Butt joint equipment for high-precision barrel

Abstract

The invention provides butt joint equipment for a high-precision cylinder. According to the invention, the six-degree-of-freedom table and the linear moving sliding table are matched for butt joint, and are matched with automatic photographing detection devices such as high-precision 3D and 2D cameras. The 3D camera provides two cylinder axis space coordinate positions, the 2D camera provides more accurate angular positions, and the six-degree-of-freedom table adjusts the posture according to the coordinate position provided by the automatic photographing detection device so as to achieve the purpose of butt joint. In addition, the movable sliding table is in a floating form, and under the condition that a workpiece barrel product is adjusted by a certain angle and is coaxial, the workpiece barrel chamfer is directly sleeved and butted in place through the thrust of the linear movable sliding table. According to the butt joint equipment, the requirements for the precision of the whole equipment and the positioning and erecting precision of the workpiece barrel are not high, and the machining and assembling cost is effectively reduced. By adopting the floating linear moving sliding table, the posture of the six-degree-of-freedom table and the posture of the automatic photographing detection device do not need to be repeatedly adjusted, the working rhythm is greatly shortened, and the butt joint efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of docking equipment, and in particular to a high-precision cylinder docking equipment. Background Art

[0002] At present, there are cylinder docking equipment in China, involving two forms: rough docking and high-precision docking. Rough docking mainly uses a motor to drive the mechanism to move on the rails. It is mainly for the flange docking of cylinders with a diameter of more than 1m and a single cylinder length of more than 2m. The axis center accuracy is not high, or it is allowed to manually fine-tune the docking mechanism later to meet the docking accuracy requirements. High-precision docking equipment generally corresponds to the docking of cylinders with a diameter of ≤0.3mm and a single cylinder length of less than 1m. It puts forward higher requirements for the guidance, circumferential positioning, running straightness, and the overall superimposed processing and assembly errors of the equipment, and requires the workpiece cylinder itself to have a corresponding clamping reference. The design, processing, and assembly costs of the entire set of mechanisms increase geometrically, and the docking process is slow, which seriously affects work efficiency. It is aimed at the docking of cylinders with a diameter of 0.3m~1m, and the workpiece cylinder itself does not have a positioning reference.

[0003] The existing workpiece cylinder has no clamping positioning accuracy except for the butt joint. The workpiece cylinders are matched with shaft sleeves, and the butt joint accuracy includes coaxial accuracy of 0.016~0.34 and angular accuracy of 0~0.018. Because the length of the cylinders after splicing reaches 2.8m, higher requirements are placed on the accuracy and form of the mechanism. If it is designed according to a high-precision structure, the cost will be approximately 4 million to 6 million, and the work rhythm cannot meet customer needs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a high-precision cylinder docking device in order to solve the existing technology.

[0005] The present invention solves the above technical problems through the following technical solutions: In a first aspect, the present invention provides a high-precision cylinder docking device. The docking device comprises: a base, a bracket and a movable slide are installed on the base, and an automatic photographic detection device is fixed on the bracket; A six-degree-of-freedom platform is provided on one side of the movable slide, and a first cylinder to be docked is placed on the six-degree-of-freedom platform; A slide rail assembly is installed on the other side, and a semi-automatic docking device is arranged on the slide rail assembly. The semi-automatic docking device clamps the second cylinder to be docked.

[0006] Preferably, a floating mechanism is provided between the semi-automatic docking device and the slide rail assembly, and the semi-automatic docking device floats via the floating mechanism.

[0007] Preferably, the six-degree-of-freedom platform is connected to the automatic photographic detection device, and the six-degree-of-freedom platform adjusts the posture of the six-degree-of-freedom platform according to the position data fed back by the automatic photographic detection device to provide an accurate position for the first cylinder.

[0008] Preferably, the automatic photographic detection device comprises a 3D camera and a 2D camera, wherein the 3D camera is used to provide the spatial coordinate position of the axis of the first cylinder; and the 2D camera is used to provide the angular position of the first cylinder.

[0009] Preferably, the movable slide is mounted on the base via a movable slide driving assembly.

[0010] Preferably, a platform is installed on one side of the base, and the platform is used for operators to perform human-machine operations.

[0011] The positive and progressive effect of the present invention is that the present invention provides a docking device for high-precision cylinders. The present invention performs docking by cooperating with a six-degree-of-freedom table and a linear movable slide, and cooperates with automatic photographic detection devices such as high-precision 3D and 2D cameras. The 3D camera provides the spatial coordinate positions of the two cylinder axes, and the 2D camera provides a more accurate angular position. The six-degree-of-freedom table adjusts its posture according to the coordinate position provided by the automatic photographic detection device to achieve the purpose of docking. In addition, the movable slide adopts a floating form. When the workpiece cylinder product is adjusted to a certain angle and a certain coaxiality, the chamfer of the workpiece cylinder is used to directly install and dock in place through the thrust of the linear movable slide. The docking device of the present invention does not require high accuracy of the overall equipment itself and the positioning and mounting accuracy of the workpiece cylinder, and effectively reduces the processing and assembly costs. The use of a floating linear movable slide eliminates the need to repeatedly adjust the posture of the six-degree-of-freedom table and the automatic photographic detection device, greatly reducing the work cycle and improving the docking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic structural diagram of a high-precision cylinder docking device according to Example 1 of the present invention.

[0013] Figure 2 This is a detailed structural diagram of the high-precision cylinder docking equipment of Example 1 of the present invention.

[0014] Figure 3 It is a side view of the docking equipment of the high-precision cylinder of Example 1 of the present invention.

[0015] Legend: 1. Base; 2. Bracket; 3. Mobile slide; 4. Automatic photographic detection device; 5. Six-degree-of-freedom table; 6. Semi-automatic docking device; 7. Slide rail assembly; 8. Floating mechanism; 9. Step platform; 10. Mobile slide drive assembly. DETAILED DESCRIPTION

[0016] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0017] Example 1 like Figure 1-3 As shown, this embodiment provides a high-precision cylinder docking device. The docking device includes a base 1, a bracket 2, a mobile slide 3, an automatic photographic detection device 4, a six-degree-of-freedom table 5, and a semi-automatic docking device 6. The bracket 2 and the mobile slide 3 are installed on the base 1, and the automatic photographic detection device 4 is fixed on the bracket 2; a six-degree-of-freedom table 5 is provided on one side of the mobile slide 3, and the first cylinder to be docked is placed on the six-degree-of-freedom table 5; a slide rail assembly 7 is installed on the other side, and a semi-automatic docking device 6 is provided on the slide rail assembly 7, and the semi-automatic docking device 6 clamps the second cylinder to be docked. Among them, the mobile slide 3 is installed on the base 1 through the mobile slide drive assembly 10. Specifically, under the action of the slide rail assembly 7, the semi-automatic docking device 6 moves to the automatic photographic detection area radiated by the automatic photographic detection device 4; the automatic photographic detection device 4 detects the position data of the semi-automatic docking device 6 and the second cylinder and feeds back the position data to the six-degree-of-freedom platform 5, and the six-degree-of-freedom platform 5 adjusts its own posture according to the received position data to ensure that the first cylinder installed thereon is at a certain angle and a certain coaxiality with the second cylinder. The semi-automatic docking device 6 moves horizontally, and uses the sleeve angle of the first cylinder and the second cylinder to directly fit into place, thereby completing the docking of the first cylinder and the second cylinder.

[0018] like Figure 1-3 As shown, as an optional embodiment, the six-degree-of-freedom table 5 is connected to the automatic photographic detection device 4, and the six-degree-of-freedom table 5 adjusts the posture of the six-degree-of-freedom table 5 according to the position data fed back by the automatic photographic detection device 4, and provides an accurate position for the first cylinder. Among them, the automatic photographic detection device 4 includes a 3D camera and a 2D camera. The 3D camera is used to provide the axial spatial coordinate position of the first cylinder; the 2D camera is used to provide the angular position of the first cylinder. Specifically, the docking equipment of this embodiment docks the workpiece cylinder through a high-precision six-degree-of-freedom table 5 in conjunction with a precise linear moving slide 3, and cooperates with automatic photographic detection devices 4 such as high-precision 3D cameras and 2D cameras; 3D cameras; 2D cameras can provide more accurate angular positions of the first cylinder and the second cylinder, and the six-degree-of-freedom table 5 adjusts its posture according to the accurate coordinate positions provided by the 3D camera and the 2D camera, so as to achieve the purpose of docking the workpiece cylinder.

[0019] like Figure 1-3As shown, as an optional embodiment, a floating mechanism 8 is provided between the semi-automatic docking device 6 and the slide rail assembly 7, and the semi-automatic docking device 6 floats through the floating mechanism 8. Since the docking accuracy of the workpiece cylinder is high, the assembly accuracy between the semi-automatic docking device 6 and the slide rail assembly 7 is difficult to meet the high accuracy requirement, and there may be some errors that will cause unsuccessful docking; therefore, the docking device of this embodiment is provided with a floating mechanism 8 between the semi-automatic docking device 6 and the slide rail assembly 7, and the semi-automatic docking device 6 can be switched to the floating mode through the floating mechanism 8 to ensure the docking accuracy of the docking device.

[0020] like Figure 1-3 As shown, as an optional embodiment, a step 9 is installed on one side of the base 1, and the step 9 is used by the operator to perform human-machine operation. The docking equipment of this embodiment needs to work in coordination with the robot. Considering safety, the whole mechanism slides from the robot receiving position to the docking position through the moving slide 3. Considering the human-machine operation problem, a tower 9 is configured at the operation position.

[0021] In the present embodiment, a high-precision cylinder docking device is provided. The present embodiment performs docking by cooperating with a six-degree-of-freedom table and a linear movable slide, and cooperates with automatic photographic detection devices such as high-precision 3D and 2D cameras. The 3D camera provides the spatial coordinate positions of the two cylinder axes, and the 2D camera provides a more accurate angular position. The six-degree-of-freedom table adjusts its posture according to the coordinate position provided by the automatic photographic detection device to achieve the purpose of docking. In addition, the movable slide adopts a floating form. When the workpiece cylinder product is adjusted to a certain angle and a certain coaxiality, the chamfer of the workpiece cylinder is used to directly mount and dock in place through the thrust of the linear movable slide. The docking equipment of this embodiment does not require high accuracy of the overall equipment itself and the positioning and mounting accuracy of the workpiece cylinder, which effectively reduces the processing and assembly costs. The use of a floating linear movable slide eliminates the need to repeatedly adjust the posture of the six-degree-of-freedom table and the automatic photographic detection device, greatly reducing the work cycle and improving the docking efficiency.

[0022] The docking equipment of this embodiment switches the semi-automatic docking device 6 to the floating mode through the floating mechanism 8. Under the action of the slide rail assembly 7, the semi-automatic docking device 6 moves to the automatic photographic detection area radiated by the automatic photographic detection device 4; the automatic photographic detection device 4 detects the position data of the semi-automatic docking device 6 and the second cylinder and feeds back to the six-degree-of-freedom platform 5. The six-degree-of-freedom platform 5 adjusts its own posture according to the received position data to ensure that the first cylinder installed thereon is at a certain angle and a certain coaxiality with the second cylinder. The semi-automatic docking device 6 moves horizontally and uses the sleeve angle of the first cylinder and the second cylinder to directly fit into place to complete the docking of the first cylinder and the second cylinder.

[0023] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A high-precision cylinder docking device, characterized in that: The docking device comprises: a base, a bracket and a movable slide are installed on the base, and an automatic photographic detection device is fixed on the bracket; A six-degree-of-freedom platform is provided on one side of the movable slide, and a first cylinder to be docked is placed on the six-degree-of-freedom platform; A slide rail assembly is installed on the other side, and a semi-automatic docking device is arranged on the slide rail assembly. The semi-automatic docking device clamps the second cylinder to be docked.

2. The high-precision cylinder docking device according to claim 1, characterized in that: A floating mechanism is provided between the semi-automatic docking device and the slide rail assembly, and the semi-automatic docking device floats via the floating mechanism.

3. The high-precision cylinder docking device according to claim 2, characterized in that: The six-degree-of-freedom platform is connected to the automatic photographic detection device. The six-degree-of-freedom platform adjusts the posture of the six-degree-of-freedom platform according to the position data fed back by the automatic photographic detection device to provide an accurate position for the first cylinder.

4. The high-precision cylinder docking device according to claim 3, characterized in that: The automatic photographic detection device includes a 3D camera and a 2D camera. The 3D camera is used to provide the spatial coordinate position of the axis of the first cylinder; and the 2D camera is used to provide the angular position of the first cylinder.

5. The high-precision cylinder docking device according to claim 1, characterized in that: The movable slide is installed on the base through a movable slide driving assembly.

6. The high-precision cylinder docking device according to claim 1, characterized in that: A stepping platform is installed on one side of the base, and the stepping platform is used for operators to perform human-machine operations.

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