Cabin section rolling posture adjusting mechanism

Abstract

According to the cabin section rolling and posture adjusting mechanism, the self-adjusting rolling wheel module is integrated, large-angle rolling of the cabin body around the axis in the Y-axis direction is achieved, a ladder climbing operation scene is replaced, potential safety hazards are reduced, general assembly operation is convenient and fast, and the general assembly efficiency is greatly improved; manual posture adjustment is replaced, posture adjustment and butt joint are accurate, and the quality risk caused by manual operation is reduced; the integrated transverse moving assembly is used for achieving translation of the cabin section in the X-axis direction and the Z-axis direction; the two transverse moving assemblies move reversely in the X-axis direction to rotate in the horizontal plane of the cabin section; the two transverse moving assemblies move reversely in the Z-axis direction, and rotation in the vertical plane of the cabin section is achieved; the transverse moving assembly is installed on a guide rail of the moving platform and moves on the guide rail of the moving platform in the Y-axis direction, and horizontal moving posture adjustment of the cabin in the Y-axis direction is carried out. The weighing module is integrated, the occupied space of the weighbridge can be released, the weighing process is simplified, and time and space occupation caused by back-and-forth product transfer is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of cabin attitude adjustment, and in particular relates to a cabin rolling attitude adjustment mechanism. Background Art

[0002] During the final assembly of launch vehicles, it is necessary to perform multiple segment docking operations. Currently, the products are placed on ordinary trolleys, and the operators manually push the two docking segment trolleys to bring them close together, and then manually adjust the product posture to dock the pin holes. This has low assembly efficiency, is labor-intensive, and has certain quality risks. At the same time, the final assembly of launch vehicles requires personnel to enter and exit the cover position for assembly, and to install and lay pipelines and instrument cables on the opposite side of the product. Since the product diameter is usually more than 2 meters, ladders are currently used, requiring operators to frequently climb to work, which poses safety risks and greatly restricts production efficiency. The final assembly process usually requires weighing the products. Currently, a floor scale is used, and the products usually need to be transported to the floor scale location, which is subject to large site restrictions.

[0003] Therefore, it is necessary to design a large-scale cabin roll attitude adjustment mechanism to realize the roll attitude adjustment of each section during the final assembly of the launch vehicle and the direct weighing of the product after assembly, replacing the original working mode of manual roll attitude adjustment of the product by operators, improving the final assembly safety and quality reliability, shortening the final assembly time, and reducing site occupancy and shortening the final assembly process and time through direct weighing of the product assembly process. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, the inventors have conducted intensive research and provided a cabin roll attitude adjustment mechanism to realize the roll attitude adjustment of each section during the final assembly of the launch vehicle, replacing the original working mode in which operators manually roll the product attitude adjustment; by realizing the overall roll of the cabin, replacing the original working scene that requires high-altitude operations, the operator can install and lay the pipelines and instrument cables of the cabin without climbing, thereby improving the safety and quality reliability of the final assembly and shortening the final assembly time; by assembling the weighing module, direct weighing of the product assembly process can be achieved, reducing site occupancy, shortening the final assembly process, and providing technical support for future high-efficiency batch final assembly production.

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

[0006] A cabin section roll attitude adjustment mechanism, wherein two roll attitude adjustment mechanisms are installed on a mobile platform, and each roll attitude adjustment mechanism comprises a self-adjusting roller module and a transverse movement component;

[0007] 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 transverse movement assembly is installed on the guide rail of the mobile platform, and performs X-axis translation, Z-axis lifting, horizontal plane rotation, and vertical plane rotation adjustment on the cabin section; the transverse movement assembly moves along the Y-axis direction on the guide rail of the mobile platform to perform Y-axis translation adjustment on the cabin section.

[0008] In a preferred embodiment, 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;

[0009] The self-adjusting roller frame is a V-shaped frame, and the upper roller and the lower roller are installed at both ends of the V-shaped frame through the rotating shaft. Two sets of self-adjusting roller frames are relatively installed at the high places on both sides of the bracket through the roller frame shafts, and together with the rollers, they 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 the 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, and the roller frame shaft on the other side and the synchronous pulley thereon 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 lower rollers on both sides to rotate synchronously, so as to implement the rolling posture adjustment of the supported cabin.

[0010] In a preferred embodiment, the bracket is a concave structure, with V-shaped frames installed at high positions on both sides and a concave portion in the middle to accommodate the cabin.

[0011] In a preferred embodiment, the self-adjusting roller module also includes a handwheel, the reducer is a right-angle reducer, the rolling drive motor and the handwheel are respectively connected to the two input shafts of the right-angle reducer, and the output shaft of the right-angle reducer drives one side of the roller frame shaft to rotate.

[0012] In a preferred embodiment, 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; the support platform supports a self-adjusting roller module and is installed on two relative worm gear lifts, and performs a lifting action in the Z-axis direction driven by the worm gear lifts to implement the lifting movement of the supporting cabin body thereon; the worm gear lifts are 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 to implement the horizontal movement of the supporting cabin body thereon 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 lifts on both sides, so that the worm gear lifts on both sides move synchronously.

[0013] In a preferred embodiment, guide columns are installed on the translation base plates on both sides of the worm gear lift, and hole structures are set on the support platform corresponding to the guide columns. The hole structures are sleeved on the guide columns, and the worm gear lift drives the support platform to move up and down under the guidance of the guide columns.

[0014] In a preferred embodiment, the two roll attitude adjustment mechanisms on the mobile platform drive the cabin to move in the opposite direction along the X-axis direction, implementing the rotation of the cabin in the horizontal plane; the two roll attitude adjustment mechanisms on the mobile platform drive the cabin to move in the opposite direction along the Z-axis direction, implementing the rotation of the cabin in the vertical plane.

[0015] In a preferred embodiment, the roll attitude adjustment mechanism also includes a weighing module, which is installed on the supporting platform of the transverse movement assembly to weigh the cabin section; a weighing module is installed on the supporting platform, which includes two gravity sensors, and two weighing modules are installed on the two sets of roll attitude adjustment mechanisms of each mobile platform, a total of four gravity sensors, and signal conversion is performed through a four-input and one-output controller to obtain the cabin section mass.

[0016] A cabin section rolling attitude adjustment mechanism provided by the present invention has the following beneficial effects:

[0017] (1) The cabin section rolling attitude adjustment mechanism provided by the present invention integrates a self-adjusting roller module to achieve large-angle rolling 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 attitude adjustment of the cabin, accurately adjusts the attitude and docks, and reduces quality risks caused by manual operations;

[0018] (2) A cabin roll attitude adjustment mechanism provided by the present invention integrates a transverse movement assembly to realize the cabin's X-axis and Z-axis translation; two sets of transverse movement assemblies move in opposite directions along the X-axis direction to realize the cabin's horizontal rotation; two sets of transverse movement assemblies move in opposite directions along the Z-axis direction to realize the cabin's vertical rotation; 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 the cabin's Y-axis translation attitude adjustment;

[0019] (3) The cabin roll adjustment mechanism provided by the present invention integrates a weighing module, which can free up space occupied by a 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

[0020] Figure 1 This is the position relationship diagram of the roll attitude adjustment mechanism-mobile platform-cabin section;

[0021] Figure 2 This is the structural composition diagram of the rolling attitude adjustment mechanism;

[0022] Figure 3It is a schematic diagram of the global structure of the self-adjusting roller module;

[0023] Figure 4 It is a schematic diagram of the global structure of the lateral movement component;

[0024] Figure 5 It is a schematic diagram of the local structure of the rolling attitude adjustment mechanism;

[0025] Figure 6 This is a schematic diagram of the weighing module installation. DETAILED DESCRIPTION

[0026] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0027] 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.

[0028] The present invention provides a cabin section rolling attitude adjustment mechanism, such as Figure 1 As shown, every two roll attitude adjustment mechanisms are installed on a mobile platform to support the cabin and implement attitude adjustment.

[0029] like Figure 2 As 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.

[0030] 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.

[0031] like Figure 3 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.

[0032] 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;

[0033] 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;

[0034] The roll drive motor and handwheel are connected to the two input shafts of the right-angle reducer respectively, 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.

[0035] 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.

[0036] like Figure 4 and Figure 5 As shown, 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.

[0037] 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.

[0038] 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.

[0039] Two sets of roll attitude adjustment mechanisms are installed on the mobile platform to implement the support of the cabin section. 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.

[0040] like Figure 6 As 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, which includes two gravity sensors. Two weighing modules are installed on the two sets of roll attitude adjustment mechanisms of each mobile platform, with a total of four gravity sensors. Signal conversion is performed through a four-input and one-output controller to calculate the mass of the cabin.

[0041] 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.

[0042] 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 roll attitude adjustment mechanism, characterized in that: 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.

2. The cabin section roll attitude adjustment mechanism according to claim 1, 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.

3. The cabin section roll attitude adjustment mechanism according to claim 2, characterized in that: The bracket is a concave structure, with V-shaped frames installed at high positions on both sides and a concave portion in the middle accommodating the cabin body.

4. The cabin section roll attitude adjustment mechanism according to claim 2, characterized in that: The self-adjusting roller module also includes a handwheel, the reducer is a right-angle reducer, the rolling drive motor and the handwheel are respectively connected to two input shafts of the right-angle reducer, and the output shaft of the right-angle reducer drives the roller frame shaft on one side to rotate.

5. The cabin section roll attitude adjustment mechanism according to claim 1, 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.

6. The cabin section rolling attitude adjustment mechanism according to claim 5, characterized in that: Guide columns are installed on the translation bottom plates on both sides of the worm gear lift, and hole structures are arranged on the support platform corresponding to the guide columns. The hole structures are sleeved on the guide columns, and the worm gear lift drives the support platform to move up and down under the guidance of the guide columns.

7. The cabin section rolling attitude adjustment mechanism according to claim 5, characterized in that: The two rolling attitude adjustment mechanisms on the mobile platform drive the cabin to move in the opposite direction along the X-axis direction to implement the rotation of the cabin in the horizontal plane.

8. The cabin section rolling attitude adjustment mechanism according to claim 5, characterized in that: The two rolling attitude adjustment mechanisms on the mobile platform drive the cabin to move in the opposite direction along the Z-axis direction, and implement the rotation of the cabin in the vertical plane.

9. The cabin section rolling attitude adjustment mechanism according to claim 5, characterized in that: The roll attitude adjustment mechanism also includes a weighing module, which is installed on the supporting platform of the transverse movement assembly to weigh the cabin section.

10. The cabin section roll attitude adjustment mechanism according to claim 1, characterized in that: A weighing module is installed on the support platform, which includes two gravity sensors. Two weighing modules are installed on the two sets of rolling attitude adjustment mechanisms of each mobile platform, with a total of four gravity sensors. Signal conversion is performed through a four-input and one-output controller to obtain the cabin mass.

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