axial direction and is provided with one or more. Each of the rotating columns is provided with a plurality of horizontally placed rotating cantilevers, and each of the rotating cantilever is provided with the posture adjustment module.

[0011] Preferably, the support module comprises: a basic support platform and a cantilever support;

[0012] The cantilever support is installed on the basic support platform, and one or more cantilever supports are provided.

[0013] Preferably, the cantilever support comprises: a support column and a support base;

[0014] The support base is installed on the basic support platform, the support column is installed on the support base, one or more groove-shaped support tables are provided on the support column, and the multiple rotating cantilevers on each rotating column are supported by the top of the support column or the support table.

[0015] Preferably, the support module comprises: a basic support platform, a first support column of a first cantilever support unit, a first support base of a first cantilever support unit, a second support column of a second cantilever support unit, and a second support base of a second cantilever support unit;

[0016] The first support base of the first cantilever support unit and the second support base of the second cantilever support unit are installed on the basic support platform, the first support column of the first cantilever support unit is installed on the first support base of the first cantilever support unit, and the second support column of the second cantilever support unit is installed on the second support base of the second cantilever support unit.

[0017] Preferably, the rotating module comprises: a first rotating column, a second rotating column, a third rotating column, a fourth rotating column, a first rotating cantilever, a second rotating cantilever, a third rotating cantilever, a fourth rotating cantilever, a fifth rotating cantilever, a sixth rotating cantilever, a seventh rotating cantilever and an eighth rotating cantilever;

[0018] A first rotating column, a second rotating column, a third rotating column and a fourth rotating column are installed on the side of the basic support platform;

[0019] The first rotating column is connected to a first rotating cantilever and a fifth rotating cantilever which are arranged horizontally, the second rotating column is connected to a second rotating cantilever and a sixth rotating cantilever which are arranged horizontally, the third rotating column is connected to a third rotating cantilever and a seventh rotating cantilever which are arranged horizontally, and the fourth rotating column is connected to a fourth rotating cantilever and an eighth rotating cantilever which are arranged horizontally;

[0020] The first rotating cantilever and the third rotating cantilever are jointly supported by the top of the first supporting column of the first cantilever supporting unit, the fifth rotating cantilever and the seventh rotating cantilever are jointly supported by the supporting table in the middle of the first supporting column of the first cantilever supporting unit, the second rotating cantilever and the fourth rotating cantilever are jointly supported by the top of the second supporting column of the second cantilever supporting unit, and the sixth rotating cantilever and the eighth rotating cantilever are jointly supported by the supporting table in the middle of the second supporting column of the second cantilever supporting unit.

[0021] Preferably, the posture adjustment module comprises: a first posture adjustment unit self-adjusting roller frame, a first posture adjustment unit track moving platform, a second posture adjustment unit self-adjusting roller frame, a second posture adjustment unit track moving platform, a third posture adjustment unit self-adjusting roller frame, a third posture adjustment unit track moving platform, a fourth posture adjustment unit self-adjusting roller frame, a fourth posture adjustment unit track moving platform, a fifth posture adjustment unit self-adjusting roller frame, a fifth posture adjustment unit track moving platform, a sixth posture adjustment unit self-adjusting roller frame, a sixth posture adjustment unit track moving platform, a seventh posture adjustment unit self-adjusting roller frame, a seventh posture adjustment unit track moving platform, an eighth posture adjustment unit self-adjusting roller frame and an eighth posture adjustment unit track moving platform;

[0022] The first attitude adjustment unit track moving platform is installed on the first rotating cantilever, the first attitude adjustment unit self-adjusting roller frame is installed on the first attitude adjustment unit track moving platform, the second attitude adjustment unit track moving platform is installed on the second rotating cantilever, the second attitude adjustment unit self-adjusting roller frame is installed on the second attitude adjustment unit track moving platform, the third attitude adjustment unit track moving platform is installed on the third rotating cantilever, the third attitude adjustment unit self-adjusting roller frame is installed on the third attitude adjustment unit track moving platform, the fourth attitude adjustment unit track moving platform is installed on the fourth rotating cantilever, the fourth attitude adjustment unit self-adjusting roller frame is installed on the fourth attitude adjustment unit track moving platform, The fifth attitude adjustment unit track moving platform is installed on the fifth rotating cantilever, the fifth attitude adjustment unit self-adjusting roller frame is installed on the fifth attitude adjustment unit track moving platform, the sixth attitude adjustment unit track moving platform is installed on the sixth rotating cantilever, the sixth attitude adjustment unit self-adjusting roller frame is installed on the sixth attitude adjustment unit track moving platform, the seventh attitude adjustment unit track moving platform is installed on the seventh rotating cantilever, the seventh attitude adjustment unit self-adjusting roller frame is installed on the seventh attitude adjustment unit track moving platform, the eighth attitude adjustment unit track moving platform is installed on the eighth rotating cantilever, and the eighth attitude adjustment unit self-adjusting roller frame is installed on the eighth attitude adjustment unit track moving platform.

[0023] Preferably, the posture adjustment module further comprises: a laser tracker and a barrel section axis detection system;

[0024] The laser tracker is installed on the support module, and the laser tracker signal is connected to the barrel section axis detection system, and the barrel section axis detection system sends instructions to the posture adjustment module and the rotation module according to the information fed back by the laser tracker;

[0025] The laser tracker detects the surface information of each barrel segment in real time, and the detection information is sent to the barrel segment axis detection system in real time. The barrel segment axis detection system calculates the axis of each barrel segment in real time and visualizes it, and at the same time determines whether the parallelism between the barrel segments meets the specified requirements, and then sends the judgment result to the attitude adjustment control system, which dynamically adjusts the motion instructions of the attitude adjustment mechanism according to the feedback information.

[0026] Preferably, the AGV transfer vehicle is placed at the bottom of the basic support platform.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. This application realizes the posture adjustment of multiple barrel sections through the cooperation of multiple posture adjustment modules and rotation modules;

[0029] 2. This application uses a precise motion actuator and a measurement feedback device in the posture adjustment process, which improves the automation level of the posture adjustment process, minimizes the worker's contact with the workpiece, and reduces the risk factor of the operation process;

[0030] 3. The present application can adapt to the posture adjustment process of a quadruple-mounted cylinder device of any weight and size by scaling the posture adjustment mechanism proportionally. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0032] Figure 1 It is a schematic diagram of the overall structure of the multi-tube segment posture adjustment and transportation device;

[0033] Figure 2 It is a structural schematic diagram of a rotating module and a supporting module;

[0034] As shown in the figure:

[0035]

[0036] DETAILED DESCRIPTION

[0037] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0038] Example 1

[0039] like Figure 1-2 As shown, this embodiment includes: a posture adjustment module 1, a rotation module 2, a support module 3 and an AGV transfer vehicle 4; the rotation module 2 is supported by the support module 3, the posture adjustment module 1 is installed on the rotation module 2 for rotation, and an AGV transfer vehicle 4 is arranged near the support module 3; the posture adjustment module 1 includes: a self-adjusting roller frame and a track moving platform; the track moving platform is installed on the rotation module 2, the self-adjusting roller frame is installed on the track moving platform and moves along the first horizontal direction through the track moving platform, an X-direction moving mechanism is arranged inside the self-adjusting roller frame, and the rollers of the self-adjusting roller frame move along the second horizontal direction through the X-direction moving mechanism. The first horizontal direction is Figure 1 The Y direction, the second horizontal direction is Figure 1X direction. Before performing the posture adjustment work, the left and right rollers on the self-adjusting roller frame are moved to the specified position in advance. When the barrel section unit is hoisted onto the self-adjusting roller frame, the rollers on both sides automatically adjust their positions according to the barrel section diameter. After the automatic adjustment is completed, the rollers on the left and right sides are locked to fix the barrel section. The rotating module 2 includes: a rotating column and a rotating cantilever; the rotating column is a columnar structure that can rotate around the axis and is provided with one or more, each rotating column is provided with a plurality of horizontally placed rotating cantilevers, and each rotating cantilever is provided with a posture adjustment module 1. The supporting module 3 includes: a basic supporting platform 31 and a cantilever support; the cantilever support is installed on the basic supporting platform 31, and the cantilever support is provided with one or more. The cantilever support includes: a supporting column and a supporting base; the supporting base is installed on the basic supporting platform 31, the supporting column is installed on the supporting base, and the supporting column is provided with one or more groove-shaped supporting tables, and the multiple rotating cantilevers on each rotating column are supported by the top of the supporting column or the supporting table. When adjusting the posture, due to the large gravity of the barrel section, the cantilever support can effectively prevent the rotating cantilever on the rotating module 2 from deforming. When the posture adjustment is completed, there is no external heavy load on the rotating cantilever, and the cantilever support can be lifted out by the overhead crane for next use. The posture adjustment module 1 also includes: a laser tracker 19 and a barrel section axis detection system; the laser tracker 19 is installed on the support module 3, which is used to detect the surface characteristics of the barrel section in real time. The barrel section axis detection system is integrated with the posture adjustment control system, which is used to collect the information of the laser tracker 19 in real time and calculate the parallelism of each barrel section axis, and feed back the detection results to the posture adjustment control system for adjusting the posture adjustment execution command. The posture adjustment control system is a system for controlling the posture adjustment module 1 and the rotating module 2. The AGV transfer vehicle 4 is placed at the bottom of the basic support platform 31.

[0040] In one embodiment, the track moving platform and the X-axis moving mechanism move in a manner that a motor drives a slider to move along the guide rail, and the slider is connected to the bottom of the corresponding self-adjusting roller frame or the bottom of the roller.

[0041] In one embodiment, the support module 3 includes: a basic support platform 31, a first cantilever support unit first support column 3201, a first cantilever support unit first support base 3202, a second cantilever support unit second support column 3211 and a second cantilever support unit second support base 3212; the first cantilever support unit first support base 3202 and the second cantilever support unit second support base 3212 are installed on the basic support platform 31, the first cantilever support unit first support column 3201 is installed on the first cantilever support unit first support base 3202, and the second cantilever support unit second support column 3211 is installed on the second cantilever support unit second support base 3212.

[0042] The rotating module 2 includes: a first rotating column 2101, a second rotating column 2102, a third rotating column 2103, a fourth rotating column 2104, a first rotating cantilever 2201, a second rotating cantilever 2202, a third rotating cantilever 2203, a fourth rotating cantilever 2204, a fifth rotating cantilever 2205, a sixth rotating cantilever 2206, a seventh rotating cantilever 2207 and an eighth rotating cantilever 2208; the first rotating column 2101, the second rotating column 2102, the third rotating column 2103 and the fourth rotating column 2104 are installed on the side of the basic support platform 31; the first rotating column 2101 is connected to the first rotating cantilever 2201 and the fifth rotating cantilever 2205 which are arranged horizontally, the second rotating column 2102 is connected to the second rotating cantilever 2202 and the sixth rotating cantilever 2206 which are arranged horizontally, and the third rotating cantilever 2205 is connected to the second rotating column 2102 The rotating column 2103 is connected to the transversely arranged third rotating cantilever 2203 and the seventh rotating cantilever 2207, and the fourth rotating column 2104 is connected to the transversely arranged fourth rotating cantilever 2204 and the eighth rotating cantilever 2208; the first rotating cantilever 2201 and the third rotating cantilever 2203 are jointly supported by the top of the first support column 3201 of the first cantilever support unit, the fifth rotating cantilever 2205 and the seventh rotating cantilever 2207 are jointly supported by the supporting table in the middle of the first support column 3201 of the first cantilever support unit, the second rotating cantilever 2202 and the fourth rotating cantilever 2204 are jointly supported by the top of the second support column 3211 of the second cantilever support unit, and the sixth rotating cantilever 2206 and the eighth rotating cantilever 2208 are jointly supported by the supporting table in the middle of the second support column 3211 of the second cantilever support unit.

[0043] The posture adjustment module 1 includes: a first posture adjustment unit self-adjusting roller frame 1101, a first posture adjustment unit track moving platform 1102, a second posture adjustment unit self-adjusting roller frame 1201, a second posture adjustment unit track moving platform 1202, a third posture adjustment unit self-adjusting roller frame 1301, a third posture adjustment unit track moving platform 1302, a fourth posture adjustment unit self-adjusting roller frame 1401, a fourth posture adjustment unit track moving platform 1402, a fifth posture adjustment unit self-adjusting roller frame 1501, a fifth posture adjustment unit track moving platform 1502, a sixth posture adjustment unit self-adjusting roller frame 1601, a sixth posture adjustment unit track moving platform The first posture adjustment unit track moving platform 1102 is installed on the first rotating cantilever 2201, the first posture adjustment unit self-adjusting roller frame 1101 is installed on the first posture adjustment unit track moving platform 1102, the second posture adjustment unit track moving platform 1202 is installed on the second rotating cantilever 2202, and the second posture adjustment unit self-adjusting roller frame 1201 is installed on the second posture adjustment unit track moving platform 1 202, the third posture adjustment unit track moving platform 1302 is installed on the third rotating cantilever 2203, the third posture adjustment unit self-adjusting roller frame 1301 is installed on the third posture adjustment unit track moving platform 1302, the fourth posture adjustment unit track moving platform 1402 is installed on the fourth rotating cantilever 2204, the fourth posture adjustment unit self-adjusting roller frame 1401 is installed on the fourth posture adjustment unit track moving platform 1402, the fifth posture adjustment unit track moving platform 1502 is installed on the fifth rotating cantilever 2205, and the fifth posture adjustment unit self-adjusting roller frame 1501 is installed on the fifth posture adjustment unit track moving platform 150 2, the sixth posture adjustment unit track moving platform 1602 is installed on the sixth rotating cantilever 2206, the sixth posture adjustment unit self-adjusting roller frame 1601 is installed on the sixth posture adjustment unit track moving platform 1602, the seventh posture adjustment unit track moving platform 1702 is installed on the seventh rotating cantilever 2207, the seventh posture adjustment unit self-adjusting roller frame 1701 is installed on the seventh posture adjustment unit track moving platform 1702, the eighth posture adjustment unit track moving platform 1802 is installed on the eighth rotating cantilever 2208, and the eighth posture adjustment unit self-adjusting roller frame 1801 is installed on the eighth posture adjustment unit track moving platform 1802.

[0044] Working principle:

[0045] The two ends of the barrel section are placed on two posture adjustment modules 1 respectively. The posture adjustment module 1 adjusts the horizontal X-axis position of the barrel section through the X-axis moving mechanism, and adjusts the horizontal Y-axis position of the barrel section through the track moving platform. The rotating column drives the rotating cantilever to rotate, thereby driving the posture adjustment module 1 and the barrel section thereon to rotate, so as to achieve the purpose of adjusting the posture. After the automatic adjustment is completed, the rollers on the left and right sides of the self-adjusting roller frame are locked to fix the barrel section.

[0046] At the same time, this embodiment realizes the posture adjustment of multiple groups of barrel sections through the cooperation of multiple groups of posture adjustment modules 1 and rotation modules 2, and the support module 3 is arranged between two groups of rotating columns and rotating cantilevers for sharing, so as to achieve the purpose of cost saving.

[0047] Example 2

[0048] Example 2 is a preferred example of Example 1.

[0049] like Figure 1-2 As shown, this embodiment includes: an attitude adjustment module 1, a rotation module 2, a support module 3 and an AGV transfer vehicle 4. The attitude adjustment module 1 is designed to adopt eight attitude adjustment units with the same structure that can realize spatial six-axis attitude adjustment; the rotation module 2 is designed to adopt four support units with the same structure to support and drive the attitude adjustment module 1 to move; the support module 3 is designed to adopt a basic support platform 31 and two front and rear cantilever supports, which are used to support the workpiece and the rotating arm respectively; the AGV transfer vehicle 4 is used to transfer the workpiece after the attitude adjustment assembly is completed. The attitude adjustment unit includes: a self-adjusting roller frame, a track moving platform, etc. The self-adjusting roller frame base is internally installed with an X-direction moving mechanism, and the left and right rollers can move freely along the X direction. The track moving platform is located below the self-adjusting roller frame, which can drive the self-adjusting roller frame and a single barrel section to move along the Y direction as a whole. In addition, the attitude adjustment module 1 also includes: a laser tracker 19 and a barrel section axis detection system, which are used to detect in real time whether the axis of the barrel section meets the attitude adjustment parallelism requirements.

[0050] In one embodiment, the posture adjustment units are numbered from first to eighth in sequence, and the rotating cantilevers are numbered from first to eighth in sequence. The first posture adjustment unit self-adjusting roller frame 1101, the first posture adjustment unit track moving platform 1102 and the second posture adjustment unit self-adjusting roller frame 1201, the second posture adjustment unit track moving platform 1202 are respectively installed on the first rotating cantilever 2201 and the second rotating cantilever 2202, and the two cooperate to perform a single barrel section posture adjustment; the third posture adjustment unit self-adjusting roller frame 1301, the third posture adjustment unit track moving platform 1302 and the fourth posture adjustment unit self-adjusting roller frame 1401, the fourth posture adjustment unit track moving platform 1402 are respectively installed on the third rotating cantilever 2203 and the fourth rotating cantilever 2204. On the cantilever 2204, the two cooperate to adjust the posture of a single barrel section; the fifth posture adjustment unit self-adjusting roller frame 1501, the fifth posture adjustment unit track moving platform 1502 and the sixth posture adjustment unit self-adjusting roller frame 1601, the sixth posture adjustment unit track moving platform 1602 are respectively installed on the fifth rotating cantilever 2205 and the sixth rotating cantilever 2206, and the two cooperate to adjust the posture of a single barrel section; the seventh posture adjustment unit self-adjusting roller frame 1701, the seventh posture adjustment unit track moving platform 1702 and the eighth posture adjustment unit self-adjusting roller frame 1801, the eighth posture adjustment unit track moving platform 1802 are respectively installed on the seventh rotating cantilever 2207 and the eighth rotating cantilever 2208, and the two cooperate to adjust the posture of a single barrel section.

[0051] The rotating module 2 includes four rotating units with the same structure, each of which includes a rotating column, a rotating cantilever and other mechanisms to support and drive the posture adjustment module 1 to move. The rotating columns are numbered from first to fourth in sequence, and the rotating cantilever is numbered from first to eighth in sequence. The first rotating cantilever 2201 and the fifth rotating cantilever 2205 are installed on the first rotating column 2101, the second rotating cantilever 2202 and the sixth rotating cantilever 2206 are installed on the second rotating column 2102, the third rotating cantilever 2203 and the seventh rotating cantilever 2207 are installed on the third rotating column 2103, and the fourth rotating cantilever 2204 and the eighth rotating cantilever 2208 are installed on the fourth rotating column 2104.

[0052] The support module 3 includes a basic support platform 31 and a cantilever support, wherein the cantilever support includes a first cantilever support unit and a second cantilever support unit, wherein the first cantilever support unit includes a first support column 3201 of the first cantilever support unit and a first support base 3202 of the first cantilever support unit, and the second cantilever support unit includes a second support column 3211 of the second cantilever support unit and a second support base 3212 of the second cantilever support unit. The upper end of the first cantilever support unit is used to support the first rotating cantilever 2201 and the third rotating cantilever 2203, and the support table near the bottom end is used to support the fifth rotating cantilever 2205 and the seventh rotating cantilever 2207. The upper end of the second cantilever support unit is used to support the second rotating cantilever 2202 and the fourth rotating cantilever 2204, and the support table near the bottom end is used to support the sixth rotating cantilever 2206 and the eighth rotating cantilever 2208.

[0053] The AGV transfer vehicle 4 is parked under the basic support platform 31 . After completing all posture adjustment processes, the barrel segment assembly is transferred to a designated area by the AGV transfer vehicle 4 .

[0054] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0055] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A multi-segment posture adjustment and transportation device, characterized in that: include: A posture adjustment module (1), a rotation module (2), a support module (3) and an AGV transfer vehicle (4); The rotating module (2) is supported by the supporting module (3), the posture adjustment module (1) is mounted on the rotating module (2) for rotation, and an AGV transfer vehicle (4) is arranged near the supporting module (3); The posture adjustment module (1) comprises: a self-adjusting roller frame and a track moving platform; The track moving platform is mounted on the rotating module (2); the self-adjusting roller frame is mounted on the track moving platform and moves along a first horizontal direction via the track moving platform; an X-direction moving mechanism is arranged inside the self-adjusting roller frame, and the rollers of the self-adjusting roller frame move along a second horizontal direction via the X-direction moving mechanism.

2. The multi-segment posture adjustment and transportation device according to claim 1 is characterized in that: The rotating module (2) comprises: a rotating column and a rotating cantilever; The rotating column is a columnar structure that can rotate around an axial direction and is provided with one or more columns. Each rotating column is provided with a plurality of horizontally placed rotating cantilevers, and each rotating cantilever is provided with the posture adjustment module (1).

3. The multi-segment posture adjustment and transportation device according to claim 2 is characterized in that: The support module (3) comprises: a basic support platform (31) and a cantilever support; The cantilever support is installed on the basic support platform (31), and one or more cantilever supports are provided.

4. The multi-segment posture adjustment and transportation device according to claim 3 is characterized in that: The cantilever support comprises: a support column and a support base; The support base is mounted on a basic support platform (31), the support column is mounted on the support base, one or more groove-shaped support surfaces are provided on the support column, and the multiple rotating cantilevers on each rotating column are supported by the top of the support column or the support surface.

5. The multi-drum segment posture adjustment and transportation device according to claim 1 is characterized in that: The support module (3) comprises: a basic support platform (31), a first support column (3201) of a first cantilever support unit, a first support base (3202) of the first cantilever support unit, a second support column (3211) of a second cantilever support unit, and a second support base (3212) of a second cantilever support unit; The first support base (3202) of the first cantilever support unit and the second support base (3212) of the second cantilever support unit are installed on the basic support platform (31), the first support column (3201) of the first cantilever support unit is installed on the first support base (3202) of the first cantilever support unit, and the second support column (3211) of the second cantilever support unit is installed on the second support base (3212) of the second cantilever support unit.

6. The multi-segment posture adjustment and transportation device according to claim 5, characterized in that: The rotating module (2) comprises: a first rotating column (2101), a second rotating column (2102), a third rotating column (2103), a fourth rotating column (2104), a first rotating cantilever (2201), a second rotating cantilever (2202), a third rotating cantilever (2203), a fourth rotating cantilever (2204), a fifth rotating cantilever (2205), a sixth rotating cantilever (2206), a seventh rotating cantilever (2207) and an eighth rotating cantilever (2208); A first rotating column (2101), a second rotating column (2102), a third rotating column (2103) and a fourth rotating column (2104) are installed on the side of the basic support platform (31); The first rotating column (2101) is connected to a first rotating cantilever (2201) and a fifth rotating cantilever (2205) which are arranged horizontally, the second rotating column (2102) is connected to a second rotating cantilever (2202) and a sixth rotating cantilever (2206) which are arranged horizontally, the third rotating column (2103) is connected to a third rotating cantilever (2203) and a seventh rotating cantilever (2207) which are arranged horizontally, and the fourth rotating column (2104) is connected to a fourth rotating cantilever (2204) and an eighth rotating cantilever (2208) which are arranged horizontally; The first rotating cantilever (2201) and the third rotating cantilever (2203) are jointly supported by the top of the first supporting column (3201) of the first cantilever supporting unit, the fifth rotating cantilever (2205) and the seventh rotating cantilever (2207) are jointly supported by the supporting table in the middle of the first supporting column (3201) of the first cantilever supporting unit, the second rotating cantilever (2202) and the fourth rotating cantilever (2204) are jointly supported by the top of the second supporting column (3211) of the second cantilever supporting unit, and the sixth rotating cantilever (2206) and the eighth rotating cantilever (2208) are jointly supported by the supporting table in the middle of the second supporting column (3211) of the second cantilever supporting unit.

7. The multi-tube segment posture adjustment and transportation device according to claim 6 is characterized in that: The posture adjustment module (1) comprises: a first posture adjustment unit self-adjusting roller frame (1101), a first posture adjustment unit track moving platform (1102), a second posture adjustment unit self-adjusting roller frame (1201), a second posture adjustment unit track moving platform (1202), a third posture adjustment unit self-adjusting roller frame (1301), a third posture adjustment unit track moving platform (1302), a fourth posture adjustment unit self-adjusting roller frame (1401), a fourth posture adjustment unit track moving platform (1402), a fifth posture adjustment unit self-adjusting roller frame (1501), a fifth posture adjustment unit track moving platform (1502), a sixth posture adjustment unit self-adjusting roller frame (1601), a sixth posture adjustment unit track moving platform (1602), a seventh posture adjustment unit self-adjusting roller frame (1701), a seventh posture adjustment unit track moving platform (1702), an eighth posture adjustment unit self-adjusting roller frame (1801), and an eighth posture adjustment unit track moving platform (1802); The first posture adjustment unit track moving platform (1102) is mounted on the first rotating cantilever (2201), the first posture adjustment unit self-adjusting roller frame (1101) is mounted on the first posture adjustment unit track moving platform (1102), the second posture adjustment unit track moving platform (1202) is mounted on the second rotating cantilever (2202), the second posture adjustment unit self-adjusting roller frame (1201) is mounted on the second posture adjustment unit track moving platform (1202), the third posture adjustment unit track moving platform (1302) is mounted on the third rotating cantilever (2203), the third posture adjustment unit self-adjusting roller frame (1301) is mounted on the third posture adjustment unit track moving platform (1302), the fourth posture adjustment unit track moving platform (1402) is mounted on the fourth rotating cantilever (2204), and the fourth posture adjustment unit self-adjusting roller frame (1401) is mounted on the fourth posture adjustment unit track moving platform (1402), The fifth posture adjustment unit track moving platform (1502) is installed on the fifth rotating cantilever (2205), the fifth posture adjustment unit self-adjusting roller frame (1501) is installed on the fifth posture adjustment unit track moving platform (1502), the sixth posture adjustment unit track moving platform (1602) is installed on the sixth rotating cantilever (2206), the sixth posture adjustment unit self-adjusting roller frame (1601) is installed on the sixth posture adjustment unit track moving platform (1602), the seventh posture adjustment unit track moving platform (1702) is installed on the seventh rotating cantilever (2207), the seventh posture adjustment unit self-adjusting roller frame (1701) is installed on the seventh posture adjustment unit track moving platform (1702), the eighth posture adjustment unit track moving platform (1802) is installed on the eighth rotating cantilever (2208), and the eighth posture adjustment unit self-adjusting roller frame (1801) is installed on the eighth posture adjustment unit track moving platform (1802).

8. The multi-tube segment posture adjustment and transportation device according to claim 1 is characterized in that: The posture adjustment module (1) further comprises: a laser tracker (19) and a barrel section axis detection system; The laser tracker (19) is installed on the support module (3), and the laser tracker (19) is connected to the barrel section axis detection system through a signal, and the barrel section axis detection system sends instructions to the posture adjustment module (1) and the rotation module (2) based on information fed back by the laser tracker (19).

9. The multi-tube segment posture adjustment and transportation device according to claim 4 is characterized in that: The AGV transfer vehicle (4) is placed at the bottom of the basic support platform (31).

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