Posture adjusting system and posture adjusting method for heavy-load cantilever type materials

Abstract

The invention discloses a posture adjusting system and posture adjusting method for a heavy-load cantilever type material, and solves the problems that the production efficiency is low, the manual labor intensity is high, the manual judgment is inaccurate and the repeated workload is easily increased in the manual posture adjusting process of the existing heavy-load cantilever type material. The tail posture adjusting assembly is arranged at one end of the tail of the barrel, the two middle posture adjusting assemblies are arranged on the outer side of the middle of the barrel, the two rolling assemblies are arranged on the inner side of the middle of the barrel, the head posture adjusting assembly is arranged on the inner side of the head of the barrel, and the visual positioning guiding assembly is arranged at one end of the head of the barrel. And a control system. The controller is adopted to control the motor to adjust the posture of the barrel, so that the rolling position, the translation position and the lifting position of the barrel are all accurate and controllable, and errors occurring in the manual posture adjusting process are reduced; and the visual positioning guide assembly can guide the control system to automatically adjust the posture, so that the production efficiency is improved, and the labor intensity of operators is reduced.

Description

Technical Field

[0001] The invention relates to a posture adjustment device used in a material installation process, and in particular to a posture adjustment system and a posture adjustment method for a heavy-load cantilever material. Background Art

[0002] At present, the posture adjustment of heavy-load cantilever materials during the installation process is mainly completed manually. The posture adjustment amount of the heavy-load cantilever material rolling, translation and lifting is determined by the operator's naked eye, and then the posture is adjusted manually. This posture adjustment method not only has high labor intensity for operators and low production efficiency, but also manual posture adjustment is prone to errors. During the posture adjustment process, the rolling position, translation position and lifting position are not easy to control. Once a change occurs, the posture needs to be readjusted, which increases a lot of workload. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems of low production efficiency, high labor intensity, inaccurate manual judgment and easy increase in repetitive work in the manual posture adjustment process of existing heavy-load cantilever materials, and to provide a posture adjustment system and posture adjustment method for heavy-load cantilever materials.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A posture adjustment system for heavy-load cantilever materials, wherein the heavy-load cantilever material is a cylinder whose tail and middle are supported by a ground bracket and whose head is supported by an arc-shaped support, and the cylinder is assembled in sections; it is characterized by comprising: a rolling bracket arranged circumferentially on the inner side of the middle part of the cylinder, the rolling bracket passing through a window on the outer shell of the cylinder to be connected to the ground bracket, and the outer wall thereof slidingly cooperates with the inner wall of the cylinder; a tail posture adjustment component arranged at one end of the tail of the cylinder, two groups of middle posture adjustment components arranged at the outer side of the middle part of the cylinder, two groups of rolling components arranged at the inner side of the middle part of the cylinder, a head posture adjustment component arranged at the inner side of the head of the cylinder, a visual positioning guide component arranged at one end of the head of the cylinder, and a control system;

[0006] The tail posture adjustment assembly is fixed on the ground bracket, and its action end is rotatably connected to one end of the tail of the cylinder, and is used to adjust the lifting and horizontal movement of the tail of the cylinder in the radial direction;

[0007] The two sets of middle posture adjustment components are arranged on both sides of the cylinder in a radial direction and fixed on the ground bracket. The action ends thereof pass through the windows on the cylinder shell and connect to the two sides of the rolling bracket, respectively, and are used to adjust the middle part of the cylinder to move up and down in the vertical direction and move horizontally in the radial direction;

[0008] The head posture adjustment component is located above the arc-shaped support, and its bottom passes through the window on the outer shell of the cylinder to abut against the inner surface of the arc-shaped support, and its action end is connected between the two front and rear frames in the window of the outer shell of the cylinder, and is used to adjust the lifting and lowering movement of the head of the cylinder in the radial direction;

[0009] The two groups of rolling assemblies are arranged between the rolling bracket and the inner wall of the cylinder, and are respectively close to the two end positions of the rolling bracket, and the action ends thereof are used to drive the cylinder to roll circumferentially;

[0010] The visual positioning guidance component is arranged at one end of the head of the cylinder, and is used to take pictures of the reference target, compare and analyze the actual position of the cylinder with the theoretical position, determine the attitude adjustment displacement and rolling angle of the cylinder through the visual algorithm, and send them to the control system;

[0011] The control system is electrically connected to the tail posture adjustment component, the middle posture adjustment component, the head posture adjustment component, the rolling component and the visual positioning guidance component respectively. After obtaining the information sent by the visual positioning guidance component, the control system controls the tail posture adjustment component, the middle posture adjustment component, the head posture adjustment component and the rolling component to adjust the posture of the cylinder.

[0012] Furthermore, the tail posture adjustment assembly includes a bottom bracket, which is connected to the ground bracket through connecting blocks on both sides; a tail lifting reducer is fixedly connected at the center of the bottom bracket, and the output shafts on both sides of the tail lifting reducer are respectively connected to a tail screw elevator through a tail coupling, and the input shaft is connected to the output shaft of the tail lifting motor; a support beam is arranged above the two tail screw elevators, and the support beam is connected to the output end of the tail screw elevator; a left and right movable base is arranged on the upper surface of the support beam, and the left and right movable base is slidably connected to the support beam; a tail translation nut seat is fixedly connected to one side of the left and right movable base, and the tail translation nut seat is connected to the tail screw; the tail screw is connected to the output shaft of the tail translation reducer installed on the support beam, and the input shaft of the tail translation reducer is connected to the output shaft of the tail translation motor;

[0013] A rolling base is fixedly connected to the upper part of the left-right movable base, and the rolling base is connected to a pad through an unpowered slewing support, and the unpowered slewing support and the pad are rotatably connected; the pad is connected to one end of the tail of the cylinder, so that the cylinder can roll with the movement; the pad is connected to one end of the tail of the cylinder as the action end of the tail posture adjustment component, and is used to adjust the tail of the cylinder to lift and move horizontally in the radial direction;

[0014] The control system is electrically connected to the tail translation motor and the tail lifting motor;

[0015] The tail screw adopts a T-shaped screw with a self-locking function, which can ensure the stability of the cylinder after the posture adjustment is completed.

[0016] Furthermore, each group of the middle posture adjustment components includes a bottom mounting plate support block fixedly connected to the ground bracket, on which a bottom mounting plate is mounted, and a middle screw elevator is mounted on each side of the bottom mounting plate, and the two middle screw elevators are connected to the synchronous shaft through a middle coupling to achieve synchronous lifting; the input shaft of one of the middle screw elevators is connected to the output shaft of the middle lifting reducer, and the middle lifting reducer is mounted on the bottom mounting plate through a middle lifting support, and its input shaft is connected to the output shaft of the middle lifting motor;

[0017] A central connecting plate is arranged above the two central spiral elevators, and a central lifting nut seat is arranged on the central connecting plate, and the central connecting plate is connected to the lead screw nut of the central spiral elevator through the central lifting nut seat; a motor support is fixedly connected to the outer side surface of the central connecting plate, and a central translation reducer is installed on the motor support, and the input shaft of the central translation reducer is connected to the output shaft of the central translation motor, and the output shaft passes through the motor support and is connected to the central lead screw, and the nut of the central lead screw is fixedly connected to the transverse push plate, and the transverse push plate is arranged in an adapter frame below the central connecting plate and is slidably connected to the central connecting plate; two central wear-reducing plates are respectively arranged on the upper and lower surfaces of the transverse push plate, and the central wear-reducing plates are used to reduce the friction force during the sliding process of the transverse push plate; the transverse push plate serves as the active end of the central posture adjustment assembly, and is connected to the rolling bracket through the window on the cylinder shell, and is used to adjust the middle part of the cylinder to lift and lower in the vertical direction and move horizontally in the radial direction;

[0018] The control system is electrically connected to the middle translation motor and the middle lifting motor;

[0019] The middle lead screw adopts a T-shaped lead screw with a self-locking function, which can ensure the stability of the cylinder after the posture adjustment is completed;

[0020] The bottom mounting plate is symmetrically provided with four middle lifting and posture adjustment baffles on both sides of the middle connecting plate to guide the lifting of the middle connecting plate.

[0021] Furthermore, the head posture adjustment component includes a front end support mounting frame, which is a coverless rectangular parallelepiped structure, and its two opposite side surfaces are respectively fixedly connected to the front and rear frames in the window opening of the cylinder shell, and the other two side surfaces are connected to the two side walls of an inverted U-shaped structure, and the bottom plate of the inverted U-shaped structure constitutes the front end support top plate; a front end lifting nut seat is arranged on the front end support top plate, and the bottom of the front end lifting nut seat is connected to the nut of the head spiral elevator; the head spiral elevator is installed on the front end support bottom plate, and the front end support bottom plate is located in the front end support mounting frame, and the side wall thereof is in sliding fit with the front end support mounting frame; the input end of the head spiral elevator is connected to the transition shaft, and the transition shaft is connected to the output shaft of the head lifting reducer; the head lifting reducer is fixedly connected to the front end support bottom plate through a support, and its input shaft is connected to the output shaft of the head lifting motor; a front end support wear-resistant plate is arranged below the front end support bottom plate, and its shape is adapted to the inner surface of the arc support, and abuts against the arc support to reduce the friction between the two when the cylinder is adjusted; the arc support provides a support point for the head posture adjustment component to lift and adjust the cylinder;

[0022] The control system is electrically connected to the head lifting motor;

[0023] The front end support mounting frame is connected to the head of the cylinder as the action end of the head posture adjustment component, and is used to adjust the lifting and lowering movement of the head of the cylinder in the radial direction.

[0024] Furthermore, each group of the rolling components includes a reducer support, which is fixedly connected to the inner wall of the middle part of the cylinder; the reducer support is connected to a rolling reducer, the output shaft of the rolling reducer is connected to the gear, and the input shaft is connected to the output shaft of the rolling motor; the gear is limited by a gear baffle; the rolling bracket is provided with an inner gear ring, and the gear is meshed with the inner gear ring;

[0025] The control system is electrically connected to the two rolling motors respectively;

[0026] The reducer support is connected to the middle inner wall of the cylinder as the action end of the rolling component, and is used to drive the cylinder to roll circumferentially.

[0027] Further, the visual positioning guide assembly includes: a camera mounting seat fixedly connected to one end of the barrel head, a camera is mounted on the camera mounting seat, and the camera lens is located at the center of the camera mounting seat;

[0028] It also includes a camera light source bracket and a light source. The light source is a ring structure and is mounted on a camera mounting seat through the camera light source bracket. The lens is located at the center of the light source. The light source is used to improve the clarity of the camera when taking photos under dark conditions.

[0029] There are four groups of visual positioning guide components, two of which are close to the upper part of the cylinder, and the other two are close to the lower part of the cylinder, and the four groups of visual positioning guide components are distributed at the four corners of an isosceles trapezoid on the radial section of one end of the cylinder head, and the length of the upper base of the isosceles trapezoid is greater than the length of the lower base;

[0030] The control system is electrically connected to the four cameras respectively.

[0031] Furthermore, four corners of the lower surface of the left-right movable base are provided with linear slides, and the linear slides are slidably connected to the upper surface of the joist to achieve a sliding connection between the left-right movable base and the joist;

[0032] Vertically downward plate-like protrusions are arranged on both sides of the lower surface of the support beam, and a tail lifting guide groove adapted to the plate-like protrusions is arranged on the bottom bracket. The plate-like protrusions are clamped in the tail lifting guide grooves and are slidably connected to the inner surface thereof to guide the lifting and lowering of the tail of the cylinder.

[0033] Further, the head posture adjustment assembly also includes a spring mechanism, which includes a spring mounting stud fixed on the front end support mounting bottom plate, a spring limiting seat fixed on the lower surface of the front end support top plate by a short head shoulder bolt, and a compression spring sleeved on the spring mounting stud; the compression spring is limited by the spring limiting seat between the front end support mounting bottom plate and the front end support top plate;

[0034] The spring mechanism is provided with two groups, which are installed on both sides of the front lifting nut seat in a pre-compression installation manner to reduce the power required when the cylinder head is lifted or lowered.

[0035] Furthermore, a wear-reducing plate is provided between the side wall of the front end support top plate and the front end support bottom plate on which the head spiral elevator is installed, and the wear-reducing plate is used to reduce the friction generated when the cylinder head rises and falls.

[0036] At the same time, the present invention also provides a posture adjustment method for heavy-load cantilever materials, which is special in that the posture adjustment system based on the heavy-load cantilever materials includes the following steps:

[0037] S1, start the control system and prepare for posture adjustment;

[0038] S2, the visual positioning guidance component takes a photo of the reference target, compares and analyzes the actual position of the cylinder with the theoretical position, and determines whether the actual position is consistent with the theoretical position; if so, execute S6; if not, execute S3;

[0039] S3, the visual positioning guidance component obtains the posture adjustment information required for the cylinder to reach the theoretical position through the visual algorithm, and informs the control system; the posture adjustment information includes the translation, lifting, rolling, pitching and yaw of the cylinder;

[0040] S4, the control system obtains the posture adjustment information sent by the visual positioning guidance component, and controls the tail posture adjustment component, or / and the middle posture adjustment component, or / and the head posture adjustment component, or / and the rolling component to adjust the posture according to the posture adjustment information;

[0041] S5, after the posture adjustment is completed, the visual positioning guidance component takes a photo of the reference target again, and compares and analyzes the actual position of the cylinder with the theoretical position to determine whether the actual position is consistent with the theoretical position; if so, execute S6; if not, return to S3;

[0042] S6, posture adjustment is completed and the control system is turned off.

[0043] Beneficial effects of the present invention:

[0044] 1. A posture adjustment system and posture adjustment method for heavy-load cantilever materials of the present invention adopts a controller to control a motor to adjust the posture of a cylinder, so that the rolling position, translation position and lifting position of the cylinder are accurately controllable, reducing the error occurring during manual posture adjustment.

[0045] 2. The posture adjustment system and posture adjustment method of a heavy-load cantilever material of the present invention can guide the control system to automatically adjust the posture by a visual positioning guidance component, thereby improving production efficiency, reducing the labor intensity of operators, and reducing repetitive work.

[0046] 3. The posture adjustment system and posture adjustment method for heavy-load cantilever materials of the present invention adopts a non-powered rotary support, which can make the cylinder body follow-up rolling more flexibly and smoothly without jamming.

[0047] 4. The T-type lead screw used in the posture adjustment system and posture adjustment method for heavy-load cantilever materials of the present invention has a self-locking function, which can ensure the stability of the cylinder after the adjustment is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the ground bracket structure for heavy-load cantilever materials;

[0049] Figure 2 It is a schematic diagram of the arc support structure for heavy-load cantilever materials;

[0050] Figure 3 It is a schematic diagram of the structure of the heavy-load cantilever material with windows in the middle and head;

[0051] Figure 4 It is a three-dimensional structural schematic diagram of an embodiment of a posture adjustment system and posture adjustment method for a heavy-load cantilever material of the present invention installed on a heavy-load cantilever material;

[0052] Figure 5 is a schematic diagram of the structure of a rolling bracket in an embodiment of the present invention;

[0053] Figure 6 is a schematic diagram of a three-dimensional structure of an embodiment of the present invention installed on a heavy-load cantilever material and a ground bracket;

[0054] Figure 7 It is a partial structural schematic diagram of the head posture adjustment assembly installed in the heavy-load cantilever material head window in an embodiment of the present invention;

[0055] Figure 8 is a schematic structural diagram of a tail posture adjustment assembly in an embodiment of the present invention;

[0056] Fig. 9 is a top view of the middle posture adjustment assembly in an embodiment of the present invention;

[0057] Fig.10 for Fig. 9 AA section view;

[0058] Fig.11 is a schematic diagram of the structure of a head posture adjustment component in an embodiment of the present invention;

[0059] Fig.12 is a schematic structural diagram of a rolling assembly in an embodiment of the present invention;

[0060] Fig.13 It is a structural schematic diagram of the visual positioning guidance component in an embodiment of the present invention.

[0061] Figure Number:

[0062] 1- cylinder, 2- tail attitude adjustment assembly, 211- unpowered slewing support, 212- rolling base, 213- pad, 221- tail translation motor, 222- tail translation reducer, 223- tail lead screw, 225- tail translation nut seat, 226- left and right moving base, 227- linear slide, 231- tail lifting motor, 232- tail lifting reducer, 233- tail coupling, 234- tail screw lift, 235- tail lifting Guide groove, 24-bottom bracket, 25-support beam, 26-connecting block, 3-middle posture adjustment assembly, 311-middle translation motor, 312-middle translation reducer, 314-middle lead screw, 315-motor support, 316-middle wear-reducing plate, 321-middle lifting motor, 322-middle lifting reducer, 323-middle screw lift, 324-middle coupling, 325-synchronous shaft, 326-middle lifting support, 327-middle lifting nut seat , 328-middle lifting and posture adjustment baffle, 33-middle connecting plate, 34-transverse push plate, 35-bottom mounting plate, 36-bottom mounting plate support block, 4-head posture adjustment assembly, 411-head lifting motor, 412-head lifting reducer, 413-support, 414-transition shaft, 415-front lifting nut seat, 416-wear reduction plate, 417-head spiral lift, 42-spring mechanism, 421-spring mounting stud, 422-compression spring, 423 -Spring limit seat, 424-short head shoulder bolt, 43-front end support mounting bracket, 44-front end support top plate, 45-front end support bottom plate, 46-front end support wear-resistant plate, 5-rolling assembly, 51-rolling motor, 52-rolling reducer, 53-reducer support, 54-gear, 55-inner ring gear, 56-gear baffle, 6-visual positioning guide assembly, 61-camera mounting seat, 62-camera light source bracket, 63-camera, 64-lens, 65-light source. DETAILED DESCRIPTION

[0063] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] like Figure 1-Figure 5 As shown, the heavy-load cantilever material is supported by a ground bracket at its tail and middle, and an arc-shaped support supports the cylinder 1 at its head, and the cylinder 1 is assembled in sections; Figure 6-Figure 7As shown, an embodiment of the present invention provides a posture adjustment system for heavy-load cantilever materials, including a rolling bracket provided on the lower half of the inner middle part of a cylinder 1 along the circumferential direction, the rolling bracket passing through the window on the outer shell of the cylinder 1 and connected to the ground bracket, and the outer wall thereof slidingly cooperates with the inner wall of the cylinder 1; a tail posture adjustment component 2 arranged at one end of the tail of the cylinder 1, two groups of middle posture adjustment components 3 arranged on the outer side of the middle part of the cylinder 1, two groups of rolling components 5 arranged on the inner side of the middle part of the cylinder 1, a head posture adjustment component 4 arranged on the inner side of the head of the cylinder 1, a visual positioning guide component 6 arranged at one end of the head of the cylinder 1, and a control system;

[0065] The tail posture adjustment component 2 is fixed on the ground bracket, and its action end is rotatably connected to one end of the tail of the cylinder 1, and is used to adjust the tail of the cylinder 1 to move up and down and horizontally in the radial direction;

[0066] Two sets of middle posture adjustment components 3 are arranged on both sides of the cylinder body in a radial direction and fixed on the ground bracket. The action ends thereof pass through the openings on the outer shell of the cylinder body 1 and connect to both sides of the rolling bracket, and are used to adjust the middle part of the cylinder body 1 to move up and down in the vertical direction and move horizontally in the radial direction respectively.

[0067] The head posture adjustment component 4 is located above the arc support, and its bottom passes through the window on the outer shell of the cylinder 1 to abut against the inner surface of the arc support, and its action end is connected between the two front and rear frames in the window of the outer shell of the cylinder 1, and is used to adjust the head of the cylinder 1 to move up and down in the radial direction;

[0068] Two sets of rolling components 5 are arranged between the rolling bracket and the inner wall of the cylinder 1, and are used to drive the cylinder 1 to roll circumferentially;

[0069] The visual positioning guide component 6 is arranged at one end of the head of the cylinder 1, and is used to take pictures of the reference target, compare and analyze the actual position of the cylinder 1 with the theoretical position, determine the attitude adjustment displacement and rolling angle of the cylinder 1 through the visual algorithm, and send them to the control system;

[0070] The control system is electrically connected to the tail posture adjustment component 2, the middle posture adjustment component 3, the head posture adjustment component 4, the roll component 5 and the visual positioning guidance component 6 respectively. After obtaining the information sent by the visual positioning guidance component 6, the tail posture adjustment component 2, the middle posture adjustment component 3, the head posture adjustment component 4 and the roll component 5 are controlled to adjust the posture of the cylinder 1.

[0071] Reference Figure 8The tail posture adjustment assembly 2 includes a bottom bracket 24, which is connected to the ground bracket through connecting blocks 26 on both sides; a tail lifting reducer 232 is fixedly connected at the center of the bottom bracket 24, and the output shafts on both sides of the tail lifting reducer 232 are respectively connected to a tail screw elevator 234 through a tail coupling 233, and the input shaft is connected to the output shaft of the tail lifting motor 231; a support beam 25 is arranged above the tail screw elevator 234, and the support beam 25 is connected to the nut of the tail screw elevator 234; the upper surface of the support beam 25 is provided with a left and right movable base 226, the left-right movable base 226 is slidably connected to the support beam 25; a tail translation nut seat 225 is fixedly connected to one side of the left-right movable base 226, and the tail translation nut seat 225 is connected to the tail lead screw 223, and the tail lead screw 223 adopts a T-shaped lead screw, which has a self-locking function and can ensure the stability of the cylinder 1 after the posture adjustment is completed; the tail lead screw 223 is connected to the output shaft of the tail translation reducer 222, and the input shaft of the tail translation reducer 222 is connected to the output shaft of the tail translation motor 221; the control system is electrically connected to the tail translation motor 221 and the tail lifting motor 231;

[0072] A rolling base 212 is fixedly connected to the upper side of the left-right movable base 226, and the rolling base 212 is connected to the pad 213 through the unpowered slewing support 211, and the unpowered slewing support 211 and the pad 213 are rotatably connected; the pad 213 is connected to one end of the tail of the cylinder 1, so that the cylinder 1 can roll with the movement; the pad 213 is connected to one end of the tail of the cylinder 1 as the action end of the tail posture adjustment component 2, and is used to adjust the tail of the cylinder 1 to move up and down and horizontally in the radial direction;

[0073] Linear slides 227 are provided at four corners of the lower surface of the left-right movable base 226, and the linear slides 227 are slidably connected to the upper surface of the support beam 25; the linear slides 227 can be made of a material with a small friction coefficient to reduce the friction force during the left-right movement of the left-right movable base 226;

[0074] Vertically downward plate-like protrusions are arranged on both sides of the lower surface of the support beam 25, and a tail lifting guide groove 235 adapted to the plate-like protrusions is arranged on the bottom bracket 24. The plate-like protrusions are clamped in the tail lifting guide groove 235 and are slidably connected to the inner surface thereof, so as to guide the lifting and lowering of the tail of the cylinder 1 and improve the lifting and posture adjustment accuracy.

[0075] Reference Figure 9-10Each set of middle posture adjustment components 3 includes a bottom mounting plate support block 36 fixedly connected to a ground bracket, on which a bottom mounting plate 35 is mounted, and a middle screw elevator 323 is mounted on both sides of the bottom mounting plate 35, and the two middle screw elevators 323 are connected to a synchronous shaft 325 through a middle coupling 324 to achieve synchronous lifting; the input shaft of one of the middle screw elevators 323 passes through a middle lifting support 326 and is connected to the output shaft of a middle lifting reducer 322, and the input shaft of the middle lifting reducer 322 is connected to the output shaft of a middle lifting motor 321;

[0076] A central connecting plate 33 is arranged above the central spiral elevator 323, and a central lifting nut seat 327 is arranged on the central connecting plate 33. The central connecting plate 33 is connected to the lead screw nut of the central spiral elevator 323 through the central lifting nut seat 327; a motor support 315 is fixedly connected to the outer side surface at the center of the central connecting plate 33, and a central translation reducer 312 is installed on the motor support 315. The input shaft of the central translation reducer 312 is connected to the output shaft of the central translation motor 311. The output shaft passes through the motor support 315 and is connected to the central lead screw 314 inside it. The central lead screw 314 adopts a T-shaped lead screw and has a self-locking function, which can ensure the stability of the cylinder 1 after the posture adjustment is completed. The nut of the middle lead screw 314 is fixedly connected to the transverse push plate 34, and the transverse push plate 34 is arranged in the adapter frame below the middle connecting plate 33 and is slidably connected to the middle connecting plate 33; the upper and lower surfaces of the transverse push plate 34 are respectively provided with two middle wear-reducing plates 316, and the middle wear-reducing plates 316 can be made of materials with a small friction coefficient to reduce the friction force during the sliding process of the transverse push plate 34; the transverse push plate 34 serves as the active end of the middle posture adjustment component 3, and is connected to the rolling bracket through the window on the outer shell of the cylinder 1, and is used to adjust the middle part of the cylinder 1 to lift and lower in the vertical direction and move horizontally in the radial direction; the control system is electrically connected to the middle translation motor 311 and the middle lifting motor 321;

[0077] Four middle lifting and posture adjustment baffles 328 are symmetrically arranged on both sides of the middle connecting plate 33 on the bottom mounting plate 35 to guide the lifting and lowering of the middle connecting plate 33 to ensure accurate lifting and posture adjustment of the middle part of the cylinder 1.

[0078] Reference Fig.11The head posture adjustment component 4 includes a front end support mounting frame 43, which is a coverless rectangular parallelepiped structure, and its two opposite side surfaces are respectively fixedly connected to the front and rear frames in the window of the shell of the cylinder 1, and the other two side surfaces are connected to a front end support top plate 44 with an inverted U-shaped structure; a front end lifting nut seat 415 is provided at the center of the upper part of the front end support top plate 44, and the lower part of the front end lifting nut seat 415 is connected to the nut of the head spiral elevator 417; the head spiral elevator 417 is located in the front end support mounting frame 43, fixedly connected to the front end support bottom plate 45, and its input end is connected to the transition shaft 414, and the transition shaft 414 passes through the support 413 to connect the output shaft of the head lifting reducer 412; the support 413 is fixedly connected to the front end support bottom plate 45, and the head lifting reducer 412 is installed on the support 413, and its input shaft is connected to the output shaft of the head lifting motor 411; the control system is electrically connected to the head lifting motor 411;

[0079] A front end support wear-resistant plate 46 is fixedly connected below the front end support bottom plate 45, and its shape is adapted to the inner surface of the arc support and abuts against the arc support to reduce the friction force when the cylinder 1 rolls; the arc support provides a support point for the head posture adjustment component 4 to adjust the cylinder 1 in lifting and lowering.

[0080] A wear-reducing plate 416 is provided between the side plate of the front end support top plate 44 and the front end support bottom plate 45. The wear-reducing plate 416 is made of a material with a small friction coefficient to reduce the friction force generated when the head of the cylinder 1 rises and falls;

[0081] The front end support mounting frame 43 is connected to the head of the cylinder 1 as the action end of the head posture adjustment component 4, and is used to adjust the lifting and lowering movement of the head of the cylinder 1 in the radial direction;

[0082] The head posture adjustment assembly 4 also includes a spring mechanism 42, which includes a spring mounting stud 421 fixed on the front end support mounting bottom plate 45, a spring limiting seat 423 fixed on the lower surface of the front end support top plate 44 by a short head shoulder bolt 424, and a compression spring 422 sleeved on the spring mounting stud 421; the compression spring 422 is limited by the spring limiting seat 423 between the front end support mounting bottom plate 45 and the front end support top plate 44;

[0083] Two groups of spring mechanisms 42 are provided, which are installed on both sides of the front lifting nut seat 415 in a pre-compression installation manner, so as to reduce the power required for the head of the cylinder 1 to be lifted or lowered.

[0084] Reference Fig.12Each rolling assembly 5 includes a reducer support 53, which is fixedly connected to the middle inner wall of the cylinder 1; a rolling reducer 52 is connected to the reducer support 53, and the output shaft of the rolling reducer 52 is connected to the gear 54, and the input shaft is connected to the output shaft of the rolling motor 51; the gear 54 is limited by the gear baffle 56 and meshed with the inner gear ring 55 on the rolling bracket; the reducer support 53 is connected to the middle inner wall of the cylinder 1 as the active end of the rolling assembly 5, and is used to drive the cylinder 1 to roll circumferentially; the control system is electrically connected to the two rolling motors 51 respectively.

[0085] Reference Fig.13 The visual positioning guide assembly 6 includes: a camera mounting seat 61 fixedly connected to one end of the head of the barrel 1, a camera 63 is mounted on the camera mounting seat 61, and a lens 64 of the camera 63 is located at the center of the camera mounting seat 61;

[0086] The camera also includes a light source bracket 62 and a light source 65. The light source 65 is an annular structure and is mounted on the camera mounting seat 61 through the camera light source bracket 62. The lens 64 is located at the center of the light source 65. The light source 65 can improve the clarity of the camera 63 when taking photos under poor light conditions.

[0087] There are four groups of visual positioning guide components 6, two of which are close to the upper part of the cylinder 1, and the other two are close to the lower part of the cylinder 1. The four groups of visual positioning guide components 6 are distributed at the four corners of an isosceles trapezoid on the radial section at one end of the head of the cylinder 1, and the length of the upper base of the isosceles trapezoid is greater than the length of the lower base; the control system is electrically connected to the four cameras 63 respectively.

[0088] The present invention also provides a posture adjustment method for heavy-load cantilever materials, based on the above-mentioned posture adjustment system for heavy-load cantilever materials, comprising the following steps:

[0089] S1, start the control system and prepare for posture adjustment;

[0090] S2, the visual positioning guidance component takes a photo of the reference target, compares and analyzes the actual position of the cylinder with the theoretical position, and determines whether the actual position is consistent with the theoretical position; if so, execute S6; if not, execute S3;

[0091] S3, the visual positioning guidance component obtains the attitude adjustment information required for the cylinder to reach the theoretical position through the visual algorithm and informs the control system; the attitude adjustment information includes the translation, lifting, rolling, pitching and yaw of the cylinder;

[0092] S4, the control system obtains the posture adjustment information sent by the visual positioning guidance component, and controls the tail posture adjustment component, or / and the middle posture adjustment component, or / and the head posture adjustment component, or / and the rolling component to adjust the posture according to the posture adjustment information;

[0093] S5, after the posture adjustment is completed, the visual positioning guidance component takes a photo of the reference target again, and compares and analyzes the actual position of the cylinder with the theoretical position to determine whether the actual position is consistent with the theoretical position; if so, execute S6; if not, return to S3;

[0094] S6, posture adjustment is completed and the control system is turned off.

Claims

1. A posture adjustment system for a heavy-load cantilever material, wherein the heavy-load cantilever material is a cylinder (1) whose tail and middle parts are supported by a ground bracket and whose head is supported by an arc-shaped support, and the cylinder (1) is assembled in sections; characterized in that: include: A rolling bracket is arranged on the inner side of the middle of the cylinder (1) along the circumferential direction, the rolling bracket passes through the window on the outer shell of the cylinder (1) and is connected to the ground bracket, and the outer wall thereof is slidably matched with the inner wall of the cylinder (1); a tail posture adjustment component (2) is arranged at one end of the tail of the cylinder (1), two groups of middle posture adjustment components (3) are arranged on the outer side of the middle of the cylinder (1), two groups of rolling components (5) are arranged on the inner side of the middle of the cylinder (1), a head posture adjustment component (4) is arranged on the inner side of the head of the cylinder (1), a visual positioning guide component (6) is arranged at one end of the head of the cylinder (1), and a control system; The tail posture adjustment component (2) is fixed on a ground bracket, and its action end is rotatably connected to one end of the tail of the cylinder (1), and is used to adjust the tail of the cylinder (1) to move up and down and horizontally in the radial direction; Two groups of the middle posture adjustment components (3) are arranged on both sides of the cylinder in a radial direction and fixed on a ground bracket, and their action ends respectively pass through the windows on the outer shell of the cylinder (1) to connect to the two sides of the rolling bracket, and are respectively used to adjust the middle part of the cylinder (1) to move up and down in the vertical direction and move horizontally in the radial direction; The head posture adjustment component (4) is located above the arc-shaped support, and its bottom passes through the window on the outer shell of the cylinder (1) to abut against the inner surface of the arc-shaped support, and its action end is connected between two front and rear frames in the window of the outer shell of the cylinder (1) to adjust the head of the cylinder (1) to move up and down in the radial direction; The two groups of rolling assemblies (5) are arranged between the rolling bracket and the inner wall of the cylinder (1), and are respectively close to the two end positions of the rolling bracket, and the action ends thereof are used to drive the cylinder (1) to roll circumferentially; The visual positioning guide component (6) is arranged at one end of the head of the cylinder (1) and is used to take a picture of the reference target, compare and analyze the actual position of the cylinder (1) with the theoretical position, determine the attitude adjustment displacement and rolling angle of the cylinder (1) through a visual algorithm, and send them to the control system; The control system is electrically connected to the tail posture adjustment component (2), the middle posture adjustment component (3), the head posture adjustment component (4), the rolling component (5) and the visual positioning guidance component (6) respectively, and after obtaining information sent by the visual positioning guidance component (6), controls the tail posture adjustment component (2), the middle posture adjustment component (3), the head posture adjustment component (4) and the rolling component (5) to adjust the posture of the cylinder (1).

2. A posture adjustment system for heavy-load cantilever materials according to claim 1, characterized in that: The tail posture adjustment assembly (2) comprises a bottom bracket (24), the bottom bracket (24) being connected to a ground bracket via connecting blocks (26) on both sides; a tail lifting reducer (232) being fixedly connected at the center of the bottom bracket (24), the output shafts on both sides of the tail lifting reducer (232) being respectively connected to a tail screw elevator (234) via a tail coupling (233), and the input shaft being connected to the output shaft of the tail lifting motor (231); a supporting beam (25) being arranged above the two tail screw elevators (234), the supporting beam (25) being connected to the tail screw elevators (234) and the supporting beam (25) being connected to the tail screw elevators (234). The output end of the rotary lift (234) is provided with a left-right movable base (226) on the upper surface of the support beam (25), and the left-right movable base (226) is slidably connected to the support beam (25); a tail translation nut seat (225) is fixedly connected to one side of the left-right movable base (226), and the tail translation nut seat (225) is connected to the tail screw (223); the tail screw (223) is connected to the output shaft of the tail translation reducer (222) installed on the support beam (25), and the input shaft of the tail translation reducer (222) is connected to the output shaft of the tail translation motor (221); A rolling base (212) is fixedly connected above the left-right movable base (226); the rolling base (212) is connected to a pad (213) via an unpowered slewing support (211); the unpowered slewing support (211) and the pad (213) are rotatably connected; the pad (213) is connected to one end of the tail of the cylinder (1) so that the cylinder (1) can roll with the movement; the pad (213) is connected to one end of the tail of the cylinder (1) as the action end of the tail posture adjustment component (2) and is used to adjust the tail of the cylinder (1) to move up and down and horizontally in the radial direction; The control system is electrically connected to the tail translation motor (221) and the tail lifting motor (231); The tail lead screw (223) is a T-shaped lead screw with a self-locking function, and can ensure the stability of the cylinder (1) after the posture adjustment is completed.

3. A posture adjustment system for heavy-load cantilever materials according to claim 1, characterized in that: Each group of the middle posture adjustment components (3) comprises a bottom mounting plate support block (36) fixedly connected to a ground bracket, on which a bottom mounting plate (35) is mounted, and a middle screw elevator (323) is mounted on both sides of the bottom mounting plate (35), and the two middle screw elevators (323) are connected to a synchronous shaft (325) via a middle coupling (324) to achieve synchronous lifting; the input shaft of one of the middle screw elevators (323) is connected to the output shaft of a middle lifting reducer (322), and the middle lifting reducer (322) is mounted on the bottom mounting plate (35) via a middle lifting support (326), and its input shaft is connected to the output shaft of a middle lifting motor (321); A central connecting plate (33) is arranged above the two central spiral elevators (323), a central lifting nut seat (327) is arranged on the central connecting plate (33), and the central connecting plate (33) is connected to the lead screw nut of the central spiral elevator (323) through the central lifting nut seat (327); the outer side surface of the central connecting plate (33) is fixedly connected to a motor support (315), a central translation reducer (312) is installed on the motor support (315), the input shaft of the central translation reducer (312) is connected to the output shaft of the central translation motor (311), and the output shaft passes through the motor support (315) and is connected to the central lead screw (314). The nut of the middle lead screw (314) is fixedly connected to the transverse push plate (34), and the transverse push plate (34) is arranged in an adaptor frame below the middle connecting plate (33) and is slidably connected to the middle connecting plate (33); two middle wear-reducing plates (316) are respectively provided on the upper and lower surfaces of the transverse push plate (34), and the middle wear-reducing plates (316) are used to reduce the friction force of the transverse push plate (34) during the sliding process; the transverse push plate (34) serves as the active end of the middle posture adjustment component (3), passes through the window on the outer shell of the cylinder (1) to connect the rolling bracket, and is used to adjust the middle part of the cylinder (1) to lift and lower in the vertical direction and move horizontally in the radial direction; The control system is electrically connected to the middle translation motor (311) and the middle lifting motor (321); The middle lead screw (314) is a T-shaped lead screw with a self-locking function, which can ensure the stability of the cylinder (1) after the posture adjustment is completed; Four middle lifting and posture adjustment baffles (328) are symmetrically arranged on the bottom mounting plate (35) on both sides of the middle connecting plate (33) to guide the lifting and lowering of the middle connecting plate (33).

4. A posture adjustment system for heavy-load cantilever materials according to claim 1, characterized in that: The head posture adjustment component (4) comprises a front end support mounting frame (43), which is a coverless rectangular parallelepiped structure, wherein two opposite side surfaces are respectively fixedly connected to the front and rear frames in the window opening of the shell of the cylinder (1), and the other two side surfaces are connected to two side walls of an inverted U-shaped structure, and the bottom plate of the inverted U-shaped structure constitutes a front end support top plate (44); a front end lifting nut seat (415) is arranged on the front end support top plate (44), and the lower part of the front end lifting nut seat (415) is connected to the nut of the head spiral lift (417); the head spiral lift (417) is installed on the front end support bottom plate (45), and the front end support bottom plate (45) is located at the front end support The front end support mounting frame (43) is in sliding cooperation with its side wall and the front end support mounting frame (43); the input end of the head spiral elevator (417) is connected to the transition shaft (414), and the transition shaft (414) is connected to the output shaft of the head lifting reducer (412); the head lifting reducer (412) is fixedly connected to the front end support base plate (45) through the support (413), and its input shaft is connected to the output shaft of the head lifting motor (411); a front end support wear-resistant plate (46) is arranged below the front end support base plate (45), and its shape is adapted to the inner surface of the arc support, and abuts against the arc support to reduce the friction between the two when the cylinder (1) is adjusted; The arc-shaped support provides a support point for the head posture adjustment component (4) to raise and lower the cylinder (1); The control system is electrically connected to the head lifting motor (411); The front end support mounting frame (43) is connected to the head of the cylinder (1) as the action end of the head posture adjustment component (4) and is used to adjust the lifting and lowering movement of the head of the cylinder (1) in the radial direction.

5. A heavy-load cantilever material posture adjustment system according to any one of claims 1 to 4, characterized in that: Each group of the rolling components (5) comprises a reducer support (53), the reducer support (53) being fixedly connected to the inner wall of the middle part of the cylinder (1); the reducer support (53) is connected to a rolling reducer (52), the output shaft of the rolling reducer (52) is connected to a gear (54), and the input shaft is connected to the output shaft of the rolling motor (51); the gear (54) is limited by a gear baffle (56); an inner gear ring (55) is provided on the rolling support, and the gear (54) is meshingly connected with the inner gear ring (55); The control system is electrically connected to the two rolling motors (51) respectively; The reducer support (53) serves as the active end of the rolling assembly (5) and is connected to the middle inner wall of the cylinder (1) to drive the cylinder (1) to roll circumferentially.

6. A posture adjustment system for heavy-load cantilever materials according to claim 5, characterized in that: The visual positioning guide assembly (6) comprises: a camera mounting seat (61) fixedly connected to one end of the head of the barrel (1), a camera (63) being mounted on the camera mounting seat (61), and a lens (64) of the camera (63) being located at the center of the camera mounting seat (61); It also includes a camera light source bracket (62) and a light source (65), wherein the light source (65) is an annular structure and is mounted on the camera mounting seat (61) through the camera light source bracket (62), and the lens (64) is located at the center of the light source (65); the light source (65) is used to improve the clarity of the camera (63) when taking pictures under dark light conditions; The visual positioning guide components (6) have four groups, two of which are close to the upper part of the cylinder (1), and the other two are close to the lower part of the cylinder (1), and the four groups of visual positioning guide components (6) are distributed at the four corners of an isosceles trapezoid on the radial section of one end of the head of the cylinder (1), and the length of the upper base of the isosceles trapezoid is greater than the length of the lower base; The control system is electrically connected to the four cameras (63) respectively.

7. A posture adjustment system for heavy-load cantilever materials according to claim 2, characterized in that: Linear slides (227) are provided at four corners of the lower surface of the left-right movable base (226), and the linear slides (227) are slidably connected to the upper surface of the support beam (25) to achieve a sliding connection between the left-right movable base (226) and the support beam (25); The lower surface of the support beam (25) is provided with plate-like protrusions extending vertically downward on both sides, and the bottom bracket (24) is provided with a tail lifting guide groove (235) adapted to the plate-like protrusions. The plate-like protrusions are clamped in the tail lifting guide groove (235) and are slidably connected to the inner surface thereof to guide the lifting of the tail of the cylinder (1).

8. A posture adjustment system for heavy-load cantilever materials according to claim 4, characterized in that: The head posture adjustment assembly (4) further comprises a spring mechanism (42), the spring mechanism (42) comprising a spring mounting stud (421) fixed on the front end support mounting bottom plate (45), a spring limiting seat (423) fixed on the lower surface of the front end support top plate (44) via a short head shoulder bolt (424), and a compression spring (422) sleeved on the spring mounting stud (421); the compression spring (422) is limited by the spring limiting seat (423) between the front end support mounting bottom plate (45) and the front end support top plate (44); The spring mechanism (42) is provided in two groups and is installed on both sides of the front lifting nut seat (415) in a pre-pressed manner to reduce the power required when the head of the cylinder (1) is lifted or lowered.

9. A posture adjustment system for heavy-load cantilever materials according to claim 4, characterized in that: A wear-reducing plate (416) is provided between the side wall of the front end support top plate (44) and the front end support bottom plate (45) on which the head spiral elevator (417) is installed. The wear-reducing plate (416) is used to reduce the friction force generated when the head of the cylinder (1) rises and falls.

10. A method for adjusting the posture of a heavy-load cantilever material, based on a system for adjusting the posture of a heavy-load cantilever material according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, start the control system and prepare for posture adjustment; S2, the visual positioning guidance component (6) takes a photo of the reference target, compares and analyzes the actual position of the cylinder (1) with the theoretical position, and determines whether the actual position is consistent with the theoretical position; if so, execute S6; if not, execute S3; S3, the visual positioning guidance component (6) obtains the posture adjustment information required for the cylinder (1) to reach the theoretical position through a visual algorithm, and informs the control system; the posture adjustment information includes the translation amount, lifting amount, rolling amount, pitch amount and yaw amount of the cylinder (1); S4, the control system obtains the posture adjustment information sent by the visual positioning guidance component (6), and controls the tail posture adjustment component (2), or / and the middle posture adjustment component (3), or / and the head posture adjustment component (4), or / and the rolling component (5) to adjust the posture according to the posture adjustment information; S5, after the posture adjustment is completed, the visual positioning guidance component (6) takes a photo of the reference target again, and compares and analyzes the actual position of the cylinder (1) with the theoretical position to determine whether the actual position is consistent with the theoretical position; if so, execute S6; if not, return to S3; S6, posture adjustment is completed and the control system is turned off.

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