Zero-hoisting horizontal butt joint assembly system based on cylinder posture adjustment and operation method of zero-hoisting horizontal butt joint assembly system

Abstract

The invention discloses a zero-hoisting horizontal butt-joint assembly system based on cylinder posture adjustment and an operation method of the zero-hoisting horizontal butt-joint assembly system. In particular, the full-load cylinder needs to be overhauled regularly in a storage plant without hoisting equipment, the full-load cylinder is parked on the storage equipment, the AGV transfers the storage equipment and the full-load cylinder to an assembly station, the visual alignment measurement system detects the posture in real time, and the cylinder supporting and guiding device automatically adjusts the posture and aligns. The invention relates to a zero-hoisting horizontal butt-joint assembly system design based on cylinder posture adjustment and an operation method of the zero-hoisting horizontal butt-joint assembly system design based on cylinder posture adjustment. The horizontal butt-joint assembly system can realize regular maintenance and zero hoisting of the cylinder, the safety of products and personnel is improved, an assembly station does not need hoisting equipment and hoisting tools, and the cost is saved; the cylinder supporting and guiding device has an automatic and manual posture adjusting function, the adjusting range is digitally displayed in real time, and the safety and reliability of an assembling system are improved; based on a visual alignment measurement system, the alignment precision and reliability are improved, the alignment time is shortened, the labor intensity of staff is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of horizontal docking assembly of cylinders, and in particular to a horizontal docking assembly system for cylinder attitude adjustment. Background Art

[0002] With the development of the intelligent manufacturing field, the assembly of cylinders is gradually moving towards integration, automation, and intelligence. However, in China, the docking assembly of cylinders still relies on special lifting tools, overhead cranes, and special cylinder support and attitude adjustment trolley.

[0003] At present, there are many problems with existing horizontal docking assembly equipment and operation methods for cylinders. For example, cylinders have large external dimensions and large masses, requiring special lifting tools and large-load overhead cranes during hoisting, and each hoisting takes a long time, reducing the safety of products and personnel; the assembly equipment has long external dimensions and is supported by multiple support and attitude adjustment RGVs at the bottom. When manually adjusting, virtual support is likely to occur, and the attitude adjustment time is long, extremely relying on the experience and skills of operators. Summary of the Invention

[0004] In view of the above problems, the present invention proposes a zero-hoisting horizontal docking assembly system in which a fully loaded cylinder needs to be regularly maintained in a storage plant without a hoisting device, the fully loaded cylinder is parked on a storage device, an AGV transports the storage device and the fully loaded cylinder to an assembly station, a vision alignment measurement system detects the position and attitude in real time, a cylinder support and guiding device automatically adjusts the attitude and aligns, and a pushing device operates automatically. This horizontal docking assembly system can achieve zero-hoisting for regular maintenance of cylinders, improve the safety of products and personnel, eliminate the need for hoisting equipment and lifting tools at the assembly station, and save costs; the cylinder support and guiding device has an automatic plus manual attitude adjustment function and a real-time digital display of the adjustment range, improving the safety and reliability of the assembly system; based on the vision alignment measurement system, the alignment accuracy and reliability are improved, the alignment time is shortened, the labor intensity of employees is reduced, and the work efficiency is increased.

[0005] The present application achieves the above effects through the following solutions: A zero-hoisting horizontal docking assembly system based on cylinder attitude adjustment, comprising a fully loaded cylinder transfer AGV, a fully loaded cylinder storage device, a vision alignment measurement system, a tail automatic flipping and docking device, a general control system, a cylinder support and guiding device, a cylinder support and attitude adjustment RGV, and a pushing device, wherein: The fully loaded cylinder transfer AGV is used for transporting and overall supporting the fully loaded cylinder and the fully loaded cylinder storage device; The fully loaded cylinder storage device is used for supporting and storing the fully loaded cylinder and regularly rolling the fully loaded cylinder; The vision alignment measurement system is used for quickly aligning the cylinder with the tail and quickly aligning the cylinder with the cylinder support and guiding device; The tail automatic flipping and docking device is used for disassembling and installing the tail of the cylinder; The overall control system is used to control and manage cylinders for the full-load cylinder transfer AGV, full-load cylinder storage equipment, vision alignment measurement system, tail automatic flipping and docking equipment, cylinder support and posture adjustment RGV, and pushing device, and complete the automated horizontal docking and assembly task of the cylinder; The cylinder support and guiding device is used to fix the cylinder, support the pushing device and the cylinder, and provide an assembly track for the cylinder; The cylinder support and posture adjustment RGV is used to support the cylinder, the cylinder support and guiding device, and the pushing device, and has an automatic plus manual pose adjustment function; The pushing device is connected to the assembly pin at the tail of the cylinder for cylinder assembly and withdrawal operations.

[0006] Furthermore, the full-load cylinder transfer AGV is a double-vehicle linked AGV, and the full-load cylinder transfer AGV is connected and interacted with the overall control system through optical communication.

[0007] Furthermore, a first rolling mechanism is provided in the full-load cylinder storage equipment, which is used to realize 360° rolling of the full-load cylinder, for periodic rolling during product storage and barrel frame alignment connection during regular maintenance of the full-load cylinder.

[0008] The rolling mechanism adopts a motor reducer to drive the rolling function, or uses a handwheel to drive the rolling function.

[0009] Furthermore, the vision alignment measurement system includes three groups of binocular vision cameras. Among them, the first group of vision alignment measurement systems is used to measure the pose of the cylinder head, the second group of vision alignment measurement systems is used to measure the pose of the cylinder tail and the tail pose, and the third group of vision alignment measurement systems is used to measure the pose of the cylinder support and guiding device; Coding points are pasted on the surfaces of the cylinder, the tail, and the cylinder support and guiding device. The vision alignment measurement system fits the pose by identifying the coding points, thereby real-time detecting the position and posture of the cylinder, the tail, and the cylinder support and guiding device, and feeding back the position and posture information to the tail automatic flipping and docking equipment and the cylinder support and posture adjustment RGV.

[0010] Furthermore, the tail automatic flipping and docking equipment has a first walking mechanism, which is located at the bottom of the device and is used to carry and move the tail micro-motion flipping and docking equipment; on the first walking mechanism are successively a first transverse movement mechanism, a first slewing mechanism, a fine adjustment walking mechanism, a first lifting mechanism, a second rolling mechanism, a flipping mechanism, and a clamping mechanism, which are used to realize the clamping of the cylinder tail and the six-degree-of-freedom pose adjustment function.

[0011] Further, a transition frame is provided at the front end of the cylindrical support and guiding device. The transition frame expands at a set angle to facilitate the entry of the cylindrical support mechanism during the assembly process. The cylindrical support and guiding device is columnar as a whole, with an arc-shaped lower surface. A traveling rack and a guide rail are arranged along its radial direction. The traveling rack and the guide rail are arranged side by side to form a guiding mechanism for carrying the pushing device. A proximity switch target is provided at a set position on the side of the rack.

[0012] Further, the cylindrical support and posture-adjusting RGV includes several RGVs. Each RGV has a second traveling mechanism, a second lateral translation mechanism, a second lifting mechanism, a second slewing mechanism, and a third rolling mechanism. Among them, The RGVs at the front end and the rear end of the cylindrical support and posture-adjusting RGV are fixedly connected to the cylindrical support and guiding device by bolts. The RGVs located in the middle are supported by an arc surface but not fixedly connected to the cylindrical support and guiding device. Each cylindrical support and posture-adjusting RGV has a pressure sensor.

[0013] In this application, the pressure value can be displayed in real time and automatically adjusted to achieve the constant force support of the cylindrical support and guiding device and avoid the phenomenon of virtual support.

[0014] The second traveling mechanism, the second lateral translation mechanism, the second lifting mechanism, and the second rolling mechanism are driven by a motor reducer to adjust the posture function, or a handwheel can also be used to drive the posture function to improve the reliability of the equipment and avoid delaying the work progress. The slewing mechanism has no drive and is a follow-up structure.

[0015] Further, the pushing device includes a motor and a supporting reducer, a cylindrical gear, and a slider. The cylindrical gear is driven by the motor and the reducer to move along the traveling rack, and the slider moves linearly along the guide rail to provide guidance for the movement of the pushing device.

[0016] After the 4 sliders are assembled with the guide rail, a 2-mm gap is reserved between the lower surface of the slider and the lower surface of the guide rail, and a 3-mm gap is reserved on the side to avoid the jamming of the pushing device caused by machining errors of the guide rail (with a length greater than 20 m). The grasping frame is connected to the motor bracket by a spherical hinge to ensure that the cylinder only receives axial force during the assembly / withdrawal process. The proximity switch is used to control the automatic deceleration of the pushing device to avoid impact damage to the cylinder or the cylinder when the assembly is in place. Based on the above zero-hoisting horizontal docking and assembly system based on cylinder posture adjustment, this application also provides its operation method. The operation method includes the following steps: 1) When the full-load cylinder needs regular maintenance, the total control system issues an instruction, and the full-load cylinder transfer AGV lifts the full-load cylinder storage equipment and the full-load cylinder and lifts them off the ground. 2) Transfer the full-load cylinder storage equipment and the full-load cylinder to the assembly station. 3) The tail automatic flipping and docking device moves to the set position, and its flipping mechanism flips to the vertical state, adjusts the position and pose until the clamping mechanism grabs the tail of the cylinder and automatically completes the tail removal; 4) The cylinder support and pose adjustment RGV with the cylinder support guiding device moves to the set position at a distance from the rear end face of the cylinder, and the full-load cylinder storage device automatically rolls the full-load cylinder until the cylinder scale line is aligned with the front transition scale line of the cylinder support guiding device 6; 5) The middle support and pose adjustment RGV in the cylinder support and pose adjustment RGV descends, and the front-end and rear-end support and pose adjustment RGVs with the cylinder support guiding device perform four-degree-of-freedom automatic pose adjustment of transverse movement, lifting, rotation, and pitching to make the transition frame pin of the cylinder support guiding device concentric with the cylinder pin hole; 6) The front-end and rear-end support and pose adjustment RGVs with the cylinder support guiding device move to make the end face of the transition frame of the cylinder support guiding device fit with the rear end face of the cylinder; the middle support and pose adjustment RGV performs walking, transverse movement, and lifting pose adjustment; 7) Manually use bolts to firmly connect the cylinder to the transition frame of the cylinder support guiding device; 8) The pushing device automatically connects to the tail of the cylinder and performs the withdrawal operation; 9) After reaching the position, according to the feedback of the proximity switch, the pushing device automatically stops the operation, and the withdrawal operation is completed; 10) The operator performs maintenance and testing, and after the testing is completed, the assembly operation is carried out; 11) When the assembly reaches the position, according to the feedback of the proximity switch, the pushing device decelerates until the assembly force suddenly increases, the assembly is in place, and the pushing device automatically stops; 12) The pushing device retreats to the parking position, and the axial limit block and circumferential limit block are installed on the cylinder; 13) Remove the fastening connection bolts between the cylinder and the transition frame of the cylinder support guiding device; 14) The cylinder support and pose adjustment RGV with the cylinder support guiding device moves to the set position at a distance from the rear end face of the cylinder; 15) The tail automatic flipping and docking device moves to the designated position, adjusts the position and pose until the tail pin hole is concentric with the cylinder pin hole, and completes the tail installation work.

[0017] The beneficial effects of this application compared with the prior art are as follows: The present application proposes a zero-hoisting horizontal docking and assembly system for regular maintenance of fully loaded cylinders in a storage plant without hoisting equipment, where the fully loaded cylinders are parked on storage equipment, an AGV transfers the storage equipment and the fully loaded cylinders to the assembly station, a vision alignment measurement system detects the position and pose in real time, a cylinder support and guiding device automatically adjusts the position and alignment, and a pushing device operates automatically. This horizontal docking and assembly system can achieve zero-hoisting for regular maintenance of cylinders, improve product and personnel safety, eliminate the need for hoisting equipment and slings at the assembly station, and save costs; the cylinder support and guiding device has automatic and manual position adjustment functions and a real-time digital display of the adjustment range, improving the safety and reliability of the assembly system; based on the vision alignment measurement system, the alignment accuracy and reliability are improved, the alignment time is shortened, the labor intensity of employees is reduced, and the work efficiency is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0019] Figure 1 Schematic diagram of the zero-hoisting horizontal docking and assembly system based on cylinder position adjustment provided by the embodiment of the present invention; Figure 2 Schematic diagram of the fully loaded cylinder storage equipment provided by the embodiment of the present invention; Figure 3 Schematic diagram of the tail automatic flipping and docking device provided by the embodiment of the present invention; Figure 4 Schematic diagram of the cylinder support and guiding device and the pushing device provided by the embodiment of the present invention; Figure 5 Schematic diagram of the cylinder support position adjustment RGV provided by the embodiment of the present invention; In the figure, 1 - fully loaded cylinder transfer AGV, 2 - fully loaded cylinder storage equipment, 3 - vision alignment measurement system, 4 - tail automatic flipping and docking device, 5 - total control system, 6 - cylinder support and guiding device, 7 - cylinder support position adjustment RGV, 8 - pushing device, 301 - first group of vision alignment measurement systems, 302 - second group of vision alignment measurement systems, 303 - third group of vision alignment measurement systems; 201 - first rolling mechanism; 401 - first traveling mechanism, 402 - first transverse movement mechanism, 403 - first slewing mechanism, 404 - fine adjustment traveling mechanism, 405 - first lifting mechanism, 406 - second rolling mechanism, 407 - flipping mechanism, 408 - clamping mechanism; 601 - Transition frame, 602 - Walking rack, 603 - Guide rail, 604 - Proximity switch target, 801 - Motor, 802 - Slide block, 803 - Reducer, 804 - Cylindrical gear, 805 - Motor bracket, 806 - Ball hinge, 807 - Gripping frame, 808 - Proximity switch; 701 - Second walking mechanism, 702 - Second transverse movement mechanism, 703 - Second lifting mechanism, 704 - Second slewing mechanism, 705 - Third rolling mechanism. Specific implementation mode

[0020] For the convenience of understanding by those skilled in the art, the present invention will be further described below in conjunction with embodiments and the accompanying drawings. The content mentioned in the implementation mode is not a limitation to the present invention.

[0021] Refer to Figures 1 to 5 As shown, the present invention relates to a zero-hoisting horizontal docking assembly system design and its operation method based on cylinder posture adjustment, in which a full-load cylinder needs to be regularly maintained in a storage plant without hoisting equipment, the full-load cylinder is parked on a storage device, an AGV transports the storage device and the full-load cylinder to an assembly station, a vision alignment measurement system detects the position and posture in real time, a cylinder support and guiding device automatically adjusts the posture and aligns, and a pushing device runs automatically.

[0022] Embodiment 1:

[0023] This embodiment is a zero-hoisting horizontal docking assembly system based on cylinder posture adjustment. The horizontal docking assembly system includes a full-load cylinder transfer AGV 1, a full-load cylinder storage device 2, a vision alignment measurement system 3, a tail automatic flipping and docking device 4, a total control system 5, a cylinder support and guiding device 6, a cylinder support and posture adjustment RGV 7, and a pushing device 8.

[0024] The full-load cylinder transfer AGV 1 is mainly used for transporting and overall supporting the full-load cylinder and the full-load cylinder storage device; The full-load cylinder storage device 2 is used for supporting and storing the full-load cylinder, and regularly rolling the full-load cylinder; The vision alignment measurement system 3 is used for quickly aligning the cylinder with the tail and quickly aligning the cylinder with the cylinder support and guiding device; The tail automatic flipping and docking device 4 is used for automatically disassembling and installing the tail of the cylinder; The total control system 5 is used for controlling and managing the full-load cylinder transfer AGV, the full-load cylinder storage device, the vision alignment measurement system, the tail automatic flipping and docking device, the cylinder support and posture adjustment RGV, and the pushing device to complete the automatic horizontal docking and assembly task of the cylinder; The cylinder support and guiding device 6 is used for fixing the cylinder, supporting the pushing device and the cylinder, and providing an assembly track for the cylinder; The cylinder support and posture adjustment RGV7 is used to support the cylinder, the cylinder support and guiding device, and the pushing device, and has an automatic plus manual posture adjustment function; The pushing device 8 is connected to the assembly pin at the tail of the cylinder for cylinder assembly and withdrawal operations.

[0025] The horizontal docking and assembly station shares a set of full-load cylinder storage equipment 2 with the full-load cylinder storage station, improving equipment utilization rate, zero hoisting for regular maintenance of full-load cylinders, and enhancing product and personnel safety; The full-load cylinder transfer AGV1 is a double-vehicle linked AGV, and the full-load cylinder transfer AGV1 is connected and interacted with the total control system 5 through optical communication; The full-load cylinder storage equipment 2 has a first rolling mechanism 201, which can realize 360° rolling of the full-load cylinder, and is used for regular rolling during product storage and barrel frame alignment connection during regular maintenance of the full-load cylinder. The rolling mechanism 201 can use a motor reducer to drive the rolling function, or can also use a handwheel to drive the rolling function, improving equipment reliability and avoiding delaying the work progress; The vision alignment and measurement system 3 is composed of binocular vision cameras, with a quantity of 3 groups, and is fixed on the wall through brackets. The first group of vision alignment and measurement system 301 is used to measure the posture of the cylinder head, the second group of vision alignment and measurement system 302 is used to measure the posture of the cylinder tail and the tail posture, and the third group of vision alignment and measurement system 303 is used to measure the posture of the cylinder support and guiding device 6. Coding points are pasted on the surfaces of the cylinder, the tail, and the cylinder support and guiding device 6. The vision alignment and measurement system 3 fits the posture by identifying the coding points, thereby real-time detecting the position postures of the cylinder, the tail, and the cylinder support and guiding device 6 and feeding back the information to the tail automatic flipping and docking device 4 and the cylinder support and posture adjustment RGV7; The tail automatic flipping and docking device 4 has a first walking mechanism 401, a first transverse movement mechanism 402, a first slewing mechanism 403, a fine adjustment walking mechanism 404, a first lifting mechanism 405, a second rolling mechanism 406, a flipping mechanism 407, and a clamping mechanism 408, and can realize the functions of tail clamping and six-degree-of-freedom posture adjustment. Each degree of freedom of the tail automatic flipping and docking device 4 can use a motor reducer to drive the posture adjustment function, or can also use a handwheel to drive the posture adjustment function, improving equipment reliability and avoiding delaying the work progress; The control system 5 conducts unified control and management of the full-load cylinder transfer AGV1, the full-load cylinder storage equipment 2, the vision alignment and measurement system 3, the tail automatic flipping and docking device 4, the cylinder support and posture adjustment RGV7, and the pushing device 8; The front transition frame 601 of the cylinder support and guiding device 6 expands outward by 15 degrees, facilitating the entry of the cylinder support mechanism during the assembly process; a walking rack 602, a guide rail 603, and a proximity switch target 604 are arranged on the cylinder support and guiding device 6; The cylindrical support and posture-adjusting RGV7 is composed of 4 RGVs. Each RGV is equipped with a second traveling mechanism 701, a second crosswise movement mechanism 702, a second lifting mechanism 703, a second slewing mechanism 704, and a third rolling mechanism 705. Among them, the second traveling mechanism 701, the second crosswise movement mechanism 702, the second lifting mechanism 703, and the third rolling mechanism 705 can drive the posture-adjusting function using a motor reducer or drive the posture-adjusting function using a handwheel, which improves the reliability of the equipment and avoids delaying the work progress. The slewing mechanism 704 has no drive and is a follow-up structure. The front and rear 2 cylindrical support and posture-adjusting RGV7s are fixedly connected to the cylindrical support and guiding device 6 through bolts, and the middle 2 cylindrical support and posture-adjusting RGV7s are supported by the cylindrical surface of the cylindrical support and guiding device 6 but not fixedly connected. Each cylindrical support and posture-adjusting RGV7 is equipped with a pressure sensor, which can display the pressure value in real time and perform automatic adjustment to achieve the constant force support of the cylindrical support and guiding device 6 and avoid the phenomenon of virtual support.

[0026] The pushing device 8 is driven by a motor 801 and a reducer 803 to make 2 cylindrical gears 804 move along the traveling rack 602, and 4 sliders 802 move linearly along the guide rail 603 to provide guidance for the movement of the pushing device 8. After the 4 sliders 802 are assembled with the guide rail 603, a 2-mm gap is reserved between the lower surface of the slider 802 and the lower surface of the guide rail 603, and a 3-mm gap is reserved on the side to avoid the jamming of the pushing device 8 caused by machining errors of the guide rail 603 (with a length greater than 20 m). The grasping frame 807 is connected to the motor bracket 805 through a spherical hinge 806 to ensure that the cylinder only receives axial force during the assembly / withdrawal process. The proximity switch 808 is used to control the automatic deceleration of the pushing device 8 to avoid impact damage to the cylinder or cylinder when the assembly is in place.

[0027] Embodiment 2:

[0028] Based on Embodiment 1, the operation method of the horizontal docking and assembly system includes the following steps: When the full-load cylinder needs regular maintenance, the total control system 5 issues an instruction to command 2 full-load cylinder transfer AGVs 1 to run synchronously to the lower part of the designated full-load cylinder storage device 2, and the 2 full-load cylinder transfer AGVs 1 lift synchronously to lift the full-load cylinder storage device 2 and the full-load cylinder and lift them off the ground; The 2 full-load cylinder transfer AGVs 1 run synchronously to transfer the full-load cylinder storage device 2 and the full-load cylinder to the assembly station, and the 2 full-load cylinder transfer AGVs 1 lower synchronously to lower the full-load cylinder storage device 2 and the full-load cylinder to the ground; The vision alignment and measurement system 3 works. According to the detection results, the flipping mechanism 407 of the tail automatic flipping and docking device 4 flips to the vertical state, the tail automatic flipping and docking device 4 walks to the designated position, and automatically adjusts its position and posture until the clamping mechanism 408 grabs the tail and automatically completes the tail removal; The tail automatic flipping and docking device 4 walks with the tail to the parking position, and the flipping mechanism 407 of the tail automatic flipping and docking device 4 flips to the horizontal state; According to the detection results of the vision alignment measurement system 3, 4 cylinder support and posture adjustment RGVs 7 with cylinder support guiding devices 6 walk to a position 10 mm away from the rear end face of the cylinder. The full-load cylinder storage device 2 automatically rolls the full-load cylinder until the cylinder scale line is aligned with the scale line of the front transition frame 601 of the cylinder support guiding device 6; According to the detection results of the vision alignment measurement system 3, the second and third support and posture adjustment RGVs in the cylinder support and posture adjustment RGV 7 descend, and the first and fourth support and posture adjustment RGVs with the cylinder support guiding device 6 perform four-degree-of-freedom automatic posture adjustment of lateral movement, lifting, rotation, and pitching, so as to make the pin of the transition frame 601 of the cylinder support guiding device 6 concentric with the pin hole of the cylinder; The first and fourth support and posture adjustment RGVs with the cylinder support guiding device 6 walk to make the end face of the transition frame 601 of the cylinder support guiding device 6 fit with the rear end face of the cylinder; According to the detection results of the vision alignment measurement system 3, the second and third support and posture adjustment RGVs perform walking, lateral movement, and lifting and lowering posture adjustments. When lifting, according to the feedback in-place signal of the pressure sensor 706, the four support and posture adjustment RGVs in the cylinder support and posture adjustment RGV 7 support the cylinder support guiding device 6; Manually use bolts to firmly connect the cylinder to the transition frame 601 of the cylinder support guiding device 6; The pushing device 8 automatically connects to the cylinder tail and performs the withdrawal operation; After the withdrawal is in place, according to the feedback of the proximity switch 808, the pushing device 8 automatically stops the operation, and the withdrawal operation is completed; The operator performs maintenance and testing, and after the testing is completed, the assembly operation is carried out; When it is about 20 mm away from the assembly in-place, according to the feedback of the proximity switch 808, the pushing device 8 automatically performs primary deceleration. Manually extend the limit mechanisms at both ends of the cylinder. After the pushing device 8 walks for 20 s, it automatically performs secondary deceleration (to prevent excessive speed and impact between the cylinder stop block and the limit mechanism), until the assembly force suddenly increases by 2 t and the assembly is in place, and the pushing device 8 automatically stops; The pushing device 8 retreats to the parking position, and the operator installs the axial limit block and circumferential limit block on the cylinder; The operator removes the bolts for firmly connecting the cylinder to the transition frame 601 of the cylinder support guiding device 6; The 4 cylinder support and posture adjustment RGVs 7 with the cylinder support guiding device 6 walk to a position 4 m away from the rear end face of the cylinder; The visual alignment measurement system 3 operates. According to the detection results, the flipping mechanism 407 of the tail automatic flipping and docking device 4 flips to the vertical state. The tail automatic flipping and docking device 4 moves to the specified position and automatically adjusts its position and pose until the tail pin hole is concentric with the cylinder pin hole. The tail automatic flipping and docking device 4 automatically completes the tail installation work; The tail automatic flipping and docking device 4 moves to the parking position, and the flipping mechanism 407 of the tail automatic flipping and docking device 4 flips to the horizontal state, and the assembly operation is completed.

[0029] The specific application ways of the present invention are numerous. The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements can be made, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A zero-lifting horizontal docking assembly system based on cylinder posture adjustment, characterized in that: The horizontal docking assembly system includes a fully loaded cylinder transfer AGV, a fully loaded cylinder storage device, a visual alignment measurement system, a tail automatic flip docking device, a master control system, a cylinder support guide device, a cylinder support posture adjustment RGV and a push device, wherein: The fully loaded cylinder transfer AGV is used for the transfer and overall support of fully loaded cylinders and fully loaded cylinder storage equipment; The fully loaded cylinder storage equipment is used to support and store fully loaded cylinders and to roll the fully loaded cylinders regularly; The visual alignment measurement system is used for rapid alignment of the cylinder and the tail, and rapid alignment of the cylinder and the cylindrical support guide device; The tail automatic flipping and docking equipment is used to realize the disassembly and installation of the cylinder tail; The master control system is used to control and manage the fully loaded cylinder transfer AGV, fully loaded cylinder storage equipment, visual alignment measurement system, tail automatic flip docking equipment, cylinder support posture adjustment RGV, and push device to complete the cylinder automated horizontal docking assembly task; The cylindrical support guide device is used to fix the cylinder, support the push device and the cylinder, and provide an assembly track for the cylinder; The cylindrical support posture adjustment RGV is used to support the cylinder, the cylindrical support guide device and the push device, and has automatic and manual posture adjustment functions; The pushing device is connected with the assembly pin at the rear of the cylinder for assembling and withdrawing the cylinder.

2. According to claim 1, a zero-lifting horizontal docking assembly system based on cylinder posture adjustment is characterized in that: The fully loaded cylinder transfer AGV is a dual-vehicle linkage AGV, and the fully loaded cylinder transfer AGV is connected and interacted with the master control system through optical communication.

3. According to claim 1, a zero-lifting horizontal docking assembly system based on cylinder posture adjustment is characterized in that: The fully loaded drum storage device is provided with a first rolling mechanism for realizing the rolling of the fully loaded drum, and is used for regular rolling during product storage and for aligning and connecting the drum frame during regular maintenance of the fully loaded drum.

4. The zero-lifting horizontal docking assembly system based on cylinder posture adjustment according to claim 1 is characterized in that: The visual alignment measurement system includes three groups of binocular vision cameras, wherein the first group of visual alignment measurement systems is used to measure the head posture of the cylinder, the second group of visual alignment measurement systems is used to measure the tail posture and tail posture of the cylinder, and the third group of visual alignment measurement systems is used to measure the posture of the cylindrical support guide device; Coding points are pasted on the surface of the cylinder, tail, and cylindrical support guide device. The visual alignment measurement system detects the position and posture of the cylinder, tail, and cylindrical support guide device in real time by identifying the fitting posture of the coding points, and feeds back the position and posture information to the tail automatic flip docking equipment and the cylindrical support posture adjustment RGV.

5. The zero-lifting horizontal docking assembly system based on cylinder posture adjustment according to claim 1 is characterized by: The tail automatic flipping and docking device has a first walking mechanism, which is located at the bottom of the device and is used to carry and move the tail micro-flipping and docking device; on the first walking mechanism are, in sequence, a first transverse movement mechanism, a first rotation mechanism, a fine-adjustment walking mechanism, a first lifting mechanism, a second rolling mechanism, a flipping mechanism, and a clamping mechanism, which are used to realize the cylinder tail clamping and six-degree-of-freedom posture adjustment functions.

6. The zero-lifting horizontal docking assembly system based on cylinder posture adjustment according to claim 1 is characterized by: A transition frame is provided at the front end of the cylindrical support guide device, and the transition frame is expanded outward at a set angle to facilitate the entry of the cylindrical support mechanism during the assembly process; the cylindrical support guide device is columnar as a whole, and the lower surface is an arc surface, and a running rack and a guide rail are arranged along its radial direction, and the running rack and the guide rail are arranged side by side to form a guide mechanism for carrying the push device; A proximity switch target is arranged at a set position on the side surface of the rack.

7. The zero-lifting horizontal docking assembly system based on cylinder posture adjustment according to claim 1 is characterized by: The cylindrical support posture adjustment RGV includes a plurality of RGVs, each of which has a second walking mechanism, a second lateral movement mechanism, a second lifting mechanism, a second rotation mechanism, and a third rolling mechanism; wherein, The cylindrical support attitude adjustment RGV at the front and rear ends are fastened to the cylindrical support guide device by bolts, and the cylindrical support attitude adjustment RGV in the middle is supported by an arc surface but not fixedly connected to the cylindrical support guide device; each cylindrical support attitude adjustment RGV has a pressure sensor.

8. The zero-lifting horizontal docking assembly system based on cylinder posture adjustment according to claim 1 is characterized by: The pushing device comprises a motor and a matching reducer, a cylindrical gear and a sliding block. The motor and the reducer drive the cylindrical gear to move along the travel rack, and the sliding block moves linearly along the guide rail to provide guidance for the movement of the pushing device.

9. The operating method of the zero-lifting horizontal docking assembly system based on cylinder posture adjustment according to claim 1 is characterized in that: The operation method comprises the following steps: 1) When the fully loaded cylinder needs regular maintenance, the master control system issues a command, and the fully loaded cylinder transfer AGV lifts the fully loaded cylinder storage equipment and the fully loaded cylinder off the ground; 2) moving the fully loaded cylinder storage device and the fully loaded cylinder to the assembly station; 3) The tail automatic flip docking device moves to the set position, its flip mechanism flips to a vertical state, and adjusts its position until the clamping mechanism grabs the tail of the cylinder and automatically completes the tail removal; 4) The cylinder support posture adjustment RGV with the cylinder support guide device moves to the set position from the rear end face of the cylinder, and the fully loaded cylinder storage device with the fully loaded cylinder automatically rolls until the cylinder mark line is aligned with the front transition frame mark line of the cylinder support guide device; 5) The middle support attitude adjustment RGV in the cylindrical support attitude adjustment RGV descends, and the support attitude adjustment RGVs at the front and rear ends are automatically adjusted with four degrees of freedom, namely, lateral movement, lifting, rotation and pitch, with the cylindrical support guide device, so that the transition frame pin of the cylindrical support guide device is concentric with the cylinder pin hole; 6) The support and posture adjustment RGV at the front and rear ends moves with the cylindrical support and guide device, so that the end face of the transition frame of the cylindrical support and guide device fits with the rear end face of the cylinder; the middle support and posture adjustment RGV is walked, moved horizontally, and adjusted in lifting and lowering posture; 7) Manually fasten the cylinder and the transition frame of the cylindrical support guide device with bolts; 8) The push device automatically connects with the tail of the cylinder to perform the exit operation; 9) After reaching the position, the push device will automatically stop working according to the feedback from the proximity switch, and the exit operation is completed; 10) Operators conduct maintenance and testing, and then carry out assembly work after the testing is completed; 11) When the assembly is in place, the push device slows down according to the feedback from the proximity switch until the assembly force suddenly increases, and the push device stops automatically when the assembly is in place; 12) Push the device back to the parking position and install the axial limit block and circumferential limit block on the cylinder; 13) Remove the fastening bolts between the transition frame of the cylinder and the cylindrical support guide device; 14) The cylinder support posture adjustment RGV with the cylinder support guide device moves to the set position from the rear end surface of the cylinder; 15) The tail automatic flip docking equipment moves to the specified position and adjusts its position until the tail pin hole is concentric with the cylinder pin hole to complete the tail installation work.

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