A heavy-load cantilevered material posture adjusting system and posture adjusting method

Abstract

This invention discloses a posture adjustment system and method for heavy-duty cantilevered materials, solving the problems of low production efficiency, high labor intensity, and inaccurate manual posture adjustment in existing heavy-duty cantilevered materials systems. Specifically, it includes a tail posture adjustment component at one end of the cylinder, two sets of middle posture adjustment components on the outer side of the middle of the cylinder, two sets of rolling components on the inner side of the middle of the cylinder, a head posture adjustment component on the inner side of the head of the cylinder, a visual positioning guidance component at one end of the head of the cylinder, and a control system. This invention uses a controller to control the motor to adjust the posture of the cylinder, making the cylinder's rolling, translation, and lifting positions precisely controllable, reducing errors that occur during manual posture adjustment. Furthermore, the visual positioning guidance component guides the control system to automatically adjust the posture, improving production efficiency and reducing the labor intensity of operators.

Description

Technical Field

[0001] This invention relates to a posture adjustment device used in the material installation process, specifically to a posture adjustment system and method for heavy-duty cantilever materials. Background Technology

[0002] Currently, the orientation adjustment of heavy-duty cantilever materials during installation mainly relies on manual labor. The amount of orientation adjustment for the rolling, translation, and lifting of heavy-duty cantilever materials depends on the visual judgment of the operators, and then the orientation is adjusted manually. This orientation adjustment method not only results in high labor intensity and low production efficiency for the operators, but also makes it easy to make errors. During the orientation adjustment process, the rolling position, translation position, and lifting position are not easy to control. Once a change occurs, the orientation needs to be readjusted, which increases the workload significantly. Summary of the Invention

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

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

[0005] A posture adjustment system for a heavy-duty cantilevered material handling system, wherein the heavy-duty cantilevered material handling system is a cylindrical body whose tail and middle are supported by a ground bracket and whose head is supported by an arc-shaped support, and the cylindrical body is assembled in sections; characterized in that it includes: a rolling bracket arranged circumferentially on the inner side of the middle of the cylindrical body, the rolling bracket passing through an opening on the outer shell of the cylindrical body and connected to the ground bracket, and its outer wall slidingly engaging with the inner wall of the cylindrical body; a tail posture adjustment component arranged at one end of the tail of the cylindrical body; two sets of middle posture adjustment components arranged on the outer side of the middle of the cylindrical body; two sets of rolling components arranged on the inner side of the middle of the cylindrical body; a head posture adjustment component arranged on the inner side of the head of the cylindrical body; a visual positioning guidance component arranged at one end of the head of the cylindrical body; and a control system;

[0006] The tail attitude adjustment component is fixed on the ground bracket, and its working end is rotatably connected to one end of the tail of the cylinder, which is used to adjust the tail of the cylinder to move up and down and horizontally in the radial direction.

[0007] The two sets of central attitude adjustment components are arranged radially on both sides of the cylinder and fixed on the ground bracket. Their working ends pass through the openings on the outer shell of the cylinder and connect to both sides of the rolling bracket, respectively, for adjusting the vertical lifting and horizontal movement of the central part of the cylinder.

[0008] The head posture adjustment component is located above the arc-shaped support. Its bottom passes through the opening on the outer shell of the cylinder and abuts against the inner surface of the arc-shaped support. Its working end is connected between the two front and rear frames inside the opening of the outer shell of the cylinder, and is used to adjust the cylinder head to move up and down radially.

[0009] The two sets of rolling components are disposed between the rolling support and the inner wall of the cylinder, and are respectively located near the two ends of the rolling support. Their working ends are used to drive the cylinder to roll circumferentially.

[0010] The visual positioning guidance component is located 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 roll angle of the cylinder through visual algorithms, 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 roll component, and the visual positioning guidance component, respectively. After receiving 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 roll component to adjust the posture of the cylinder.

[0012] Furthermore, the tail attitude adjustment assembly includes a bottom bracket, which is connected to a ground bracket via connecting blocks on both sides; a tail lifting reducer is fixedly connected to the center of the bottom bracket, and the output shafts on both sides of the tail lifting reducer are each connected to a tail screw lift via a tail coupling, with the input shaft connected to the output shaft of the tail lifting motor; a support beam is provided above the two tail screw lifts, and the support beam is connected to the output end of the tail screw lift; a left and right moving base is provided on the upper surface of the support beam, and the left and right moving base is slidably connected to the support beam; a tail translation nut seat is fixedly connected to one side of the left and right moving base, and the tail translation nut seat is connected to the tail lead screw; the tail lead 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 above the left and right movable base. The rolling base is connected to the pad through a non-powered rotary support. The non-powered rotary 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 it. The pad is connected to one end of the tail posture adjustment component and is used to adjust the tail of the cylinder to move up and down 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 is a T-shaped screw with a self-locking function, which can ensure the stability of the cylinder after posture adjustment.

[0016] Furthermore, each set of the central attitude adjustment components includes a bottom mounting plate support block fixed to the ground bracket, on which a bottom mounting plate is mounted. A central spiral lift is mounted on each side of the bottom mounting plate. The two central spiral lifts are connected to a synchronous shaft through a central coupling to achieve synchronous lifting. The input shaft of one of the central spiral lifts is connected to the output shaft of the central lifting reducer. The central lifting reducer is mounted on the bottom mounting plate through a central lifting support, and its input shaft is connected to the output shaft of the central lifting motor.

[0017] A connecting plate is provided above the two central screw jacks, and a central lifting nut seat is provided on the connecting plate. The connecting plate is connected to the lead screw nut of the central screw jack through the central lifting nut seat. A motor support is fixed to the outer side of the connecting plate, and a central translation reducer is installed on the motor support. The input shaft of the central translation reducer is connected to the output shaft of the central translation motor. The output shaft passes through the motor support and connects to the central lead screw. The nut of the central lead screw is fixed to the transverse push plate. The transverse push plate is set in the adapter frame below the connecting plate and is slidably connected to the connecting plate. Two central friction-reducing plates are provided on the upper and lower surfaces of the transverse push plate. The central friction-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 working end of the central attitude adjustment component. It passes through the window on the outer shell of the cylinder and connects to the rolling bracket for adjusting the vertical lifting and horizontal movement of the central part of the cylinder.

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

[0019] The central lead screw is a T-type 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 has four central lifting and adjusting baffles symmetrically arranged on both sides of the central connecting plate to guide the lifting and lowering of the central connecting plate.

[0021] Furthermore, the head posture adjustment component includes a front support mounting frame, which is an open cuboid structure. Two opposite sides of the frame are fixed to the front and rear frames inside the opening of the cylinder shell, respectively. The other two sides are connected to two side walls of an inverted U-shaped structure. The bottom plate of the inverted U-shaped structure forms the front support top plate. A front lifting nut seat is provided on the front support top plate, and its lower part is connected to the nut of the head screw jack. The head screw jack is mounted on the front support bottom plate, which is located inside the front support mounting frame, and its side walls are in sliding fit with the front support mounting frame. The input end of the head screw jack is connected to a transition shaft, which is connected to the output shaft of the head lifting reducer. The head lifting reducer is fixed to the front support bottom plate via a support, and its input shaft is connected to the output shaft of the head lifting motor. A front support wear-resistant plate is provided below the front support bottom plate, the shape of which matches the inner surface of the arc-shaped support and abuts against the arc-shaped support to reduce the friction between them during cylinder posture adjustment. The arc-shaped support provides a support point for the head posture adjustment component to adjust the cylinder's posture.

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

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

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

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

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

[0027] Furthermore, the visual positioning guidance component includes: a camera mounting base fixed to one end of the head of the cylinder, a camera mounted on the camera mounting base, and the lens of the camera located at the center of the camera mounting base;

[0028] It also includes a camera light source bracket and a light source. The light source has a ring structure and is mounted on the camera mount via the camera light source bracket, with the lens located at the center of the light source. The light source is used to improve the clarity of the camera when taking pictures in low-light conditions.

[0029] The visual positioning guidance components are in four sets, with two sets near the upper part of the cylinder and the other two sets near the lower part of the cylinder. The four sets of visual positioning guidance components are distributed at the four corners of an isosceles trapezoid on the radial cross-section at one end of the cylinder head. 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 each of the four cameras.

[0031] Furthermore, linear sliding plates are provided at the four corners of the lower surface of the left and right movable base, and the linear sliding plates are slidably connected to the upper surface of the support beam to realize the sliding connection between the left and right movable base and the support beam.

[0032] The lower surface of the support beam has vertically downward plate-shaped protrusions on both sides, and the bottom bracket has a tail lifting guide groove that matches the plate-shaped protrusions. The plate-shaped protrusions are engaged in the tail lifting guide groove and are slidably connected to its inner surface to guide the lifting of the tail of the cylinder.

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

[0034] The spring mechanism is provided in two sets and is installed on both sides of the front lifting nut seat using a pre-compression installation method to reduce the power required for the cylinder head to rise and fall.

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

[0036] Meanwhile, the present invention also provides a method for adjusting the posture of heavy-load cantilever materials, which is characterized by the following steps based on the above-mentioned posture adjustment system for heavy-load cantilever materials:

[0037] S1, Start the control system and prepare for attitude adjustment;

[0038] S2, the visual positioning guidance component takes a picture of the reference target, compares and analyzes the actual position of the cylinder with the theoretical position, and determines whether the actual position and the theoretical position are consistent; if yes, proceed to S6; if no, proceed to S3.

[0039] S3, the visual positioning guidance component obtains the attitude adjustment information required for the cylinder to reach the theoretical position through a visual algorithm and informs the control system; the attitude adjustment information includes the cylinder's translation, lifting, rolling, pitch and yaw.

[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 roll component to perform posture adjustment according to the posture adjustment information.

[0041] S5. After the posture adjustment is completed, the visual positioning guidance component takes another picture of the reference target 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 yes, proceed to S6; if no, return to S3.

[0042] S6, attitude adjustment complete, control system shut down.

[0043] The beneficial effects of this invention are:

[0044] 1. The present invention provides a posture adjustment system and method for heavy-duty cantilever materials. The system uses a controller to control the motor to adjust the posture of the cylinder, so that the rolling position, translation position and lifting position of the cylinder are all precisely controllable, reducing the errors that occur during manual posture adjustment.

[0045] 2. The posture adjustment system and method for heavy-duty cantilever materials of the present invention can be automatically adjusted by the visual positioning guidance component, which improves production efficiency, reduces the labor intensity of operators, and reduces repetitive work.

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

[0047] 4. The T-shaped lead screw used in the posture adjustment system and method for heavy-duty cantilever materials of the present invention has a self-locking function, which can ensure the stability of the cylinder after adjustment. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of a ground support structure for heavy-duty cantilever materials;

[0049] Figure 2 This is a schematic diagram of an arc-shaped support structure for heavy-duty cantilever materials.

[0050] Figure 3 This is a schematic diagram of a heavy-duty cantilever material handling structure with windows in the middle and head.

[0051] Figure 4 This is a three-dimensional structural schematic diagram of an embodiment of the posture adjustment system and method for heavy-duty cantilever materials of the present invention, installed on a heavy-duty cantilever material.

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

[0053] Figure 6 This is a three-dimensional structural diagram of an embodiment of the present invention installed on a heavy-duty cantilever material and ground support frame;

[0054] Figure 7 This is a partial structural diagram of the head posture adjustment component installed in the heavy-duty cantilever material head window in an embodiment of the present invention;

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

[0056] Figure 9 This is a top view of the central posture adjustment component in an embodiment of the present invention;

[0057] Figure 10 for Figure 9 AA section view;

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

[0059] Figure 12 This is a schematic diagram of the structure of the rolling component in an embodiment of the present invention;

[0060] Figure 13 This is a schematic diagram of the structure of the visual positioning guidance component in an embodiment of the present invention.

[0061] Icon labels:

[0062] 1-Cylinder body, 2-Tail attitude adjustment assembly, 211-Unpowered slewing support, 212-Rolling base, 213-Plate, 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 plate, 231-Tail lifting motor, 232-Tail lifting reducer, 233-Tail coupling, 234-Tail screw jack, 235-Tail lifting... Guide groove, 24-bottom bracket, 25-support beam, 26-connecting block, 3-middle attitude 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 jack, 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-Horizontal sliding 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 end lifting nut seat, 416-Friction reduction plate, 417-Head screw lift, 42-Spring mechanism, 421-Spring mounting stud, 422-Compression spring, 423 - Spring limit seat, 424 - Short head and shoulder bolt, 43 - Front support mounting bracket, 44 - Front support top plate, 45 - Front support bottom plate, 46 - Front support wear-resistant plate, 5 - Rolling assembly, 51 - Rolling motor, 52 - Rolling reducer, 53 - Reducer support, 54 - Gear, 55 - Internal gear ring, 56 - Gear baffle, 6 - Vision positioning guide assembly, 61 - Camera mounting base, 62 - Camera light source bracket, 63 - Camera, 64 - Lens, 65 - Light source. Detailed Implementation

[0063] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] like Figures 1-5 As shown, the heavy-duty cantilever material handling unit consists of a cylinder 1 whose tail and middle sections are supported by ground brackets, and whose head is supported by an arc-shaped support. The cylinder 1 is assembled in sections. Figures 6-7As shown in the figure, the present invention provides a posture adjustment system for heavy-duty cantilevered materials, including a rolling bracket arranged circumferentially on the lower half of the inner side of the middle of the cylinder 1, the rolling bracket passing through the opening on the outer shell of the cylinder 1 and connected to the ground bracket, the outer side wall of the rolling bracket slidingly engaging with the inner wall of the cylinder 1; a tail posture adjustment component 2 disposed at one end of the tail of the cylinder 1, two sets of middle posture adjustment components 3 disposed on the outer side of the middle of the cylinder 1, two sets of rolling components 5 disposed on the inner side of the middle of the cylinder 1, a head posture adjustment component 4 disposed on the inner side of the head of the cylinder 1, a visual positioning guidance component 6 disposed at one end of the head of the cylinder 1, and a control system;

[0065] The tail attitude adjustment component 2 is fixed on the ground bracket, and its working end is rotatably connected to one end of the tail of the cylinder 1, which 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 central attitude adjustment components 3 are arranged radially on both sides of the cylinder and fixed on the ground bracket. Their working ends pass through the openings on the outer shell of the cylinder 1 and connect to both sides of the rolling bracket. They are used to adjust the vertical lifting and horizontal movement of the central part of the cylinder 1.

[0067] The head posture adjustment component 4 is located above the arc-shaped support. Its bottom passes through the opening on the outer shell of the cylinder 1 and abuts against the inner surface of the arc-shaped support. Its working end is connected between the two front and rear frames inside the opening on the outer shell of the cylinder 1, and is used to adjust the head of the cylinder 1 to move up and down radially.

[0068] Two sets of rolling components 5 are disposed 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 guidance component 6 is set at one end of the head of the cylinder 1. It 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 roll angle of the cylinder 1 through visual algorithms, and send them to the control system.

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

[0071] Reference Figure 8The tail attitude adjustment assembly 2 includes a bottom bracket 24, which is connected to a ground bracket via connecting blocks 26 on both sides. A tail lifting reducer 232 is fixedly connected to the center of the bottom bracket 24. The output shafts on both sides of the tail lifting reducer 232 are each connected to a tail screw lift 234 via 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 provided above the tail screw lift 234, and the support beam 25 is connected to the nut of the tail screw lift 234. A left-right movable base is provided on the upper surface of the support beam 25. 226, the left and 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 and right movable base 226, the tail translation nut seat 225 is connected to the tail lead screw 223, the tail lead screw 223 is a T-type lead screw with a self-locking function, which 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 above the left and right movable base 226. The rolling base 212 is connected to the pad 213 through the unpowered rotary support 211. The unpowered rotary 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 accordingly. The pad 213 is connected to one end of the tail of the cylinder 1 as the working end of the tail attitude adjustment component 2, and is used to adjust the tail of the cylinder 1 to move up and down and move horizontally in the radial direction.

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

[0074] The lower surface of the support beam 25 has vertically downward plate-shaped protrusions on both sides. The bottom bracket 24 is provided with a tail lifting guide groove 235 that matches the plate-shaped protrusions. The plate-shaped protrusions are engaged in the tail lifting guide groove 235 and are slidably connected to its inner surface, which can guide the lifting of the tail of the cylinder 1 and improve the lifting and adjusting accuracy.

[0075] Reference Figures 9-10Each set of central attitude adjustment components 3 includes a bottom mounting plate support block 36 fixed to the ground bracket, on which a bottom mounting plate 35 is mounted. A central spiral lift 323 is mounted on each side of the bottom mounting plate 35. The two central spiral lifts 323 are connected to a synchronous shaft 325 through a central coupling 324 to achieve synchronous lifting. The input shaft of one of the central spiral lifts 323 passes through the central lifting support 326 and is connected to the output shaft of the central lifting reducer 322. The input shaft of the central lifting reducer 322 is connected to the output shaft of the central lifting motor 321.

[0076] A central connecting plate 33 is installed above the central screw jack 323. A central lifting nut seat 327 is installed on the central connecting plate 33. The central connecting plate 33 is connected to the lead screw nut of the central screw jack 323 through the central lifting nut seat 327. A motor support 315 is fixed to the outer side of the center of the central connecting plate 33. 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 is a T-type lead screw with a self-locking function, which can ensure the stability of the cylinder 1 after the posture adjustment is completed. The nut of the central lead screw 314 is fixed to the transverse push plate 34, which is set in the adapter frame below the central connecting plate 33 and is slidably connected to the central connecting plate 33. The upper and lower surfaces of the transverse push plate 34 are respectively provided with two central friction-reducing plates 316, which can be made of a material with a low coefficient of friction to reduce the friction force during the sliding process of the transverse push plate 34. The transverse push plate 34 serves as the working end of the central attitude adjustment component 3, and is connected to the rolling bracket through the opening on the outer shell of the cylinder 1. It is used to adjust the vertical lifting and horizontal movement of the central part of the cylinder 1. The control system is electrically connected to the central translation motor 311 and the central lifting motor 321.

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

[0078] Reference Figure 11The head posture adjustment component 4 includes a front support mounting frame 43, which is a cuboid structure without a cover. Its two opposite sides are fixed to the front and rear frames inside the opening of the outer shell of the cylinder 1, respectively. The other two sides are connected to a front support top plate 44 with an inverted U-shaped structure. A front lifting nut seat 415 is located at the center of the top of the front support top plate 44, and its lower part is connected to the nut of the head screw jack 417. The head screw jack 417 is located inside the front support mounting frame 43 and fixed to the front support base plate 45. Its input end is connected to a transition shaft 414, which passes through a support 413 and connects to the output shaft of the head lifting reducer 412. The support 413 is fixed to the front support base plate 45, and the head lifting reducer 412 is mounted on the support 413. 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 support wear-resistant plate 46 is fixedly connected below the front support base plate 45. 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 by raising and lowering.

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

[0081] The front support mounting bracket 43 is connected to the head of the cylinder 1 as the working end of the head posture adjustment component 4, and is used to adjust the head of the cylinder 1 to move up and down radially.

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

[0083] Two sets of spring mechanisms 42 are provided and are installed on both sides of the front lifting nut seat 415 using a pre-compression installation method, which can reduce the power required for the head of the cylinder 1 to rise and fall.

[0084] Reference Figure 12Each set of rolling components 5 includes a reducer support 53, which is fixedly connected to the inner wall of the middle part of the cylinder 1; a rolling reducer 52 is connected to the reducer support 53, 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 and meshes with the internal gear ring 55 on the rolling bracket; the reducer support 53 serves as the working end of the rolling component 5 and is connected to the inner wall of the middle part of the cylinder 1 to drive the cylinder 1 to roll circumferentially; the control system is electrically connected to the two rolling motors 51 respectively.

[0085] Reference Figure 13 The visual positioning guidance component 6 includes: a camera mounting base 61 fixed to one end of the head of the cylinder 1, a camera 63 mounted on the camera mounting base 61, and a lens 64 of the camera 63 located at the center of the camera mounting base 61.

[0086] It also includes a camera light source bracket 62 and a light source 65. The light source 65 has a ring structure and is mounted on the camera mount 61 via 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 pictures in low light conditions.

[0087] There are four sets of visual positioning guidance 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 sets of visual positioning guidance components 6 are distributed at the four corners of an isosceles trapezoid on the radial cross section at one end of the head of the cylinder 1. 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 method for adjusting the orientation of heavy-duty cantilever materials, based on the above-mentioned method for adjusting the orientation of heavy-duty cantilever materials, comprising the following steps:

[0089] S1, Start the control system and prepare for attitude adjustment;

[0090] S2, the visual positioning guidance component takes a picture of the reference target, compares and analyzes the actual position of the cylinder with the theoretical position, and determines whether the actual position and the theoretical position are consistent; if yes, proceed to S6; if no, proceed to S3.

[0091] S3, the visual positioning guidance component uses visual algorithms to obtain the attitude adjustment information required for the cylinder to reach the theoretical position and informs the control system; the attitude adjustment information includes the cylinder's translation, rise and fall, roll, pitch and yaw.

[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 roll component to perform posture adjustment according to the posture adjustment information.

[0093] S5. After the posture adjustment is completed, the visual positioning guidance component takes another picture of the reference target 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 yes, proceed to S6; if no, return to S3.

[0094] S6, attitude adjustment complete, control system shut down.

Claims

1. A posture adjustment system for a heavy-duty cantilevered material handling system, wherein the heavy-duty cantilevered material handling system is a cylindrical body (1) whose tail and middle are supported by ground brackets and whose head is supported by arc-shaped supports, and the cylindrical body (1) is assembled in sections; characterized in that, include: A rolling bracket is arranged circumferentially on the inner side of the middle part of the cylinder (1). The rolling bracket passes through the window on the outer shell of the cylinder (1) and is connected to the ground bracket. Its outer wall is slidably fitted 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 sets of middle posture adjustment components (3) are arranged on the outer side of the middle part of the cylinder (1). Two sets of rolling components (5) are arranged on the inner side of the middle part 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 guidance component (6) is arranged at one end of the head of the cylinder (1). And a control system. The tail posture adjustment assembly (2) includes a bottom bracket (24), which is connected to the ground bracket via connecting blocks (26) on both sides; a tail lifting reducer (232) is fixedly connected to the center of the bottom bracket (24), and the output shafts on both sides of the tail lifting reducer (232) are each connected to a tail screw lift (234) via 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 provided above the two tail screw lifts (234), and the support beam (25) is connected to the tail screw... On the output end of the rotary lifting machine (234), a left and right moving base (226) is provided on the upper surface of the support beam (25), and the left and right moving 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 and right moving 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 and right movable base (226). The rolling base (212) is connected to the pad (213) through a non-powered rotary support (211). The non-powered rotary 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 it. The pad (213) is connected to one end of the tail of the cylinder (1) as the working end of the tail attitude adjustment component (2) and is used to adjust the tail of the cylinder (1) to move up and down and move horizontally in the radial direction. The tail screw (223) is a T-type screw with a self-locking function, which can ensure the stability of the cylinder (1) after the posture adjustment is completed; The two sets of central attitude adjustment components (3) are arranged radially on both sides of the cylinder and fixed on the ground bracket. Their working ends pass through the openings on the outer shell of the cylinder (1) and connect to both sides of the rolling bracket. They are used to adjust the central part of the cylinder (1) to move up and down in the vertical direction and to move horizontally in the radial direction. The head posture adjustment component (4) is located above the arc-shaped support. Its bottom passes through the opening on the outer shell of the cylinder (1) and abuts against the inner surface of the arc-shaped support. Its working end is connected between the two front and rear frames inside the opening of the outer shell of the cylinder (1) for adjusting the head of the cylinder (1) to move up and down radially. The two sets of rolling components (5) are arranged between the rolling bracket and the inner wall of the cylinder (1), and are respectively close to the two ends of the rolling bracket. Their working ends are used to drive the cylinder (1) to roll circumferentially. The visual positioning guidance component (6) is set at one end of the head of the cylinder (1) 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 roll angle of the cylinder (1) through visual algorithms, and send them to the control system. The control system is electrically connected to the tail translation motor (221), the tail lifting motor (231), the middle posture adjustment component (3), the head posture adjustment component (4), the roll component (5), and the visual positioning guidance component (6). After obtaining the information sent by the visual positioning guidance component (6), the control system controls the tail posture adjustment component (2), the middle posture adjustment component (3), the head posture adjustment component (4), and the roll component (5) to adjust the posture of the cylinder (1).

2. The attitude adjustment system for heavy-duty cantilevered materials according to claim 1, characterized in that, Each of the central attitude adjustment components (3) includes a bottom mounting plate support block (36) fixed to the ground bracket, on which a bottom mounting plate (35) is mounted. A central spiral lift (323) is mounted on each side of the bottom mounting plate (35). The two central spiral lifts (323) are connected to a synchronous shaft (325) through a central coupling (324) to achieve synchronous lifting. The input shaft of one of the central spiral lifts (323) is connected to the output shaft of the central lifting reducer (322). The central lifting reducer (322) is mounted on the bottom mounting plate (35) through a central lifting support (326), and its input shaft is connected to the output shaft of the central lifting motor (321). A connecting plate (33) is provided above the two central screw jacks (323). A central lifting nut seat (327) is provided on the connecting plate (33). The connecting plate (33) is connected to the lead screw nut of the central screw jack (323) through the central lifting nut seat (327). A motor support (315) is fixedly connected to the outer side of the connecting plate (33). 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 connects to the central lead screw (314). The nut of the central lead screw (314) is fixed to the transverse push plate (34), which is set in the adapter frame below the central connecting plate (33) and is slidably connected to the central connecting plate (33). The upper and lower surfaces of the transverse push plate (34) are respectively provided with two central friction-reducing plates (316), which are used to reduce the friction force during the sliding process of the transverse push plate (34). The transverse push plate (34) serves as the working end of the central attitude adjustment component (3), and passes through the window on the outer shell of the cylinder (1) to connect to the rolling bracket, which is used to adjust the vertical lifting and horizontal movement of the central part of the cylinder (1). The control system is electrically connected to the central translation motor (311) and the central lifting motor (321); The central lead screw (314) is a T-type lead screw with a self-locking function, which can ensure the stability of the cylinder (1) after the posture adjustment is completed; The bottom mounting plate (35) has four central lifting and posture adjustment baffles (328) symmetrically arranged on both sides of the central connecting plate (33) to guide the lifting and lowering of the central connecting plate (33).

3. The attitude adjustment system for heavy-duty cantilevered materials according to claim 1, characterized in that, The head posture adjustment component (4) includes a front support mounting bracket (43), which is an open cuboid structure. Its two opposite sides are respectively fixed to the front and rear frames inside the opening of the outer shell of the cylinder (1), and the other two sides are connected to the two side walls of an inverted U-shaped structure. The bottom plate of the inverted U-shaped structure constitutes the front support top plate (44). A front lifting nut seat (415) is provided on the front support top plate (44), and the lower part of the front lifting nut seat (415) is connected to the nut of the head screw jack (417). The head screw jack (417) is installed on the front support bottom plate (45), and the front support bottom plate (45) is located at the front support. The support mounting bracket (43) is inside, and its side wall is in sliding fit with the front support mounting bracket (43); the input end of the head screw jack (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 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 support wear-resistant plate (46) is provided below the front support base plate (45), the shape of which 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 adjust the lifting and lowering posture of the cylinder (1); The control system is electrically connected to the head lifting motor (411); The front support mounting bracket (43) is connected to the head of the cylinder (1) as the working end of the head posture adjustment component (4), and is used to adjust the head of the cylinder (1) to move up and down radially.

4. The attitude adjustment system for heavy-duty cantilevered materials according to any one of claims 1-3, characterized in that, Each set of the rolling assembly (5) includes a reducer support (53), which is fixedly connected to the inner wall of the middle part of the cylinder (1); a rolling reducer (52) is connected to the reducer support (53), 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 internal gear ring (55) is provided on the rolling bracket, and the gear (54) meshes with the internal gear ring (55); The control system is electrically connected to two rolling motors (51) respectively; The reducer support (53) is connected to the inner wall of the middle part of the cylinder (1) as the working end of the rolling assembly (5) and is used to drive the cylinder (1) to roll in a circumferential direction.

5. The attitude adjustment system for heavy-duty cantilevered materials according to claim 4, characterized in that, The visual positioning guidance component (6) includes: a camera mounting base (61) fixed to one end of the head of the cylinder (1), a camera (63) mounted on the camera mounting base (61), and the lens (64) of the camera (63) located at the center of the camera mounting base (61); It also includes a camera light source bracket (62) and a light source (65). The light source (65) is a ring structure and is mounted on the camera mount (61) via the camera light source bracket (62). 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 in low light conditions. The visual positioning guidance component (6) has four sets, 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 sets of visual positioning guidance 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). 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.

6. The attitude adjustment system for heavy-duty cantilevered materials according to claim 1, characterized in that, Linear sliding plates (227) are provided at the four corners of the lower surface of the left and right movable base (226). The linear sliding plates (227) are slidably connected to the upper surface of the support beam (25) to realize the sliding connection between the left and right movable base (226) and the support beam (25). The lower surface of the support beam (25) is provided with vertically downward plate-shaped protrusions on both sides. The bottom bracket (24) is provided with a tail lifting guide groove (235) that is adapted to the plate-shaped protrusions. The plate-shaped protrusions are locked in the tail lifting guide groove (235) and slidably connected to its inner surface to guide the lifting of the tail of the cylinder (1).

7. The attitude adjustment system for heavy-duty cantilevered materials according to claim 3, characterized in that, The head posture adjustment assembly (4) further includes a spring mechanism (42), which includes a spring mounting stud (421) fixed on the front support base plate (45), a spring limiting seat (423) fixed on the lower surface of the front support top plate (44) by a short head and shoulder bolt (424), and a compression spring (422) fitted on the spring mounting stud (421); the compression spring (422) is limited between the front support base plate (45) and the front support top plate (44) by the spring limiting seat (423); The spring mechanism (42) is provided in two sets and is installed on both sides of the front lifting nut seat (415) in a pre-pressurized manner to reduce the power required for the head of the cylinder (1) to rise and fall.

8. The attitude adjustment system for heavy-duty cantilevered materials according to claim 3, characterized in that, A friction-reducing plate (416) is provided between the side wall of the front support top plate (44) and the front support bottom plate (45) of the head screw jack (417). The friction-reducing plate (416) is used to reduce the friction force generated when the head of the cylinder (1) rises and falls.

9. A method for adjusting the attitude of a heavy-duty cantilevered material, based on the attitude adjustment system for a heavy-duty cantilevered material according to any one of claims 1-8, characterized in that, Includes the following steps: S1, Start the control system and prepare for attitude adjustment; S2, the visual positioning guidance component (6) takes a picture 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 yes, execute S6; if no, execute S3. S3, the visual positioning guidance component (6) obtains the attitude adjustment information required for the cylinder (1) to reach the theoretical position through a visual algorithm and informs the control system; the attitude adjustment information includes the translation, elevation, roll, pitch and yaw 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 roll component (5) to perform posture adjustment according to the posture adjustment information; S5, after the posture adjustment is completed, the visual positioning guidance component (6) takes another picture of the reference target 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 yes, execute S6; if no, return to S3. S6, attitude adjustment complete, control system shut down.

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