Automatic turnover device for cabin section

Abstract

The invention provides an automatic turnover device for a cabin section. The automatic turnover device comprises a turnover elevator, a quick change device and a turnover clamp, the turnover lifting machine comprises a rack, a turnover lifting arm and a rotating platform, and the rack completes Y-direction horizontal movement along a ground guide rail; the overturning lifting arm completes Z-direction lifting motion along the rack, the overturning lifting arm completes X-direction horizontal movement at the fixed height of the rack, and a rotating platform at the working end of the overturning lifting arm completes rotating motion around the X axis; the quick-changing device comprises a main side and a tool side, the main side is mounted on the rotating platform, and the tool side is mounted on the overturning clamp; the overturning clamp is clamped on the cabin section, and the overturning elevator is connected with the cabin section through butt joint of the main side and the tool side of the quick-changing device; y-direction movement of an upper rack of the turnover lifting machine and X-direction movement of a turnover lifting arm implement accurate butt joint of the main side and the tool side of the quick change device, Z-direction movement of the turnover lifting arm implements lifting or placing of a cabin section, and a rotary platform of the turnover lifting machine rotates around the X axis to drive the cabin section to turn over.

Description

Technical Field

[0001] The invention belongs to the technical field of cabin section flipping, and in particular relates to an automatic cabin section flipping device. Background Art

[0002] During the final assembly of launch vehicles, personnel and overhead cranes are important resource bottlenecks. Currently, after each section is transported to the final assembly workshop, it needs to be hoisted onto the bracket using an overhead crane, and the preparations before final assembly are done in an axially vertical state. The overhead crane is then used to flip it to an axially horizontal state, and the cabin section is placed on an ordinary trolley for manual docking. When using an overhead crane, at least 6 operators are required to work together, which exceeds the number of workers required for assembly at each workstation, and there are certain safety hazards. At the same time, the number of overhead cranes in the factory is less than the number of sections at each workstation, and it is very easy for overhead crane resources to be squeezed, causing waiting and affecting product assembly time.

[0003] Therefore, it is necessary to design an automatic cabin flipping device to realize the automatic flipping and smooth placement of each cabin during the final assembly of the launch vehicle, replacing the original manual flipping scene using a hoist, releasing the tight overhead crane resources, reducing the quality risks and manpower waste caused by manual operation, standardizing the assembly process time, and improving production efficiency. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, the inventors have conducted intensive research and provided an automatic cabin flipping device, which enables automatic flipping and smooth mounting of each cabin during the final assembly of the launch vehicle, meets the requirements for attitude adjustment before cabin assembly, replaces the original manual flipping scene using a hoist, releases tight overhead crane resources, reduces the involvement of personnel in the flipping process, improves assembly efficiency and quality stability, and provides technical support for future high-efficiency batch and modular production.

[0005] The technical solution provided by the present invention is as follows:

[0006] In a first aspect, a cabin section automatic flipping device includes a flip hoist, a quick change device and a flip fixture;

[0007] The flip lift includes a frame, a flip lift arm and a rotating platform. The frame is installed on a ground rail and completes horizontal movement in the Y direction along the ground rail; the flip lift arm completes lifting movement in the Z direction along the frame, the flip lift arm completes horizontal movement in the X direction at a fixed height of the frame, and the rotating platform at the working end of the flip lift arm completes rotation around the X axis;

[0008] The quick-change device serves as the interface between the tilting hoist and the tilting fixture, and includes two parts: the main side and the tool side. The main side is installed on the rotating platform of the lifting tilting machine, and the tool side is installed on the tilting fixture. The tilting fixture is clamped on the cabin section, and the tilting hoist is connected to the cabin section by docking the main side and the tool side of the quick-change device.

[0009] The Y-direction movement of the upper frame of the tilting hoist and the X-direction movement of the tilting hoist arm implement the precise docking of the main side and the tool side of the quick-change device, the Z-direction movement of the tilting hoist arm implements the lifting or placement of the cabin, and the rotation of the rotating platform of the tilting hoist around the X-axis drives the cabin to flip.

[0010] In combination with the first aspect, the rotating platform is a flexible placement mechanism, including a mounting plate, a bottom support plate, a locking hook, a cylinder, a pressure plate, an adapter plate and two linear slide rails;

[0011] The mounting plate is installed at the working end of the flip lifting arm; the cylinder is connected to the locking hook by a hinge and then fixedly connected to the mounting plate; the linear guide is installed on the mounting seats on both sides of the mounting plate; one side of the adapter plate is installed on the linear guide, and the other side is installed on the main side of the quick-change device; the bottom support plate is fixed to the mounting plate relative to the locking hook, and the pressure plate is fixed to the adapter plate;

[0012] The bottom support plate supports the adapter plate, and the cylinder drives the locking hook to apply pressure to the pressure plate, so that the adapter plate cannot move relatively along the linear slide rail; the cabin section is connected to the main side of the quick-change device through the tool side of the quick-change device. When the cabin section is flipped into place, the linear slide rail is in the same direction as the Z-axis, and the cylinder drives the hinge to make the locking hook release the adapter plate, allowing the quick-change device to drive the cabin section to slide freely on the linear slide rail, so that the cabin section position can be fine-tuned and the cabin section can be placed smoothly.

[0013] In combination with the first aspect, the flip fixture includes a proximity switch, a contoured arc bracket and a connecting piece; the proximity switch stops the flipping of the flip fixture when the cabin section is flipped into place; the two ends of the connecting piece are fixed with contoured arc brackets, and the length of the connecting piece is adjusted so that the contoured arc brackets are connected to the two ends of the cabin section through bolts.

[0014] In combination with the first aspect, when the connecting piece is clamped on the cylindrical cabin section, the contoured arc brackets at both ends are respectively fixedly connected to the end frames at both ends of the cylindrical cabin section; the tool side of the quick-change device on the flip fixture is arranged at the height center of the cylindrical cabin section.

[0015] In combination with the first aspect, when the connecting piece is clamped on the conical cabin section, the contoured arc brackets at both ends directly connect the lifting hole of the conical cabin section and the end face connecting hole at the bottom of the cabin section; the tool side of the quick-change device on the flip fixture is arranged at the intersection of the cross section where the center of gravity of the conical cabin section is located and the cabin section shell.

[0016] In combination with the first aspect, the automatic cabin flipping device also includes a safety protection mechanism, which is a safety grating installed on the periphery of the flipping area. The light beam emitted by the safety grating encloses the flipping area to protect the workpiece from bumps and impacts from falling tools.

[0017] In the second aspect, a cabin assembly production line includes a subassembly area, a flipping area, a logistics channel area and a final assembly area. The subassembly area is the cabin cache and offline assembly area of ​​the cabin. The flipping area is the automatic flipping area of ​​the cabin. The cabin automatic flipping device described in the first aspect is used to automatically flip the cabin. The logistics channel is a channel for the logistics AGV to carry the cabin from the subassembly area to the flipping area. After the flipping action is completed, it is transferred to the corresponding final assembly station in the final assembly area for cabin docking.

[0018] In combination with the second aspect, after the cabin automatic flipping device in the flipping zone automatically flips the cabin, the cabin is slowly placed on the rolling attitude adjustment mechanism of the mobile platform for attitude adjustment;

[0019] Every two roll attitude adjustment mechanisms are installed on a mobile platform, and each roll attitude adjustment mechanism includes a self-adjusting roller module and a transverse movement component;

[0020] The self-adjusting roller module is installed on the transverse movement assembly, directly supports the cabin section and performs rolling adjustment on the cabin section;

[0021] The lateral movement assembly is installed on the guide rail of the mobile platform to implement X-axis translation, Z-axis lifting, horizontal plane rotation, and vertical plane rotation adjustment for the cabin section;

[0022] The transverse movement assembly moves along the Y-axis direction on the guide rail of the mobile platform to implement the Y-axis translation adjustment of the cabin section.

[0023] In combination with the second aspect, the self-adjusting roller module includes a bracket, a self-adjusting roller frame, a rolling drive motor, a reducer, a synchronous belt, a synchronous pulley and a roller;

[0024] The self-adjusting roller frame is a V-shaped frame, with upper rollers and lower rollers installed at both ends of the V-shaped frame through a rotating shaft. Two sets of self-adjusting roller frames are relatively installed at high positions on both sides of the bracket through the roller frame shaft, and together with the rollers, form a supporting mechanism for the cabin;

[0025] A number of synchronous pulleys are arranged on one side of the bracket, two of which are fixed on two roller frame shafts respectively and rotate synchronously with the roller frame shafts;

[0026] The rolling drive motor drives the roller frame shaft on one side to rotate through the reducer, and the roller frame shaft drives the synchronous pulley on it to rotate. The synchronous pulley on the roller frame shaft on the other side and the roller frame shaft on the other side rotate synchronously through the synchronous belt transmission and the middle synchronous pulley guide; the roller frame shaft is connected to the center of the lower roller on the same side through a synchronous belt, and the synchronous rotation of the roller frame shafts on both sides drives the synchronous rotation of the lower rollers on both sides, thereby implementing the rolling posture adjustment of the supported cabin.

[0027] In combination with the second aspect, the lateral movement assembly includes a translation base plate, a support platform, a guide column, a worm gear lift, a jacking motor, an X-axis moving module, a base plate and a linear guide rail;

[0028] The supporting platform is supported by a self-adjusting roller module, which is installed on two opposite worm gear elevators. Driven by the worm gear elevators, the module performs a lifting motion in the Z-axis direction, thereby implementing the lifting motion of the supporting cabin body.

[0029] The worm gear lift is fixed on the translation base plate, the translation base plate falls on the linear guide rail, the linear guide rail is laid on the base plate, and the translation base plate moves horizontally on the base plate along the linear guide rail through the X-axis moving module, so as to implement the horizontal movement of the supporting cabin body in the X-axis direction;

[0030] The lifting motor is connected to the rigid rotating shaft through a T-shaped commutator, and the two ends of the rigid rotating shaft are rigidly connected to the worm gear elevators on both sides respectively, so that the worm gear elevators on both sides move synchronously.

[0031] Combined with the second aspect, two weighing modules are installed on the supporting platform, and a total of four weighing modules are installed on the two sets of roll attitude adjustment mechanisms of each mobile platform. Signal conversion is performed through a four-input and one-output controller to obtain the cabin mass.

[0032] The large-scale cabin automatic flipping device provided by the present invention has the following beneficial effects:

[0033] (1) The present invention provides an automatic flipping device for large cabins. By cooperating with a flip hoist, a quick-change device and a flip fixture, the device can replace the overhead crane to flip the product during the assembly process of large cabins, thereby releasing the tight overhead crane resources and reducing the waiting time. The flipping process only requires 1-2 operators to assemble the flipping tooling, and the rest of the process is automated. There is no need to coordinate off-line personnel for hoisting, thus reducing personnel occupation and waiting waste.

[0034] (2) The present invention provides a large-scale automatic flipping device, which uses a quick-change device and a lightweight flipping fixture to reduce the difficulty of installing the product flipping tooling, reduce the installation time, and improve the product flipping efficiency;

[0035] (3) The large-scale compartment automatic flipping device provided by the present invention is provided with a safety protection mechanism to reduce the risk of product collision caused by human operation and ensure product quality;

[0036] (4) The cabin assembly production line provided by the present invention is divided into a sub-assembly area, a turnover area, a logistics channel area and a final assembly area, so as to realize smooth operation of final assembly production without waiting; during the turnover process, a logistics AGV is used to carry the cabin for transportation, and after the turnover, the docking mobile platform directly carries the product for final assembly docking, so that the whole process realizes automated flow, which can standardize the operation time and provide data support for the process optimization of the final assembly process;

[0037] (5) The cabin section assembly production line provided by the present invention has a cabin section roll adjustment mechanism integrated with a self-adjusting roller module to achieve large-angle roll of the cabin, replacing the use of ladders for high-altitude operations, reducing safety hazards, facilitating assembly operations, and greatly improving assembly efficiency; it replaces manual adjustment of the cabin section's attitude, accurately adjusts the attitude and docks, and reduces quality risks caused by human operations;

[0038] (6) In the cabin assembly production line provided by the present invention, the cabin roll attitude adjustment mechanism integrates a transverse movement assembly to achieve cabin translation in the X-axis and Z-axis directions; two sets of transverse movement assemblies move in opposite directions along the X-axis direction to achieve cabin rotation (yaw) in the horizontal plane; two sets of transverse movement assemblies move in opposite directions along the Z-axis direction to achieve cabin rotation (pitch) in the vertical plane; the transverse movement assembly is installed on the guide rail of the mobile platform, and moves along the Y-axis direction on the guide rail of the mobile platform to implement cabin translation in the Y-axis direction.

[0039] (7) The cabin assembly production line provided by the present invention has an integrated weighing module in the cabin roll adjustment mechanism, which can free up space occupied by the floor scale, simplify the weighing process, and avoid the time and space occupied by the back and forth transportation of products. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of a tipping hoist;

[0041] Figure 2 This is a schematic diagram of the explosion of the rotating platform;

[0042] Figure 3 This is a schematic diagram of the rotating platform after assembly;

[0043] Figure 4 This is a schematic diagram of the flipping fixture structure designed for the cylindrical cabin section;

[0044] Figure 5 This is a schematic diagram of the flipping fixture structure designed for the conical cabin section;

[0045] Figure 6 A schematic diagram of the installation position of the tool side of the quick change device;

[0046] Figure 7 This is a schematic diagram of the logistics AGV structure;

[0047] Figure 8 It is the layout diagram of the safety protection organization;

[0048] Fig. 9 This is the layout diagram of the cabin assembly production line;

[0049] Fig.10 This is a schematic diagram of the compartment placement in the component installation area;

[0050] Fig.11 This is a schematic diagram of the state of the cabin section in the rollover area before it is rolled over;

[0051] Fig.12 This is a schematic diagram of the state of the cabin section in the rollover area after being rolled over;

[0052] Fig.13 This is the position relationship diagram of the roll attitude adjustment mechanism-mobile platform-cabin section;

[0053] Fig.14 This is the structural composition diagram of the rolling attitude adjustment mechanism;

[0054] Fig.15 It is a schematic diagram of the global structure of the self-adjusting roller module;

[0055] Fig.16 It is a schematic diagram of the global structure of the lateral movement component;

[0056] Fig.17 It is a schematic diagram of the local structure of the rolling attitude adjustment mechanism;

[0057] Fig.18 This is a schematic diagram of the weighing module installation. DETAILED DESCRIPTION

[0058] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0059] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0060] The invention provides a large-scale compartment automatic turning device, comprising: a turning hoist, a quick-change device, a turning fixture, a logistics AGV and a safety protection mechanism.

[0061] like Figure 1 As shown, the flip lift is a three-way moving mechanism in X, Y, and Z directions, including a frame, a flip lift arm, and a rotating platform. The frame is installed on the ground rail and can complete horizontal movement in the Y direction along the ground rail; the flip lift arm can complete the Z-direction lifting movement along the frame, the flip lift arm can complete horizontal movement in the X direction at a fixed height of the frame, and the rotating platform at the working end of the flip lift arm can complete the rotational movement around the X axis. The linear movement adopts the form of servo motor + gear rack + linear guide, or servo motor + ball screw; the rotational movement adopts the form of servo motor + reducer direct connection. Taking the Z-direction lifting movement as an example, the frame is longitudinally installed with a guide rail and a transmission rack, and the guide rail is equipped with a slide plate. The flip lift arm and the servo motor are installed on the slide rail. The servo motor output shaft is fixed with a transmission gear, and the transmission gear and the transmission rack are meshed. Under the drive of the servo motor, the transmission gear moves along the transmission rack to make the flip lift arm move up and down in the Z direction.

[0062] Two sets of tilting hoists are relatively fixed in the tilting area. The two sets of tilting hoists are connected to both sides of the cabin section and perform position adjustment and tilting actions synchronously. According to the Y-direction movement of the upper frame of the tilting hoist and the X-direction movement of the tilting lifting arm, the main side and the tool side of the quick-change device are precisely docked. The Z-direction movement of the tilting lifting arm is used to lift or place the cabin section. The rotation of the rotating platform of the tilting hoist around the X-axis drives the cabin section to flip.

[0063] The quick-change device serves as the interface between the flip lift and the flip fixture, and consists of two parts: the main side and the tool side. The main side is installed on the rotating platform of the lift flip machine, and the tool side is installed on the flip fixture. One main side can correspond to the tool side on multiple flip fixtures.

[0064] like Figure 2 and Figure 3 As shown, the rotating platform is a flexible placement mechanism, including a mounting plate, a bottom support plate, a locking mechanism and two sets of linear guide rails; the mounting plate is installed on the working end of the flip lifting arm, the linear guide rail is installed parallel to the mounting plate surface, the adapter plate is installed on the linear guide rail, the main side of the quick change device is installed on the adapter plate, and the main side of the quick change device can move straight along the linear guide rail.

[0065] The locking mechanism and the bottom support plate are arranged between the two linear slide rails and fixed on the mounting plate. The locking mechanism includes a locking claw and a cylinder. The cylinder is connected to the locking claw by a hinge and is fixedly connected to the mounting plate. The locking claw is used to connect with the pressure plate, and the pressure plate fastens the adapter plate to fix the adapter plate and the main side of the quick-change device on it to the mounting plate. The bottom support is installed relative to the locking mechanism and supports the adapter plate on the opposite side.

[0066] Before the cabin is flipped, the locking mechanism, the bottom support plate and the linear guide are all horizontal; the locking mechanism is locked, and the cylinder drives the locking claw to apply pressure to the pressure plate, and the adapter plate is firmly clamped by the locking mechanism and the bottom support plate, and will not move, so that the cabin can rotate smoothly; when the cabin is flipped 90° (the axis is horizontal), the linear guide is in the same direction as the Z axis, and the bottom support plate is under the adapter plate, the locking mechanism releases the pressure plate (the cylinder drives the hinge to make the locking claw release the pressure plate), the lock between the adapter plate and the linear guide is released, and the flip lifting arm drives the cabin to move downward along the Z axis to the support position of the roll attitude adjustment mechanism. When the flipped cabin is placed on the roll attitude adjustment mechanism supported by the mobile platform, since the cabin still has a slight change in its longitudinal position from contacting the roll attitude adjustment mechanism to stable placement, the sliding of the adapter plate on the linear guide satisfies the cabin position fine-tuning, and the cabin is stably placed. Then the main side and the tool side of the quick change device are separated, and the cabin is transferred to the next station by the mobile platform. That is to say, after the flip lifting arm is in place, the cabin section can be moved via the linear slide rail, so that the cabin section has a certain flexibility when placed, which plays a role in protecting the cabin section.

[0067] like Figure 4 and Figure 5 As shown, the flip fixture is installed on the tool side of the quick change device, including a proximity switch, a contour arc bracket and a connecting piece. The proximity switch stops the flipping of the flip fixture when the cabin section is flipped into place. Contour arc brackets are fixed at both ends of the connecting piece. The length of the connecting piece is adjusted so that the contour arc bracket is connected to the two ends of the cabin section through bolts.

[0068] like Figure 4 As shown, for the cylindrical compartment, the contoured arc brackets at both ends of the connecting piece are respectively fixedly connected to the end frames at both ends of the cylindrical compartment. The tool side of the quick-change device is arranged at the height center of the cylindrical compartment to ensure the stability of the cylindrical compartment flipping.

[0069] like Figure 5 As shown in the figure, for the conical cabin section, the contoured arc brackets at both ends of the connecting piece directly connect the lifting hole of the conical cabin section and the end surface connection hole at the bottom of the nose cone. Figure 6 As shown, the tool side of the quick-change device is arranged at the intersection of the cross section where the center of gravity of the conical cabin section is located and the cabin section shell, so as to ensure the stability of the flipping of the conical cabin section.

[0070] like Figure 7 As shown in the figure, after the cabin section is placed on the cabin section tooling bracket in the assembly area of ​​the production line, it is transported to the flipping area by the logistics AGV. The logistics AGV is mainly composed of a vehicle body, a power module, a lifting mechanism, a control module, an audible and visual alarm module, a tooling docking module, a navigation and positioning module, etc.

[0071] The top of the logistics AGV is connected to the cabin tooling bracket by pin-hole insertion. To prevent the cabin tooling bracket from flipping over when the pin is lifted due to inaccurate position, a laser displacement sensor is used to measure the distance between the pin and the anti-collision block installed on the ground. When the distance is within the required size (the pin is inserted into the hole), the lifted cabin tooling bracket is lowered so that the cabin tooling bracket falls completely on the top of the logistics AGV.

[0072] Considering that the product needs to be transferred before and after flipping, and the logistics AGV has to go in and out repeatedly, a safety protection mechanism is set up in the flipping area, and a safety grating is used for protection. Install columns at the four corners of the flipping area, and install the main body of the safety grating on the side of the installation columns, two by two, to form a four-sided safety grating. If one side of the flipping area is against the wall, a safety grating is installed on the other three sides. Figure 8 .

[0073] The above describes the specific structure of the large cabin automatic flip device. The large cabin automatic flip device is one of the links of the final assembly production line. The overall layout of the final assembly production line is shown in the figure below. Fig. 9 In order to realize the smooth operation of final assembly production without waiting, logistics planning is carried out for the section flipping and transfer. The automatic flipping of the cabin section is mainly composed of four parts, namely: the assembly area, the flipping area, the logistics channel and the final assembly area.

[0074] The main function of the component assembly area is to cache the cabins and assemble the cabins offline. The flipping area is mainly used to realize the automatic flipping of the cabins. The logistics channel is mainly used to realize the logistics AGV carrying the cabins from the component assembly area to the flipping area. After the flipping action is completed, it is transferred to the corresponding assembly station in the final assembly area for cabin docking.

[0075] After the cabin material arrives, it is located in the cabin buffer area of ​​the assembly area. The cabin is supported by the cabin tooling bracket. The buffer area is arranged with positioning cups and vertebrae. The positioning cups and the legs on the cabin tooling bracket jointly support the cabin tooling bracket, so that the cabin tooling bracket is clearly positioned. Place the flip fixture on both sides of the cabin tooling bracket and tighten the adjustment connecting plate, such as Fig.10 shown.

[0076] The logistics AGV arrives at the designated position under the cabin tooling bracket and locates itself through the QR code. After the logistics AGV scans the QR code, the lifting device lifts the cabin tooling bracket to separate it from the positioning cup. The logistics AGV carries the cabin and the cabin tooling bracket to the flipping area, scans the QR code again, and places the cabin tooling bracket in the designated position in the flipping area. Fig.11 shown.

[0077] The tilting hoist adjusts its posture and docks the main side of the quick-change device on the tilting hoist arm with the tool side of the quick-change device. The tilting hoist lifts the cabin section away from the cabin section tooling bracket. After the logistics AGV carries the cabin section tooling bracket away, the tilting hoist flips the cabin section 90°, from an axial vertical state to an axial horizontal state. Fig.12 shown.

[0078] The mobile platform for cabin assembly and docking moves to the designated position in the flipping area and is positioned by scanning the QR code. The flip hoist slowly places the cabin on the rolling attitude adjustment mechanism of the mobile platform, the main side and tool side of the quick-change device are disengaged, and the mobile platform transports the flipped cabin to the final assembly line for assembly.

[0079] The structure of the roll attitude adjustment mechanism is described below.

[0080] like Fig.13 As shown, every two roll attitude adjustment mechanisms are installed on a mobile platform to support the cabin and implement attitude adjustment.

[0081] like Fig.14As shown, the roll attitude adjustment mechanism includes a self-adjusting roller module, a weighing module and a transverse movement assembly; the self-adjusting roller module is installed on the transverse movement assembly, directly supports the cabin section and performs roll attitude adjustment on the cabin section; the transverse movement assembly is installed on the guide rail of the mobile platform, and performs X-axis translation, Z-axis lifting, horizontal rotation, and vertical rotation adjustment on the cabin section; the transverse movement assembly moves along the Y-axis direction on the guide rail of the mobile platform, and performs Y-axis translation attitude adjustment on the cabin section; the weighing module is installed on the transverse movement assembly to weigh the cabin section.

[0082] The roll attitude adjustment mechanism has four degrees of freedom in roll, X-axis, Y-axis and Z-axis directions. The two sets of roll attitude adjustment mechanisms have adjustment functions for a total of six degrees of freedom in roll, X-axis, Y-axis and Z-axis directions, rotation in the horizontal plane and rotation in the vertical plane, which can realize the docking and rolling functions of the cabin sections.

[0083] like Fig.15 As shown, the self-adjusting roller module includes a bracket, a self-adjusting roller frame, a rolling drive motor, a handwheel, a right-angle reducer, a synchronous belt, a synchronous pulley and a roller.

[0084] The self-adjusting roller frame is a V-shaped frame, with upper rollers and lower rollers installed at both ends of the V-shaped frame through a rotating shaft. Two sets of self-adjusting roller frames are relatively installed at high positions on both sides of the bracket through the roller frame shaft, and together with the rollers, form a supporting mechanism for the cabin;

[0085] The bracket is a concave structure, with V-shaped frames installed at the high points on both sides, and the middle concave part accommodates the cabin. Several synchronous pulleys are arranged on one side of the bracket, two of which are fixed on the two roller frame shafts respectively and rotate synchronously with the roller frame shafts;

[0086] The roll drive motor and handwheel are connected to the two input shafts of the right-angle reducer, and the manual drive or electric drive mode can be switched. The output shaft of the right-angle reducer drives the roller frame shaft on one side to rotate, and the roller frame shaft drives the synchronous pulley on it to rotate. The synchronous belt transmission and the middle synchronous pulley guide make the synchronous pulley on the other side rotate synchronously, thereby driving the roller frame shaft on the other side to rotate synchronously; the roller frame shaft is connected to the center of the lower roller on the same side through a synchronous belt, and the synchronous rotation of the roller frame shafts on both sides drives the synchronous rotation of the lower rollers on both sides. The synchronous rotation of the lower roller of the self-adjusting roller module can realize the roll adjustment of the upper supporting cabin.

[0087] Since the outer dimensions of the rocket body may change slightly during the assembly process, the self-adjusting roller module needs to change with the shape of the cabin to ensure that the rolling fits the rocket body throughout the entire process. Two sets of self-adjusting roller frames are relatively installed at high positions on both sides of the bracket through the roller frame shaft. After the lower roller contacts the cabin, the self-adjusting roller frame can rotate around the roller frame shaft to achieve cabin shape adaptation. In the self-adjusting roller module, the synchronous pulley is controlled by the servo motor driving the synchronous belt, and the synchronous pulleys on both sides are synchronously driven by the synchronous belt to achieve synchronous rotation of the roller frame shafts on both sides and the lower rollers on both sides, so as to achieve the rolling adjustment of the cabin body supported on it.

[0088] like Fig.16 and Fig.17 As shown, the transverse movement assembly includes a translation base plate, a support platform, a guide column, a worm gear lift, a lifting motor, an X-axis moving module, a base plate and a linear guide rail.

[0089] The support platform supports a self-adjusting roller module, which is installed on two opposite worm gear elevators. The lifting action is driven by the worm gear elevators to realize the lifting and lowering movement of the cabin supported on it. The worm gear elevator is fixed on the translation base plate, and guide columns are installed on the translation base plates on both sides. The guide columns ensure the lifting direction and prevent lateral overturning. The translation base plate falls on the linear guide rail, which is laid on the base plate. The translation base plate moves horizontally on the base plate along the linear guide rail through the X-axis moving module, realizing the horizontal movement of the cabin supported on it in the X-axis direction.

[0090] The lifting motor is connected to the rigid rotating shaft through a T-shaped commutator, and the two ends of the rigid rotating shaft are rigidly connected to the worm gear elevators on both sides respectively, so that the worm gear elevators on both sides move synchronously.

[0091] Two sets of roll attitude adjustment mechanisms are installed on the mobile platform to support the cabin. Each set of roll attitude adjustment mechanisms has 4 degrees of freedom. The two sets of roll attitude adjustment mechanisms have 6 degrees of freedom adjustment functions, which can realize the docking and rolling functions of the sections. Specifically, the roll attitude adjustment mechanism realizes the axial rolling of the cabin section through the self-adjusting roller module, realizes the translation of the cabin section in the X-axis direction through the X-axis moving module in the transverse movement assembly, realizes the lifting of the cabin section in the Z-axis direction through the turbine worm elevator in the transverse movement assembly, and realizes the translation of the cabin section in the Y-axis direction through the linear guide on the mobile platform; the cabin section rotates in the horizontal plane (yaw) through the reverse movement of the two sets of roll attitude adjustment mechanisms in the X-axis direction; the cabin section rotates in the vertical plane (pitch) through the reverse movement of the two sets of roll attitude adjustment mechanisms in the Z-axis direction.

[0092] like Fig.18As shown, the weighing module adopts a fully sealed structure with strong environmental adaptability. It adopts a rectangular installation form. A weighing module is installed on the supporting platform, including two gravity sensors. Two weighing modules are installed in the two sets of rolling attitude adjustment mechanisms of each mobile platform, with a total of four gravity sensors. The signal conversion is performed through a four-input and one-output controller to calculate the cabin mass.

[0093] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

[0094] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A cabin automatic turning device, characterized in that: It includes a tipping hoist, a quick-change device and a tipping fixture; The flip lift includes a frame, a flip lift arm and a rotating platform. The frame is installed on a ground rail and completes horizontal movement in the Y direction along the ground rail; the flip lift arm completes lifting movement in the Z direction along the frame, the flip lift arm completes horizontal movement in the X direction at a fixed height of the frame, and the rotating platform at the working end of the flip lift arm completes rotation around the X axis; The quick-change device serves as the interface between the tilting hoist and the tilting fixture, and includes two parts: the main side and the tool side. The main side is installed on the rotating platform of the lifting tilting machine, and the tool side is installed on the tilting fixture. The tilting fixture is clamped on the cabin section, and the tilting hoist is connected to the cabin section by docking the main side and the tool side of the quick-change device. The Y-direction movement of the upper frame of the tilting hoist and the X-direction movement of the tilting hoist arm implement the precise docking of the main side and the tool side of the quick-change device, the Z-direction movement of the tilting hoist arm implements the lifting or placement of the cabin, and the rotation of the rotating platform of the tilting hoist around the X-axis drives the cabin to flip.

2. The automatic cabin section turning device according to claim 1 is characterized in that: The rotating platform is a flexible placement mechanism, including a mounting plate, a bottom support plate, a locking hook, a cylinder, a pressure plate, an adapter plate and two linear slide rails; The mounting plate is installed at the working end of the flip lifting arm; the cylinder is connected to the locking hook by a hinge and then fixedly connected to the mounting plate; the linear guide is installed on the mounting seats on both sides of the mounting plate; one side of the adapter plate is installed on the linear guide, and the other side is installed on the main side of the quick-change device; the bottom support plate is fixed to the mounting plate relative to the locking hook, and the pressure plate is fixed to the adapter plate; The bottom support plate supports the adapter plate, and the cylinder drives the locking hook to apply pressure to the pressure plate, so that the adapter plate cannot move relatively along the linear slide rail; the cabin section is connected to the main side of the quick-change device through the tool side of the quick-change device. When the cabin section is flipped into place, the linear slide rail is in the same direction as the Z-axis, and the cylinder drives the hinge to make the locking hook release the adapter plate, allowing the quick-change device to drive the cabin section to slide freely on the linear slide rail, so that the cabin section position can be fine-tuned and the cabin section can be placed smoothly.

3. The automatic cabin section turning device according to claim 1 is characterized in that: The flipping fixture comprises a proximity switch, a contoured arc bracket and a connecting piece; the proximity switch stops the flipping of the flipping fixture when the cabin section is flipped into place; contoured arc brackets are fixed at both ends of the connecting piece, and the length of the connecting piece is adjusted so that the contoured arc brackets are connected to the two ends of the cabin section through bolts.

4. The automatic cabin section turning device according to claim 1 is characterized in that: When the connecting piece is clamped on the cylindrical cabin section, the contoured arc brackets at both ends are respectively fixedly connected to the end frames at both ends of the cylindrical cabin section; the tool side of the quick-change device on the flip fixture is arranged at the height center position of the cylindrical cabin section.

5. The automatic cabin section turning device according to claim 1, characterized in that: When the connecting piece is clamped on the conical cabin section, the contoured arc brackets at both ends directly connect the lifting hole of the conical cabin section and the end surface connecting hole at the bottom of the cabin section; the tool side of the quick-change device on the flip fixture is arranged at the intersection of the cross section where the center of gravity of the conical cabin section is located and the cabin section shell.

6. The automatic cabin section turning device according to claim 1, characterized in that: It also includes a safety protection mechanism, which is a safety grating installed on the periphery of the flipping area to protect the workpiece from being knocked or impacted by the falling of the tool.

7. A cabin assembly production line, characterized in that: It includes a component assembly area, a flipping area, a logistics channel area and a final assembly area. The component assembly area is the cabin cache and the offline assembly area of ​​the cabin. The flipping area is the automatic flipping area of ​​the cabin. The cabin automatic flipping device described in one of claims 1 to 6 is used to automatically flip the cabin. The logistics channel is a channel for the logistics AGV to carry the cabin from the component assembly area to the flipping area. After the flipping action is completed, it is transferred to the corresponding final assembly station in the final assembly area for cabin docking.

8. The cabin section assembly production line according to claim 7, characterized in that: After the cabin automatic flipping device in the flipping zone automatically flips the cabin, the cabin is slowly placed on the rolling attitude adjustment mechanism of the mobile platform for attitude adjustment; Every two roll attitude adjustment mechanisms are installed on a mobile platform, and each roll attitude adjustment mechanism includes a self-adjusting roller module and a transverse movement component; The self-adjusting roller module is installed on the transverse movement assembly, directly supports the cabin section and performs rolling adjustment on the cabin section; The lateral movement assembly is installed on the guide rail of the mobile platform to implement X-axis translation, Z-axis lifting, horizontal plane rotation, and vertical plane rotation adjustment for the cabin section; The transverse movement assembly moves along the Y-axis direction on the guide rail of the mobile platform to implement the Y-axis translation adjustment of the cabin section.

9. The cabin section assembly production line according to claim 8, characterized in that: The self-adjusting roller module comprises a bracket, a self-adjusting roller frame, a rolling drive motor, a reducer, a synchronous belt, a synchronous pulley and a roller; The self-adjusting roller frame is a V-shaped frame, with upper rollers and lower rollers installed at both ends of the V-shaped frame through a rotating shaft. Two sets of self-adjusting roller frames are relatively installed at high positions on both sides of the bracket through the roller frame shaft, and together with the rollers, form a supporting mechanism for the cabin; A number of synchronous pulleys are arranged on one side of the bracket, two of which are fixed on two roller frame shafts respectively and rotate synchronously with the roller frame shafts; The rolling drive motor drives the roller frame shaft on one side to rotate through the reducer, and the roller frame shaft drives the synchronous pulley on it to rotate. The roller frame shaft on the other side and the synchronous pulley on it rotate synchronously through the synchronous belt transmission and the middle synchronous pulley guide; the roller frame shaft is connected to the center of the lower roller on the same side through a synchronous belt, and the synchronous rotation of the roller frame shafts on both sides drives the synchronous rotation of the lower rollers on both sides to implement the rolling posture adjustment of the supported cabin.

10. The cabin section assembly production line according to claim 8, characterized in that: The lateral movement assembly includes a translation base plate, a support platform, a guide column, a worm gear lift, a lifting motor, an X-axis moving module, a base plate and a linear guide rail; The supporting platform is supported by a self-adjusting roller module, which is installed on two opposite worm gear elevators. Driven by the worm gear elevators, the module performs a lifting motion in the Z-axis direction, thereby implementing the lifting motion of the supporting cabin body. The worm gear lift is fixed on the translation base plate, the translation base plate falls on the linear guide rail, the linear guide rail is laid on the base plate, and the translation base plate moves horizontally on the base plate along the linear guide rail through the X-axis moving module, so as to implement the horizontal movement of the supporting cabin body in the X-axis direction; The lifting motor is connected to the rigid rotating shaft through a T-shaped commutator, and the two ends of the rigid rotating shaft are rigidly connected to the worm gear elevators on both sides respectively, so that the worm gear elevators on both sides move synchronously.

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