Automatic long-distance butt-joint calibration device for horizontal long shaft body and working method of automatic long-distance butt-joint calibration device

Abstract

The invention discloses a horizontal long shaft body automatic long-distance butt joint calibration device and a working method thereof.The horizontal long shaft body automatic long-distance butt joint calibration device comprises a working part, a calibration part, a control part and a sensor module, the control part is arranged on one side of the working part at intervals, and the calibration part is arranged on the side, close to the working part, of the control part; the working part comprises a first adjusting device and a second adjusting device which are arranged at a long interval, and the interval space is a butt joint space; the sensor module comprises an image sensor and a distance sensor, and the detection end of the image sensor directly faces the butt joint space to obtain the coaxiality of a butt joint object; the distance sensors are arranged on one side of the butt joint space in a circumferential array mode to detect the distance between butt joint objects, the control part controls the two adjusting devices to adjust the postures of the butt joint objects according to the detection result, and when the image sensor and the calibration part detect that the butt joint objects are coaxial at the same time, the two adjusting devices are controlled to be close to each other and are aligned in the coaxial line state; all the components are coordinated through the control part, and automation of feeding, clamping, adjusting and butt joint is achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of hole shaft butt joint assembly of shaft parts, and more particularly to a horizontal long shaft body automatic long-distance butt joint calibration device and a working method thereof. BACKGROUND

[0002] In the field of mechanical manufacturing, shaft body butt joint is a key process in the assembly of various transmission equipment and pipeline systems. Traditional shaft body butt joint relies on manual operation, which is not only low in efficiency, but also prone to inaccurate alignment of the shaft centers of the two shafts due to differences in experience and physical strength, and cannot flexibly adapt to the posture adjustment requirements of the shaft body at different heights. Although some existing automatic butt joint devices can reduce manual intervention, they still have obvious shortcomings: first, the space rotation direction is restricted, as the shaft center matching is limited to a fixed height range, the adjustment flexibility of the rotating device on the base is limited, and it is difficult to achieve precise adaptation of the shaft body space posture; second, the shaft center butt joint accuracy is insufficient, relying only on a single sensor to detect the basic position, lacking a high-precision calibration mechanism, and unable to eliminate slight deviations during the butt joint process; third, the supporting structure of the traditional butt joint device has limited load capacity, and the stability of the clamping or fixing mechanism is insufficient, which can easily cause relative movement of the two shafts after butt joint, affecting the normal operation of the equipment; fourth, the supporting structure of the traditional butt joint device has a small supportable length range, and can only butt joint short shafts, but cannot effectively support long shafts, nor can it complete the butt joint of long shafts; fifth, the supporting structure of the traditional butt joint device cannot move, and cannot perform long-distance butt joint work on long and large shaft bodies; and in existing shaft butt joint devices, the shaft bodies are first butted together, and then adjusted until the two shaft bodies are coaxial, but this can cause the shaft bodies to be stuck together in some extreme cases, making further adjustment impossible; in addition, the existing devices have low intelligence and cannot realize automatic detection, adjustment and calibration of the entire butt joint process, still requiring manual assistance, and cannot meet the high-precision and high-reliability shaft butt joint requirements. SUMMARY

[0003] The application aims to overcome the deficiencies in the prior art and provides a horizontal long shaft body automatic long-distance butt joint calibration device and a working method thereof. The device adjusts the coaxiality first and then performs the butt joint process, realizes the intelligentization of the shaft center butt joint process through the sensor module, and realizes the automation of shaft body feeding, clamping, posture adjustment and precise butt joint through the control part coordinating the components,

[0004] Technical solution: To achieve the above object, the application discloses a horizontal long-shaft shaft body automatic long-distance butt joint calibration device, which comprises a working part, a calibration part, a control part and a sensor module, the control part is arranged on one side of the working part, the calibration part is installed on the side of the control part close to the working part and is signal connected with the control part, the working part comprises a first adjusting device and a second adjusting device, the first adjusting device and the second adjusting device are arranged at a long distance apart, and the interval between the first adjusting device and the second adjusting device is a butt joint space; the sensor module comprises an image sensor and a distance sensor, the image sensor is arranged at the uppermost end of the second adjusting device and detects the butt joint space, an image processing chip is implanted in the image sensor, the image sensor can detect the image of the butt joint object in the butt joint space, can obtain the coaxiality between the butt joint objects according to the image and transmit the coaxiality to the control part, and a plurality of distance sensors are arranged in a circumferential array on the side of the external annular clamping device close to the butt joint space in the first adjusting device, the distance sensors can detect the distance between the butt joint objects and transmit the detection result to the control part, the control part controls the first adjusting device and the second adjusting device to adjust the posture of the butt joint object according to the detection result of the image sensor, until the image sensor and the calibration part detect the coaxial line of the butt joint object at the same time, at this time, the control part controls the first adjusting device and the second adjusting device to approach each other according to the detection result of the distance sensor, so that the long-distance butt joint is completed in the state that the coaxial lines of the butt joint objects are the same.

[0005] Further, the working part further comprises a moving chassis, the first adjusting device is installed on the moving chassis, the second adjusting device is fixedly arranged on the side of the first adjusting device close to the control part, the butt joint object comprises a first long shaft and a second long shaft, the first long shaft is placed on the first adjusting device, the second long shaft is placed on the second adjusting device, when the calibration part detects the coaxial line of the first long shaft and the second long shaft, the control part controls the first adjusting device to move on the moving chassis towards the direction close to the second adjusting device with the first long shaft, so that the side, where the first long shaft and the second long shaft approach each other, is butt jointed in the butt joint space.

[0006] Further, the first adjusting device further comprises a first supporting platform, a rotating supporting seat, a mounting plate, an annular cover and a first supporting structure, the first supporting platform is slidingly installed on the moving chassis, the mounting plate is rotatably installed on the first supporting platform through the rotating supporting seat, the annular cover is fixedly installed on the mounting plate, the first supporting structure is fixedly installed on the mounting plate, and the first supporting structure is located within the enclosing range of the annular cover, the external annular clamping device is installed on the side of the first supporting platform close to the second adjusting device through a mounting frame, the clamping jaw of the external annular clamping device can be clamped on the outer circumferential surface of the first long shaft at the same time, and the first long shaft is driven to rotate around its own axis.

[0007] Further, the ring-shaped opening and closing cover comprises a semicircular lower cover, a semicircular upper cover, a hinged structure and an opening and closing control device, the lower cover is fixedly installed on the mounting plate, one end of the upper cover is hinged to one end of the lower cover through the hinged structure, the opening and closing control device is arranged on one side of the ring-shaped opening and closing cover corresponding to the hinged position of the lower cover and the upper cover, the driving device in the opening and closing control device is drivingly connected with the hinged shaft of the hinged structure, and the opening and closing control device is signal-connected with the control part; when the first long shaft is in contact with or separated from the first support structure, the control part sends a closing signal to the opening and closing control device, and the driving device in the opening and closing control device drives the hinged shaft of the hinged structure to rotate, so that the lower cover and the upper cover of the ring-shaped opening and closing cover are opened or closed.

[0008] Further, the external ring-shaped clamping device further comprises a mounting flange, a driven gear, a ring-shaped sliding rail, a claw, a first screw rod driving device and a driving rack; the claw cover is installed on the first support platform through the mounting frame, close to the second adjusting device, the mounting flange is coaxially fixedly installed at one end of the cover opening of the claw cover, the driven gear is coaxially rotatably installed on the mounting flange, close to the second adjusting device, the ring-shaped sliding rail is coaxially fixedly installed on the driven gear, close to the second adjusting device, a plurality of claws are circumferentially arranged and slidably fitted on the ring-shaped sliding rail, the first screw rod driving device is arranged on the mounting frame corresponding to the driven gear, the driving rack is installed on the first screw rod driving device, the circumferential surface of the claw cover is provided with an engagement opening corresponding to the driven gear, and the teeth of the driving rack are meshed with the driven gear through the engagement opening; when the first screw rod driving device drives the driving rack to move, the driving rack drives the driven gear to rotate, so that the claws are synchronously close to or away from each other.

[0009] Further, the second adjusting device further comprises an internal ring-shaped chuck, a second support platform, a second support structure and a push-pull mechanism; the shaft machine is arranged on the moving base, close to the control part, the main shaft of the shaft machine can freely move in the vertical plane, the internal ring-shaped chuck is coaxially installed on one end of the main shaft of the shaft machine, close to the moving base, the second support platform is slidably installed on the moving base, close to the shaft machine, the push-pull mechanism is arranged on the shaft machine, close to the moving base, and the driving part of the push-pull mechanism is fixedly connected with the side of the second support platform, close to the shaft machine; after the second long shaft is placed on the second support structure through the suspension device, the push-pull mechanism can drive the second support platform to move towards the shaft machine with the second long shaft, and the abutting block of the internal ring-shaped chuck can be clamped on the inner wall of the second long shaft.

[0010] Further, the second adjusting device further comprises a height adjusting mechanism, the height adjusting mechanism is installed on the second support platform, the second support structure comprises at least two support frames, and the two support frames are equidistantly arranged along the length direction of the second support platform, any one of the two support frames is taken as a fulcrum support frame, the fulcrum support frame is installed on the lifting part of the height adjusting mechanism, and the height adjusting mechanism can adjust the height of the fulcrum support frame in the vertical direction.

[0011] Further, the height adjusting mechanism comprises a vertical driving device, a driving lead screw and a circular mounting plate; the vertical driving device is fixedly installed on the second support platform, the driving lead screw is coaxially and integrally connected to the driving shaft of the vertical driving device, the circular mounting plate is provided with a threaded hole capable of threadedly cooperating with the driving lead screw, and the fulcrum support frame is fixedly installed on the circular mounting plate; when the vertical driving device drives the driving lead screw to rotate, the circular mounting plate moves vertically along the driving lead screw with the fulcrum support frame.

[0012] Further, the moving chassis comprises a chassis frame and a second lead screw driving device, the two second lead screw driving devices are arranged along the length direction of the chassis frame, and the two second lead screw driving devices are arranged side by side along the width direction of the chassis frame; the chassis frame is provided with guide rails on both sides along the length direction, the first support platform and the second support platform are slidably matched on the guide rails through sliding blocks, the bottom surface of the first support platform is provided with a lead screw nut matched with the second lead screw driving device, and the second lead screw driving device can drive the first support platform to slide on the chassis frame; the push-pull mechanism can drive the second support platform to slide on the chassis frame.

[0013] Further, the calibration part comprises a laser interferometer; the laser interferometer is installed on the control part through a translation structure close to the shaft machine on one side, the translation structure allows the laser interferometer to move in the vertical plane and can lock and fix it; the laser interferometer can emit a high-frequency dispersed laser beam, and the transverse and height position differences of the first long axis and the second long axis are measured through the reflection and refraction signals of the laser on the surface of the shaft body.

[0014] Further, the sensor module further comprises a photoelectric sensor and an infrared sensor; the photoelectric sensor is arranged above the annular opening and closing cover through a suspension structure, and can detect whether the photoelectric door itself is blocked; the infrared sensor corresponds to the end of the upper cover away from the hinged structure, and is installed on the side of the annular opening and closing cover away from the control part through a support, and can detect the length of the emitted laser.

[0015] Further, a working method of a horizontal long shaft body automatic long-distance butt joint calibration device is applied to a horizontal shaft body automatic butt joint calibration device, and comprises the following steps:

[0016] Step one: move the second long shaft to the first support structure through the suspension device, when the second long shaft is close to the top of the ring-shaped opening and closing cover, the photoelectric sensor of the sensor module detects that the photoelectric door is blocked, and immediately sends an opening signal to the opening and closing control device;

[0017] Step two: after receiving the opening signal, the opening and closing control device drives the hinge shaft of the hinge structure to rotate, so that the upper cover of the ring-shaped opening and closing cover rotates around the hinge shaft, the upper cover and the lower cover are separated from the non-hinged end, and the ring-shaped opening and closing cover is opened;

[0018] Step three: place the second long shaft on the first support structure through the suspension device, and after the placement is completed, the control part sends a closing signal to the opening and closing control device;

[0019] Step four: after receiving the closing signal, the opening and closing control device drives the hinge shaft of the hinge structure to rotate reversely, so that the upper cover of the ring-shaped opening and closing cover contacts with the lower cover away from the non-hinged end, and the ring-shaped opening and closing cover is closed;

[0020] Step five: the control part controls the second screw drive device of the moving chassis to rotate, and drives the first support platform and the second long shaft above it to slide along the chassis frame guide of the moving chassis to the direction close to the second adjusting device through the thread cooperation between the second screw drive device and the first support platform bottom screw nut;

[0021] Step six: at the same time, the push-pull mechanism of the second adjusting device drives the second support platform to move away from the shaft machine until the second long shaft is translated to the second support structure, and then the screw drive device of the moving chassis is reversely driven to reset the first support platform to the initial position;

[0022] Step seven: move the first long shaft to the first support structure through the suspension device, and execute the operations of steps one to two again to place the first long shaft on the first support structure, after the placement is completed, the control part sends a closing signal to the opening and closing control device, and the control part sends an adjusting signal to the first adjusting device and the second adjusting device after determining that the ring-shaped opening and closing cover is in the closed state through the infrared sensor;

[0023] Step eight: after receiving the adjusting signal, the rotating support seat drives the first long shaft to rotate relative to the first support platform; at the same time, the image sensor of the sensor module determines the coaxiality of the first long shaft and the external ring-shaped clamping device in real time until the first long shaft is coaxial with the external ring-shaped clamping device;

[0024] Step nine: the second screw drive drives the first support platform with the first long shaft to move towards the direction of the external annular clamping device until the first long shaft approaches one end of the second adjusting device into the clamping range of the external annular clamping device, the clamping device The clamping device is close to each other and clamped against the outer surface of the first long shaft, completing the clamping of the first long shaft;

[0025] Step ten: after the second adjusting device receives the adjusting signal, the push-pull mechanism drives the second support platform with the second long shaft to move towards the shaft machine, until the second long shaft approaches one end of the shaft machine and is sleeved on the outer circumferential wall of the shaft machine spindle, The abutting blocks of the internal annular chuck are away from each other and are clamped against the circumferential surface of the second long shaft inner wall, completing the fixation of the second long shaft;

[0026] Step eleven: the image sensor detects the coaxiality of the first long shaft and the second long shaft, and the control part controls the height adjusting mechanism and the shaft machine to cooperate with each other, and fine-tunes the height of the second long shaft in the vertical direction until the axis of the first long shaft and the axis of the second long shaft are at the same height in the vertical direction;

[0027] Step twelve: each distance sensor detects the distance between itself and the outer circumferential contour of one end of the second long shaft moving base, and at the same time, the image sensor detects the image of the abutting end of the first long shaft and the second long shaft in real time, and determines whether there is a gap at the abutting end and the position of the gap through the image processing chip implanted therein. If the detection results of each distance sensor are inconsistent, or there is a gap, it is determined that the first long shaft and the second long shaft are not in the coaxial state;

[0028] Step thirteen: the control part sends fine-tuning signals to the external annular clamping device or the height adjusting mechanism according to the detection results of the distance sensor and the image sensor: if the first long shaft needs to be fine-tuned, control the external annular clamping device to fine-tune the posture of the clamping jaw, or control the rotating support seat to fine-tune the angle of the first long shaft; If the second long shaft needs to be fine-tuned, control the height adjusting mechanism to fine-tune the height of the fulcrum support frame, or control the shaft machine to fine-tune the position of the main shaft, until the detection results of each distance sensor are consistent, and there is no gap in the image detection result of the image sensor, and the coaxial detection result of the image sensor shows that the first long shaft and the second long shaft are coaxial;

[0029] Step fourteen: on the basis of step thirteen, the calibration part detects whether the first long axis and the second long axis are in the coaxial state; if the detection result is non-coaxial, continue to adjust according to the detection result, and if the detection result is coaxial, the second screw rod driving device drives the first supporting platform with the first long axis to move towards the direction of approaching the second adjusting device, so that the side of the first long axis and the second long axis approaching each other is butt jointed in the butt joint space.

[0030] Beneficial effects: compared with the prior art, the horizontal long axis shaft body automatic long-distance butt joint calibration device and the working method thereof have the following beneficial effects:

[0031] 1. High degree of automation, greatly reducing manual intervention: the device can automatically complete shaft body loading protection, posture adjustment, clamping and fixing, coaxiality calibration and butt joint operation, without the need for repeated manual adjustment, effectively improving shaft butt joint assembly efficiency and reducing labor costs.

[0032] 2. High detection and calibration precision, ensuring butt joint quality: real-time monitoring of key parameters through multiple types of sensors, combined with laser interferometer accurate calibration of two shafts coaxial, can effectively avoid butt joint gap and coaxiality deviation problems, and ensure that the shafts meet high-precision assembly requirements after butt joint.

[0033] 3. High flexibility of clamping and adjustment: the external ring clamping device and the internal ring chuck are respectively adapted to the external clamping of the shaft body and the internal clamping of the shaft body, which can stably clamp the shaft body, and can adjust the posture of the shaft body through the clamping mechanism, adapt to the butt joint requirements of shaft bodies of different structures and sizes.

[0034] 4. Strong controllability in butt joint process: the control part can calculate the required moving distance of the first supporting platform according to the detection data of the distance sensor, combined with the preset butt joint depth to ensure that the shafts are butt jointed in place, avoiding the problems of over jointing or insufficient butt jointing, and improving the stability and reliability of the butt joint process. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The overall structure distribution diagram of the automatic shaft butt joint device of the present application;

[0036] Figure 2 The structure diagram of the working part;

[0037] Figure 3 The detail display diagram of the first supporting structure and the second supporting structure in the assembled state;

[0038] Figure 4 The internal structure diagram of the external ring clamping device;

[0039] Figure 5 The structure diagram of the claw cover of the external ring clamping device;

[0040] Figure 6 This is an axial schematic diagram of the annular clamping device in the direction from the control unit to the working unit.

[0041] Figure 7 A schematic diagram of the movable base plate and height adjustment mechanism;

[0042] Figure 8 This is a schematic diagram of the control unit and calibration unit. Detailed Implementation

[0043] The invention will now be further described with reference to the accompanying drawings.

[0044] like Figure 1 As shown, a horizontal long-axis automatic long-distance docking calibration device includes a working part 1, a calibration part 2, a control part 3, and a sensor module 4. The control part 3 is spaced apart on one side of the working part 1, and the calibration part 2 is installed on the side of the control part 3 near the working part 1 and is signal-connected to it. The working part 1 includes a first adjustment device 7 and a second adjustment device 8, which are spaced apart by a long distance to avoid mutual interference between the docking objects, and the space between the first adjustment device 7 and the second adjustment device 8 is the docking space. The sensor module 4 includes an image sensor 43 and a distance sensor 44. The image sensor 43 is located at the uppermost end of the shaft mechanism 29 in the second adjustment device 8, with its detection end facing the docking space, and its embedded image sensor... The image sensor 43 is used to detect the image of the docking object in the docking space. It can obtain the coaxiality between the docking objects based on the image and transmit it to the control unit 3. Several distance sensors 44 are arranged in a circular array and installed in the first adjustment device 7 on the side of the external annular clamping device 15 near the docking space. They can detect the distance between the docking objects and transmit the detection results to the control unit 3. The control unit 3 controls the first adjustment device 7 and the second adjustment device 8 to adjust the posture of the docking objects based on the detection results of the image sensor 43 until the image sensor 43 and the calibration unit 2 simultaneously detect the coaxiality of the docking objects. At this time, the control unit 3 controls the first adjustment device 7 and the second adjustment device 8 to move closer to each other based on the detection results of the distance sensor 44, thereby completing long-distance docking in the state of coaxiality of the docking objects.

[0045] like Figures 1-7As shown, the working unit 1 includes a first adjusting device 7, a second adjusting device 8, and a movable chassis 9. The first adjusting device 7 is mounted on the movable chassis 9, and the second adjusting device 8 is fixedly disposed on the side of the first adjusting device 7 near the control unit 3. The docking objects include a first long shaft 5 and a second long shaft 6. The first long shaft 5 is placed flat on the first adjusting device 7, and the second long shaft 6 is placed flat on the second adjusting device 8. A gap is provided between the first adjusting device 7 and the second adjusting device 8, and this gap is the docking space. When the calibration unit 2 detects that the first long shaft 5 and the second long shaft 6 are coaxial, the control unit 3 controls the first adjusting device 7 to move the first long shaft 5 on the movable chassis 9 towards the second adjusting device 8, so that the sides of the first long shaft 5 and the second long shaft 6 that are close to each other are docked in the docking space. Generally, the first long shaft 5 and the second long shaft 6 are hollow pipes, wherein the first long shaft 5 can also be a solid shaft. The maximum outer diameter of either the first long shaft 5 or the second long shaft 6 is equal to the minimum inner diameter of the other. In some special cases, the maximum outer diameters of the first long shaft 5 and the second long shaft 6 are equal.

[0046] The first adjustment device 7 further includes a first support platform 10, a rotating support seat 11, a mounting plate 12, an annular opening and closing cover 13, and a first support structure 14. The first mounting plate 10 is slidably mounted on the movable chassis 9. The mounting plate 12 is rotatably mounted on the first support platform 10 via the rotating support seat 11. The annular cover 13 is fixedly mounted on the mounting plate 12. The first support structure 14 is fixedly mounted on the mounting plate and is located within the enclosure of the annular opening and closing cover 13. The external annular clamping device 15 is mounted on the side of the first support platform 10 near the second adjustment device 8 via a mounting bracket (not shown in the figure). In the axial direction, the first support structure 14 is located within the clamping range of the external annular clamping device 15. With this configuration, once the first long shaft 5 or the second long shaft 6 is placed on the first support structure 14 by the suspension device, one end of the first long shaft 5 or the second long shaft 6 can pass through the clamping range of the external annular clamping device 15 by moving the first support platform 10.

[0047] More specifically, an electric slide rail device is provided between the first support platform 10 and the rotating support seat 11. The rotating support seat 11 is mounted on the upper surface of the first support platform 10 via the electric slide rail device, and the electric slide rail device is signal-connected to the control unit 3. The electric slide rail device can drive the mounting plate 12, carrying the first support structure 14 and the first pipe 5, to approach or move away from the external annular clamping device 15, which is fixedly mounted on the first support platform 10 via the mounting bracket.

[0048] In the initial state, the annular opening and closing cover 13 is in a closed state, and the first support platform 10 and the external annular clamping device 15 are spaced apart. When the first long shaft 5 is placed on the first support structure 14 by the suspension device, the sensor module 4 can detect that the first long shaft 5 is on the first support structure 14 and send the detection signal to the control unit 3. After receiving the above signal, the control unit 3 sends a closing signal to the annular opening and closing cover 13. After the annular opening and closing cover 13 is closed, the rotating support seat 11 rotates the first long shaft 5 relative to the first support platform 10 until the end of the first long shaft 5 near the second adjusting device 7 is in the axial direction in the external annular shape. Within the clamping range of the clamping device 15, the first support platform 10, carrying the first long shaft 5, moves on the movable chassis 9 towards the direction of the outer annular clamping device 15. Once the end of the first long shaft 5 near the second adjusting device 8 is within the clamping range of the outer annular device 15, the claws of the outer annular clamping device 15 simultaneously clamp and abut against the outer circumferential surface of the first long shaft 5. Preferably, the end of the first long shaft 5 near the second adjusting device 8 should protrude a certain distance from the side of the outer annular device 15 away from the first support platform 10 to facilitate subsequent docking operations. In the clamping state, the outer clamping device 15 can drive the first long shaft 5 to rotate around its own axis.

[0049] The annular opening and closing cover 13 includes a semi-circular lower cover 16, a semi-circular upper cover 17, a hinge structure 18, and an opening and closing control device 19. The lower cover 16 is fixedly mounted on the mounting plate 12. One end of the upper cover 17 is hinged to one end of the lower cover 16 via the hinge structure 18. The opening and closing control device 19 is located on one side of the annular opening and closing cover 13 corresponding to the hinge position of the lower cover 16 and the upper cover 17. The drive device in the opening and closing control device 19 drives the hinge shaft of the hinge structure 18. The opening and closing control device 19 is signal-connected to the control unit 3. When the first long shaft 5 contacts or disengages from the first support structure 14, the control unit 3 sends a closing signal to the opening and closing control device 19. The drive device in the opening and closing control device 19 drives the hinge shaft of the hinge structure 18 to rotate, thereby opening or closing the lower cover 16 and the upper cover 17 of the annular opening and closing cover 13.

[0050] The external annular clamping device 15 includes a mounting flange 20, a driven gear 21, an annular slide rail 22, jaws 23, a jaw cover 24, a first lead screw drive device 25, and a drive rack 26. The jaw cover 24 is mounted on the side of the first support platform 10 near the second adjustment device 8 via a mounting bracket. The mounting flange 20 is coaxially fixedly mounted on one end of the jaw cover 24. The enclosed space of the mounting flange 20 and the jaw cover 24 is the drive space, and the driven gear 21 and the annular slide rail 22 are both located within the drive space. The driven gear 21 is coaxially rotatably mounted on the side of the mounting flange 20 near the second adjustment device 8. The annular slide rail 22 is coaxially fixedly mounted on the side of the driven gear 21 near the second adjustment device 8. The slide rail 22 is a spiral track with decreasing radius. Several jaws 23 slide in a circular array on the annular slide rail 22. The end face of the jaw cover 24 near the second adjustment device 8 is... Each jaw 24 should have several jaw slots 27. In the assembled state, each jaw 24 is respectively engaged in the jaw slots 27. The first lead screw drive device 25 is mounted on the mounting bracket corresponding to the driven gear 21, and the first lead screw drive device 25 is arranged perpendicular to the axis of the driven gear 21. The drive rack 26 is mounted on the first lead screw drive device 25 through a lead screw nut. The circumferential surface of the jaw cover 24 has a meshing port 28 corresponding to the driven gear 21. The teeth of the drive rack 26 pass through the meshing port and mesh with the driven gear 21. When the first lead screw drive device 25 drives the drive rack 26 to move along its own axis, the drive rack 26 meshes with the driven gear 21, thereby driving the driven gear 21 to rotate around its own axis. The annular slide rail 22 rotates synchronously with the driven gear 21. Under the limiting action of the jaw cover 24, each jaw 24 moves closer or further away from each other synchronously with the rotation of the annular slide rail 22.

[0051] The second adjustment device 8 further includes an internal annular chuck 30, a second support platform 31, a second support structure 32, and a push-pull mechanism 33; the shaft mechanism 29 is spaced apart on the side of the movable chassis 9 near the control unit 3, the main shaft of the shaft mechanism 29 can move freely in the vertical plane, the internal annular chuck 30 is coaxially mounted on the end of the main shaft of the shaft mechanism 29 near the movable chassis 9, the second support platform 31 is slidably mounted on the side of the movable chassis 9 near the shaft mechanism 29, the push-pull mechanism 33 is located on the side of the shaft mechanism 29 near the movable chassis 9, and the drive part of the push-pull mechanism 33 is fixedly connected to the side of the second support platform 31 near the shaft mechanism 29; the push-pull mechanism 33 can be an electric telescopic rod, piston rod, or lead screw drive device, etc., which can realize linear drive. In the initial state, the abutting blocks of the internal annular chuck 30 are close to each other, and the telescopic part of the push-pull mechanism 33 is extended. After the second long shaft 6 is placed on the second support structure 32 by the suspension device, the shaft machine 29 adjusts the position of its main shaft in the vertical plane until the main shaft of the shaft machine 29 is coaxial with the second long shaft 6. Then, the push-pull mechanism 33 drives the second support platform 31 to move the second long shaft 6 towards the shaft machine 29 until the end of the second long shaft 6 near the shaft machine 29 is sleeved on the outer circumferential wall of the main shaft of the shaft machine 29. Then, the abutting blocks of the internal annular chuck 30 abut and clamp onto the circumferential surface of the inner wall of the second long shaft 6.

[0052] More specifically, the main shaft of the shaft machine 29 is ring-shaped, and its center is not solid. The side of the shaft machine 29 away from the moving chassis 9 also has a through hole corresponding to the main shaft. The cylindrical channel and the through hole at the center of the main shaft of the shaft machine 29 together constitute a calibration channel. The calibration unit 2 detects the coaxiality of the first long shaft 5 and the second long shaft 6 through the calibration channel, thereby determining whether the first long shaft 5 and the second long shaft 6 are coaxial.

[0053] The second adjustment device 8 further includes a height adjustment mechanism 34, which is mounted on the second support platform 31. The second support structure 32 includes at least two support frames, which are equidistantly arranged along the length of the second support platform 31. Either of the two support frames is designated as a fulcrum support frame 32a. The fulcrum support frame 32a is mounted on the lifting part of the height adjustment mechanism 34. The height adjustment mechanism 34 can adjust the vertical height of the fulcrum support frame 32a. When the end of the second long shaft 6 near the shaft machine 29 is sleeved on the outer circumferential wall of the main shaft of the shaft machine 29, the height adjustment mechanism 34 and the main shaft of the shaft machine 29 cooperate to adjust the height of the second long shaft 6. The height of shaft 6 in the vertical direction is such that the axis of the second long shaft 6 and the axis of the first long shaft 5 are at the same height in the vertical direction. It should be emphasized that if there are more than two second support structures 32, multiple fulcrum support frames 32a can be designed. When the end of the second long shaft 6 near the shaft machine 29 is clamped on the shaft machine, the end of the second long shaft 6 away from the shaft machine may not necessarily be supported on all the support frames of the second support structure 32, but it must be supported on at least one fulcrum support frame. The purpose of designing multiple support frames is to be able to cooperate with the sliding and push-pull mechanism 33 of the second support platform 31 on the mobile chassis 9, so as to meet the erection requirements of second long shafts 6 of different lengths.

[0054] Similarly, to meet the erection requirements of first long shafts 5 of different lengths, the first support structure 14 also includes multiple support frames. When the first long shaft 5 is placed on the first support structure 14 by the suspension device, the end of the first long shaft 5 closest to the external annular clamping device 15 should protrude a certain distance from the first support structure 14 after placement. In the initial state, all support frames of the first support structure 14 and all support frames of the second support structure 32 are at the same height in the vertical direction, and the support surfaces of all support frames of the first support structure 14 and all support frames of the second support structure 32 are at the same height. With the support surfaces arranged in a coplanar manner, when loading materials, i.e., placing the first long shaft 5 and the second long shaft 6 in the working part 1, the second long shaft 6 should first be placed on the first support structure 14 using a suspension device. Then, the second long shaft 6 should be moved onto the second support structure 32 by coordinating the movable chassis 9, the first support platform 10, the first support structure 14, the second support platform 31, the second support structure 32, and the push-pull mechanism 33. Then, the first long shaft 5 should be placed on the first support structure 14 using a suspension device. Finally, the first long shaft 5 and the second long shaft 6 should be adjusted accordingly.

[0055] It should also be emphasized that those skilled in the art should know that neither the first support structure 14 nor the second support structure 32 provides support to the ends of the first long shaft 5 or the second long shaft 6 under normal circumstances. This ensures that both ends of the first long shaft 5 and the second long shaft 6 are suspended, which facilitates the transfer of the first long shaft 5 and the second long shaft 6 between the first adjusting device 7 and the second adjusting device 8, as well as the docking between the first long shaft 5 and the second long shaft 6.

[0056] The height adjustment mechanism 34 includes a vertical drive device 35, a drive screw 36, and a circular mounting plate 37. The vertical drive device 35 is fixedly mounted on the second support platform 31. The drive screw 36 is coaxially and integrally connected to the drive shaft of the vertical drive device 35. The circular mounting plate 37 has a threaded hole at its center that can thread with the drive screw 36. The bottom of the fulcrum support frame 32a is fixedly mounted at the center of the circular mounting plate 37, and the bottom of the fulcrum support frame 32a has a threaded hole corresponding to the drive screw 36. The threaded hole on the fulcrum support frame 32a and the threaded hole on the circular mounting plate 37 are coaxially aligned and have the same radius. When the vertical drive device 35 drives the drive screw 36 to rotate, the circular mounting plate 37 moves vertically along the drive screw 36, carrying the fulcrum support frame 32a.

[0057] The mobile chassis 9 includes a chassis frame 38 and a second lead screw drive device 39. The two second lead screw drive devices 39 are arranged along the length direction of the chassis frame 38 and side by side along the width direction of the chassis frame 38. The driving part of the two second lead screw drive devices 39 is located on the side of the chassis frame 38 away from the control part 3. Guide rails are provided on both sides of the chassis frame 38 along the length direction. The first support platform 10 and the second support platform 31 are slidably engaged on the guide rails by sliders. A plurality of lead screw nuts that cooperate with the second lead screw drive devices 39 are fixedly installed on the ground of the first support platform 10. When the two second lead screw drive devices 39 rotate simultaneously, the threaded engagement between the lead screw and the lead screw nut in the second lead screw drive device 39 can drive the first support platform 10 to slide on the guide rails of the chassis frame 38. The push-pull mechanism 33 can drive the second support platform 31 to slide on the chassis frame 38. In addition, the second lead screw drive device 39 can also be replaced by other devices that can perform linear drive.

[0058] Furthermore, when both the first long shaft 5 and the second long shaft 6 are hollow pipes, the first long shaft 5 and the second long shaft 6 can be arbitrarily selected to be matched with their respective adjusting devices. The first long shaft 5 can also be installed on the second adjusting device 8, and the second long shaft 6 can also be installed on the first adjusting device 7. This solution specifically describes the matching relationship between the working part and the long shaft body. Those skilled in the art should know that the description of "first and second" is only for the convenience of the reader to understand this solution, and does not directly limit the first adjusting device 7 to only be matched with the first long shaft 5, nor does it directly limit the second adjusting device 8 to only be matched with the second long shaft 6.

[0059] When either of the two long shafts that need to be joined is a solid shaft, it needs to be set as the first long shaft 5. Since it is a solid shaft, the internal annular chuck 30 of the second adjusting device 8 cannot clamp and fix it. Therefore, it can only be clamped by the external annular clamping device 15.

[0060] When both the first long shaft 5 and the second long shaft 6 are hollow tubes, and the maximum outer diameter of either the first long shaft 5 or the second long shaft 6 is equal to the minimum inner diameter of the other, it indicates that a relatively stable connection force can be formed between the two long shafts after docking. Therefore, after the docking work is completed, the two long shafts after docking can be lifted away from the working part 1 by a suspension device, and then subsequent processing work can be carried out.

[0061] When both the first long shaft 5 and the second long shaft 6 are hollow tubes, and the maximum outer diameter of either the first long shaft 5 or the second long shaft 6 is smaller than the minimum inner diameter of the other, it indicates that after the coaxiality of the two long shafts is adjusted but before they are docked, a corresponding auxiliary structure needs to be added to the inner wall of the long shaft with the larger radius near the docking point. The auxiliary structure is a sealing ring, bearing, etc., which needs to be determined according to the actual situation. The auxiliary structure needs to be placed in advance to avoid inaccurate detection results from the image sensor 43.

[0062] When both the first long shaft 5 and the second long shaft 6 are hollow tubes, and the maximum outer diameters of the first long shaft 5 and the second long shaft 6 are equal, it means that after the two long shafts are docked, their close-to-each ends can only fit together, but cannot form a stable connection force. Therefore, after completing the docking task, it is necessary to directly connect the first long shaft 5 and the second long shaft 6 coaxially together through welding, metal adhesive, connecting buckles, or other connection methods.

[0063] The sensor module 4 also includes a set of photoelectric sensors 41 and a set of infrared sensors 42. The photoelectric sensors 41 are mounted above the annular opening and closing cover 13 via a suspension structure (not shown in the figure). The photoelectric sensors 41 can detect whether their own photoelectric gate is blocked. If the photoelectric gate of the photoelectric sensor 41 is blocked, it means that there is a suspended shaft above the annular opening and closing cover 13. The photoelectric sensors 41 are simultaneously connected to the control unit 3 and the opening and closing control device 19. When the photoelectric sensor 41 detects that its own photoelectric gate is blocked, the photoelectric sensor 41 sends an opening signal to the opening and closing control device 19. After receiving the opening signal, the opening and closing control device 19 drives the upper cover of the annular opening and closing cover 13. The upper cover 16 rotates around the hinge axis of the hinge structure 18, thereby separating the ends of the upper cover 16 and the lower cover 17 away from the hinge structure 18 until the opening and closing device is reached; at the same time, the photoelectric sensor 41 sends a feeding signal to the control unit 3. After receiving the feeding signal, the control unit 3 issues an alarm to remind workers near the annular opening and closing cover 13 to avoid the shaft falling from the suspension device and causing personal injury; and after issuing the alarm, the control unit 3 sends a closing signal to the opening and closing control device 19 after a set time interval. After receiving the closing signal, the opening and closing control device 19 drives the upper cover 16 of the annular opening and closing cover 13 to rotate around the hinge axis of the hinge structure 18, thereby causing the ends of the upper cover 16 and the lower cover 17 away from the hinge structure 18 to come into contact.

[0064] The infrared sensor 42 corresponds to the lower cover 16 and the upper cover 17 being closed. The upper cover 17 is positioned away from the non-hinged end and is mounted on the side of the annular opening cover 13 away from the control unit 3 via a bracket (not shown in the figure). Preferably, the bracket for mounting the infrared sensor 42 is generally integrally connected to the side of the lower cover 16 away from the control unit 3, thus ensuring that the distance between the infrared sensor 42 and the annular opening cover 13 remains constant. Of course, the infrared sensor 42 can also be mounted in other ways, as long as the distance between the infrared sensor 42 and the annular opening cover 13 remains constant. The infrared sensor unit 42 can detect the distance of the infrared laser emitted by itself and send the detection result to the control unit 3. If the detection result of the infrared sensor 42 is less than the set value, it is determined that the laser emitted by the infrared sensor 42 is blocked, which means that the non-hinged ends of the lower cover 16 and the upper cover 17 overlap. When the control unit 3 receives the signal that the non-hinged ends of the lower cover 16 and the upper cover 17 overlap, it determines that the annular opening cover 13 is in a closed state and sends an adjustment signal to the first adjustment device 7 and the second adjustment device 8.

[0065] The image sensor 43 is located at the top of the shaft machine, with its detection end facing the docking space. An image processing chip is embedded in the image sensor 43. The image sensor 43 can detect the edge information of the first long axis 5 and the second long axis 6 that are close to each other, that is, the image of the docking point of the first long axis 5 and the second long axis 6. It can also determine whether there is a gap at the docking point of the first long axis 5 and the second long axis 6 and the location of the gap through its own image processing chip, and send the detection result to the control unit 3. The control unit 3 sends an adjustment signal to the first lead screw drive device 25 or the vertical drive device 35 in the height adjustment mechanism 34 according to the detection result until there is no gap at the docking point of the first long axis 5 and the second long axis 6. Then, the control unit 3 sends a calibration signal to the calibration unit 2. After receiving the calibration signal, the calibration unit 2 calibrates whether the first long axis 5 and the second long axis 6 are in a coaxial state.

[0066] In addition, the image sensor 43 can also determine the coaxiality of the first long axis 5 and the external annular clamping device 15. The image sensor 43 and the rotating support 11 cooperate with each other to adjust the first long axis 5 until the axis of the first long axis 5 is coaxial with the axis of the external annular clamping device 15.

[0067] Furthermore, when either of the two long shafts that need to be docked is a solid shaft, the image sensor 43 should be installed on the end face of the claw cover 24 in the external annular clamping device 15 near the control unit 3, so as to avoid the problem that the image of the docking space cannot be accurately captured due to the difference in radius between the first long shaft 5 and the second long shaft 6.

[0068] A plurality of distance sensors 44 are mounted in a circumferential array on the end face of the claw cover 24 near the control unit 3 in the external annular clamping device 15, and each distance sensor 44 is located between two adjacent claws 23, and the distance between any distance sensor 44 and the claws 23 on both sides is equal. The distance sensor 44 can detect the distance between itself and the end of the second long axis 6 near the moving chassis 9. More specifically, the distance sensor 44 can detect the distance between itself and the outer circumferential contour of the end of the second long axis 6 near the moving chassis 9. Since the external annular clamping device 15 is in a coaxial state with the first long axis 5 after it abuts and clamps the outer circumferential surface of the first long axis 5, the external annular clamping device 15 and the first long axis 5 are in a coaxial state. In this scheme, the final adjustment result of the first adjustment device 7 and the second adjustment device 8 is to make the first long axis 5 and the second long axis 6 coaxial. Therefore, in the coaxial state, the detection results of each distance sensor 44 should be consistent. If the detection results of each distance sensor 44 are inconsistent, it indicates that the first long axis 5 and the second long axis 6 are not in a coaxial state.

[0069] Furthermore, each of the distance sensors 44 can also detect the distance between itself and the outer circumferential contour of the first long axis 5 near the control unit 3. Through the cooperation of the distance sensor 44 and the second lead screw drive device 39, the distance by which the first support platform 10 protrudes from the clamping range of the clamping device 15 with the end of the first long axis 5 near the control unit 3 can be controlled. Moreover, the control unit 3 can calculate the distance between the first long axis 5 and the second long axis 6 based on the distance between the distance sensor 44 and the outer circumferential contour of the first long axis 5 near the control unit 3, and the distance between the distance sensor 44 and the outer circumferential contour of the second long axis 6 near the moving chassis 9, and calculate the distance that the first support platform 10 needs to move during the docking process in combination with the preset docking depth.

[0070] like Figure 8 As shown, the calibration unit 2 includes a laser interferometer 45. The laser interferometer 45 is movably mounted on the side of the control unit 3 near the shaft machine 29 via a translation structure (not shown in the figure). The translation structure allows the laser interferometer 45 to move freely in the vertical plane and can lock and fix the laser interferometer 45 at any point within the movement range. The laser interferometer 45 can emit a stable and high-frequency dispersed laser beam. The laser interferometer 45 can accurately measure the relative position difference between the first major axis 5 and the second major axis 6 in the horizontal left-right direction and the vertical up-down dimension by the reflection and refraction signals of the laser on the inner wall surface or outer wall surface of the shaft; thereby determining whether the first major axis 5 and the second major axis 6 are in a coaxial state.

[0071] More specifically, the laser interferometer 45 first calculates the position of the second major axis 6 in space by using the reflection and refraction signals of the laser on the inner or outer wall surface of the second major axis 6, and then adjusts the position of the laser interferometer 45 by a translation structure until the laser divergence center of the laser interferometer 45 coincides with the axis of the second major axis 6 in the axial direction. Then, it accurately measures the relative position difference between the first major axis 5 and the second major axis 6 in the lateral and height dimensions by using the laser.

[0072] The control unit 3 includes a console 46, a signal processing module 47, and a fiber optic coupler 48. The console 46 is equipped with operation buttons for manual control, installation, debugging, and emergency stop of the equipment. The signal processing module 47 is located on the side of the console 46 near the shaft machine 29. The fiber optic coupler 48 is located on the side of the signal processing module 47 near the shaft machine 29, and the fiber optic coupler 48 is connected to the laser interferometer 45 and the transmitting part of the signal processing module 47 respectively via fiber optic transmission lines. The signal processing module 47 can receive and process the signals emitted by the photoelectric sensor 41, infrared sensor 42, image sensor 43, distance sensor 44, and laser interferometer 45 based on the detection results. The fiber optic coupler 48 can transmit the control signals emitted by the signal processing module 47 to each actuator at high speed and stably.

[0073] In summary, in the initial state, all the support frames of the first support structure 14 and all the support frames of the second support structure 32 are at the same height in the vertical direction and their support surfaces are coplanar. The annular opening and closing cover 13 is in a closed state, the claws 23 of the external annular clamping device 15 are in a state of mutual distance, the abutting blocks of the internal annular chuck 30 are in a state of mutual proximity, and the driving part of the push-pull mechanism 33 is in an extended state.

[0074] The following is a detailed description of the working method of the automatic long-distance docking calibration device for horizontal long shafts described in this scheme, taking an embodiment in which the first long shaft 5 and the second long shaft 6 are both hollow tubes, and the minimum inner diameter of the first long shaft 5 and the maximum outer diameter of the second long shaft 6 are equal. It is assumed that the length of the first long shaft 5 and the second long shaft 6 is L, the maximum outer diameter of the second long shaft 6 is R, and the docking depth is C. In the initial state, the distance between the first support platform 10 and the shaft machine 29 is 3L, and the maximum distance between the first support platform 10 and the external annular clamping device 15 is 3 / 2L, that is, the distance between the external annular clamping device 15 and the shaft machine 29 is 3 / 2L. In the clamping state, the distance between the axes of the first long shaft 5 of each distance sensor 44 is X, and the distance by which the end of the first long shaft 5 near the shaft machine 29 protrudes from the external annular clamping device 15 is d. Therefore, the distance between the first long shaft 5 and the second long shaft 6 is 1 / 2L-d.

[0075] A method for operating a horizontal long-shaft automatic long-distance alignment and calibration device includes the following steps:

[0076] Step 1: Move the second long shaft 6 toward the first support structure 14 using the suspension device. When the second long shaft 6 approaches the top of the annular opening and closing cover 13, the photoelectric sensor 41 of the sensor module 4 detects that its photoelectric door is blocked and immediately sends an opening signal to the opening and closing control device 19.

[0077] Step 2: After receiving the opening signal, the opening and closing control device 19 drives the hinge shaft of the hinge structure 18 to rotate, causing the upper cover 17 of the annular opening and closing cover 13 to rotate around the hinge shaft. The upper cover 17 separates from the lower cover 16 at the non-hinged end, and the annular opening and closing cover 13 opens.

[0078] Step 3: Place the second long shaft 6 on the first support structure 14 using the suspension device. After placement, the control unit 3 sends a closing signal to the opening and closing control device 19.

[0079] Step 4: After receiving the closing signal, the opening and closing control device 19 drives the hinge shaft of the hinge structure 18 to rotate in the opposite direction, so that the upper cover 17 and the lower cover 16 of the annular opening and closing cover 13 contact the non-hinged end, and the annular opening and closing cover 13 closes.

[0080] Step 5: The control unit 3 controls the second lead screw drive device 39 of the mobile chassis 9 to rotate. Utilizing the threaded engagement between the second lead screw drive device 39 and the lead screw nut at the bottom of the first support platform 10, the first support platform 10 and the second long shaft 6 on it slide along the guide rail of the chassis frame 38 of the mobile chassis 9 towards the second adjustment device 8 by a distance of 3 / 2L, until one end of the second long shaft 6 near the second adjustment device 8 passes through the external annular clamping device 15 and contacts the second support structure 32.

[0081] Step 6: The control unit 3 controls the push-pull mechanism 33 of the second adjustment device 8 to shorten, driving the second support platform 31 to move a distance of 3 / 2L towards the shaft machine 29 until the second long shaft 6 is translated onto the second support structure 32, completing the position transfer of the second long shaft 6.

[0082] Step 7: The control unit 3 controls the second lead screw drive device 39 of the mobile chassis 9 to drive in the reverse direction, so that the second lead screw drive device 39 drives the first support platform 10 to move in the reverse direction by a distance of 3 / 2L, thereby resetting the first support platform 10 to the initial position to prepare for the placement of the first long shaft 5.

[0083] Step 8: Move the first long shaft 5 toward the first support structure 14 via the suspension device. When the first long shaft 5 approaches the top of the annular opening and closing cover 13, the photoelectric sensor 41 of the sensor module 4 detects that its own photoelectric door is blocked and immediately sends an opening signal to the opening and closing control device 19.

[0084] Step 9: After receiving the opening signal, the opening and closing control device 19 drives the hinge shaft of the hinge structure 18 to rotate, causing the upper cover 17 of the annular opening and closing cover 13 to rotate around the hinge shaft. The upper cover 17 separates from the lower cover 16 at the non-hinged end, and the annular opening and closing cover 13 opens.

[0085] Step 10: Place the first long shaft 5 on the first support structure 14 using the suspension device. After placement, the control unit 3 sends a closing signal to the opening and closing control device 19.

[0086] Step 11: After receiving the closing signal, the opening and closing control device 19 drives the hinge shaft of the hinge structure 18 to rotate in the opposite direction, so that the upper cover 17 and the lower cover 16 of the annular opening and closing cover 13 contact the non-hinged end, and the annular opening and closing cover 13 closes.

[0087] Step 12: After the control unit 3 determines that the annular opening and closing cover 13 is in a closed state, it immediately sends an adjustment signal to the first adjustment device 7 and the second adjustment device 8.

[0088] Step 13: After the first adjustment device 7 receives the adjustment signal, the control unit 3 controls the rotating support 11 to drive the mounting plate 12, the annular opening and closing cover 13 and the first long shaft 5 to rotate relative to the first support platform 10; at the same time, the image sensor 43 of the sensor module 4 determines the coaxiality of the first long shaft 5 and the external annular clamping device 15 in real time, until the end of the first long shaft 5 near the second adjustment device 8 is within the clamping range of the external annular clamping device 15 in the axial direction.

[0089] Step Fourteen: Based on Step Thirteen, the control unit 3 controls the second lead screw drive device 39 of the movable chassis 9 to rotate, thereby driving the first support platform 10 and the first long shaft 5 on it to move a distance of 3 / 2L towards the external annular clamping device 15, until the end of the first long shaft 5 near the second adjustment device 8 enters the clamping range of the external annular clamping device 15, and the distance d that the end protrudes from the side of the external annular clamping device 15 away from the first support platform 10.

[0090] Step 15: In the state of Step 14, the first lead screw drive device 25 of the external annular clamping device 15 is activated, driving the drive rack 26 to move along its own axis; the drive rack 26 meshes with the driven gear 21, driving the driven gear 21 to rotate around its own axis, and the annular slide rail 22 rotates synchronously with the driven gear 21.

[0091] Step 16: In the state of Step 15, the limiting effect of the claw cover 24 causes each claw 23 to move closer to each other synchronously along the spiral track of the annular slide rail 22 until each claw 23 clamps tightly against the outer circumferential surface of the first long shaft 5, thus completing the clamping of the first long shaft 5; in the clamping state, the external annular clamping device 15 can drive the first long shaft 5 to rotate around its own axis.

[0092] Step 17: After receiving the adjustment signal, the second adjustment device 8 controls the shaft machine 29 to adjust the position of its main shaft in the vertical plane until the main shaft of the shaft machine 29 is coaxial with the second long shaft 6.

[0093] Step 18: The control unit 3 controls the push-pull mechanism 33 of the second adjustment device 8 to shorten, driving the second support platform 31 to move the second long shaft 6 toward the shaft machine 29, until one end of the second long shaft 6 near the shaft machine 29 is sleeved on the outer circumferential wall of the main shaft of the shaft machine 29.

[0094] Step 19: Based on Step 16, the abutting blocks of the internal annular chuck 30 move away from each other and abut against and clamp onto the circumferential surface of the inner wall of the second long shaft 6, thus completing the fixation of the second long shaft 6.

[0095] Step 20: The image sensor 43 detects the coaxiality of the first major axis 5 and the second major axis 6. The control unit 3 controls the height adjustment mechanism 34 of the second adjustment device 8 to start. The vertical drive device 35 of the height adjustment mechanism 34 drives the drive screw 36 to rotate. Through the threaded engagement between the drive screw 36 and the circular mounting plate 37 and the fulcrum support frame 32a, the fulcrum support frame 32a is driven to rise and fall in the vertical direction.

[0096] Step 21: Simultaneously, the shaft machine 29 fine-tunes the vertical position of its own main shaft, and cooperates with the height adjustment mechanism 34 to adjust the height of the second long shaft 6 in the vertical direction until the axis of the second long shaft 6 and the axis of the first long shaft 5 are at the same height in the vertical direction.

[0097] Step 22: Several distance sensors 44 of the sensor module 4 detect their own distance from the outer circumference of the second major axis 6 near the end of the movable chassis 9. In this embodiment, since the distance between the axes of the first major axis 5 of each distance sensor 44 is X in the clamping state, the distance between the first major axis 5 and the second major axis 6 is 1 / 2L-d, and the maximum outer diameter of the second major axis 6 is R, the detection results of each distance sensor 44 should all be X when the first major axis 5 and the second major axis are coaxial.

[0098]

[0099] The detection results are sent to the control unit 3; if the detection results of each distance sensor 44 are inconsistent, the control unit 3 determines that the first major axis 5 and the second major axis 6 are not in a coaxial state.

[0100] Step 23: Based on the detection results of the distance sensor 44, the control unit 3 sends a fine-tuning signal to the external annular clamping device 15 or the height adjustment mechanism 34: If the first long shaft 5 needs to be fine-tuned, the first lead screw drive device 25 of the external annular clamping device 15 is controlled to fine-tune the posture of the chuck 23, or the rotating support seat 11 is controlled to fine-tune the rotation angle of the first long shaft 5; If the second long shaft 6 needs to be fine-tuned, the vertical drive device 35 of the height adjustment mechanism 34 is controlled to fine-tune the height of the fulcrum support frame 32a, or the shaft machine 29 is controlled to fine-tune the spindle position, until the detection results of each distance sensor 44 are consistent.

[0101] Step 24: The image sensor 43 of the sensor module 4 detects the image at the point where the first long axis 5 and the second long axis 6 are close to each other in the axial direction. It determines whether there is a gap and the location of the gap by using its own embedded image processing chip, and sends the detection result to the control unit 3. If there is a gap, the control unit 3 continues to send adjustment signals to the external annular clamping device 15 or the height adjustment mechanism 34 until there is no gap at the point where the first long axis 5 and the second long axis 6 are joined.

[0102] Step 25: The control unit 3 sends a calibration signal to the calibration unit 2. After receiving the calibration signal, the calibration unit 2 detects whether the first major axis 5 and the second major axis 6 are in a coaxial state. If the detection result is that they are coaxial, the calibration unit 2 sends a confirmation signal back to the control unit 3.

[0103] Step 26: After receiving the confirmation signal, the control unit 3 controls the second lead screw drive device 39 of the mobile chassis 9 to rotate, driving the first support platform 10 and the first long shaft 5 on it to move a distance of 1 / 2L-d+C towards the direction of the second adjustment device 8, so that the first long shaft 5 and the second long shaft 6 are close to each other in the docking space.

[0104] Step 27: During the docking process, the distance sensor 44 detects the distance between the first long axis 5 and the second long axis 6, and feeds back the detection result to the control unit 3; the control unit 3 calculates the distance that the first support platform 10 needs to move during the docking process based on the detection result of the distance sensor 44 and the preset splicing depth, to ensure that the first long axis 5 and the second long axis 6 are docked in place.

[0105] If the second long shaft 6 cannot be transferred to the second support structure 32 in one go when performing steps five and six, the external annular clamping device 15 is required to temporarily clamp the second long shaft 6 and adjust the relative positions of the first support platform 10 and the second support platform 31 to the fulcrum of the second long shaft 6. Then the external annular clamping device 15 releases the first long shaft 6, so that the second long shaft 6 is simultaneously mounted on the first support structure 14 and the second support structure 32, and the transfer of the second long shaft 6 is performed again. This process can be repeated multiple times until the second long shaft 6 is completely transferred to the second support structure 32.

[0106] It should be emphasized here that the above description of each sensor in sensor module 4 and calibration unit 2 is only for the purpose of enabling those skilled in the art to understand the workflow of this solution. In actual use, each sensor in sensor module 4 and calibration unit 2 monitors the data they need to detect in real time and can transmit the detection results to control unit 3 in a timely manner, so that control unit 3 can send the correct adjustment command to working unit 1 in a timely manner. The entire process is a dynamic adjustment relationship between the components, rather than a static adjustment as shown in the text.

[0107] Furthermore, as those skilled in the art, after reading and understanding all the technical contents of this solution, they are fully capable of deduce and design multiple adjustment devices. Taking three adjustment devices as an example, those skilled in the art are fully capable of setting a third adjustment device on the mobile chassis 9 between the first adjustment device 7 and the second adjustment device 8, thereby forming a solution that simultaneously connects the three shafts. Therefore, under the same principle and working method, the multi-axis simultaneous connection solution formed based on this solution should also fall within the protection scope of this solution.

[0108] The above are the preferred embodiments described in this invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.

Claims

1. A horizontal long-shaft automatic long-distance docking and calibration device, characterized in that: The system includes a working unit (1), a calibration unit (2), a control unit (3), and a sensor module (4). The control unit (3) is spaced apart on one side of the working unit (1). The calibration unit (2) is installed on the side of the control unit (3) near the working unit (1) and is connected to it via a signal. The working unit (1) includes a first adjustment device (7) and a second adjustment device (8). The first adjustment device (7) and the second adjustment device (8) are spaced apart by a long distance, and the space between the first adjustment device (7) and the second adjustment device (8) is a docking space. The sensor module (4) includes an image sensor (43) and a distance sensor (44). The image sensor (43) is located at the top of the shaft (29) in the second adjustment device (8), with its detection end facing the docking space. It has an embedded image processing chip and can detect the docking object. The image in the docking space can be used to obtain the coaxiality between the docking objects and transmit it to the control unit (3). Several distance sensors (44) are arranged in a circular array and installed in the first adjustment device (7) with the external ring clamping device (15) close to the docking space. They can detect the distance between the docking objects and transmit the detection results to the control unit (3). The control unit (3) controls the first adjustment device (7) and the second adjustment device (8) to adjust the posture of the docking objects according to the detection results of the image sensor (43) until the image sensor (43) and the calibration unit (2) simultaneously detect the coaxiality of the docking objects. At this time, the control unit (3) controls the first adjustment device (7) and the second adjustment device (8) to move closer to each other according to the detection results of the distance sensor (44), so as to complete the long-distance docking in the state of the docking objects being coaxial.

2. The horizontal long-shaft automatic long-distance docking calibration device according to claim 1, characterized in that: The working unit (1) also includes a movable chassis (9), the first adjustment device (7) is mounted on the movable chassis (9), and the second adjustment device (8) is fixedly disposed on the side of the first adjustment device (7) near the control unit (3). The docking objects include a first long shaft (5) and a second long shaft (6). The first long shaft (5) is placed on the first adjustment device (7), and the second long shaft (6) is placed on the second adjustment device (8). When the calibration unit (2) detects that the first long shaft (5) and the second long shaft (6) are coaxial, the control unit (3) controls the first adjustment device (7) to move the first long shaft (5) on the movable chassis (9) towards the direction of the second adjustment device (8), so that the sides of the first long shaft (5) and the second long shaft (6) that are close to each other dock in the docking space.

3. The horizontal long-shaft automatic long-distance docking calibration device according to claim 2, characterized in that: The first adjustment device (7) further includes a first support platform (10), a rotating support seat (11), a mounting plate (12), an annular cover (13), and a first support structure (14). The first support platform (10) is slidably mounted on the mobile chassis (9). The mounting plate (12) is rotatably mounted on the first support platform (10) via the rotating support seat (11). The annular cover (13) is fixedly mounted on the mounting plate (12). The first support structure (14) is fixedly mounted on the mounting plate (12), and the first support structure (14) is located within the enclosure of the annular opening and closing cover (13). The external annular clamping device (15) is mounted on the side of the first support platform (10) near the second adjustment device (8) via a mounting bracket. The claws (23) of the external annular clamping device (15) can simultaneously clamp onto the outer circumferential surface of the first long shaft (5) and drive the first long shaft (5) to rotate around its own axis.

4. The horizontal long-shaft automatic long-distance docking calibration device according to claim 3, characterized in that: The annular opening and closing cover (13) includes a semi-circular lower cover (16), a semi-circular upper cover (17), a hinge structure (18), and an opening and closing control device (19). The lower cover (16) is fixedly mounted on the mounting plate (12). One end of the upper cover (17) is hinged to one end of the lower cover (16) through the hinge structure (18). The opening and closing control device (19) is located on one side of the annular opening and closing cover (13) corresponding to the hinge position of the lower cover (16) and the upper cover (17). The drive device in (19) drives the hinge shaft of the hinge structure (18), and the opening and closing control device (19) is signal connected to the control unit (3); when the first long shaft (5) contacts or separates from the first support structure (14), the control unit (3) sends a closing signal to the opening and closing control device (19), and the drive device in the opening and closing control device (19) drives the hinge shaft of the hinge structure (18) to rotate, thereby opening or closing the lower cover (16) and upper cover (17) of the annular opening and closing cover (13).

5. The horizontal long-shaft automatic long-distance docking calibration device according to claim 3, characterized in that: The external annular clamping device (15) further includes a mounting flange (20), a driven gear (21), an annular slide rail (22), claws (23), a first lead screw drive device (25), and a drive rack (26); the claw cover (24) is mounted on the side of the first support platform (10) near the second adjustment device (8) via a mounting bracket, the mounting flange (20) is coaxially fixedly mounted on one end of the claw cover (24), the driven gear (21) is coaxially rotatably mounted on the side of the mounting flange (20) near the second adjustment device (8), the annular slide rail (22) is coaxially fixedly mounted on the side of the driven gear (21) near the second adjustment device (8), and several claws (23) The pawls are arranged in a circular array and slide on the annular slide rail (22). The first lead screw drive device (25) is mounted on the mounting bracket corresponding to the driven gear (21). The drive rack (26) is mounted on the first lead screw drive device (25). The circumferential surface of the claw cover (24) is provided with a meshing port (28) corresponding to the driven gear (21). The teeth of the drive rack (26) pass through the meshing port (28) and mesh with the driven gear (21). When the first lead screw drive device (25) drives the drive rack (26) to move, the drive rack (26) drives the driven gear (21) to rotate, so that each of the claws (24) moves closer to or further away from each other synchronously.

6. The horizontal long-shaft automatic long-distance docking calibration device according to claim 2, characterized in that: The second adjusting device (8) further includes an internal annular chuck (30), a second support platform (31), a second support structure (32), and a push-pull mechanism (33); the shaft mechanism (29) is spaced apart on the side of the movable chassis (9) near the control unit (3), the main shaft of the shaft mechanism (29) can move freely in the vertical plane, the internal annular chuck (30) is coaxially mounted on the end of the main shaft of the shaft mechanism (29) near the movable chassis (9), and the second support platform (31) is slidably mounted on the movable chassis (9) near the shaft mechanism (29). On one side, the push-pull mechanism (33) is located on the side of the shaft machine (29) near the moving chassis (9), and the drive part of the push-pull mechanism (33) is fixedly connected to the side of the second support platform (31) near the shaft machine (29); when the second long shaft (6) is placed on the second support structure (32) by the suspension device, the push-pull mechanism (33) can drive the second support platform (31) to move the second long shaft (6) towards the shaft machine (29), and the abutting block of the internal annular chuck (30) can be clamped on the inner wall of the second long shaft (6).

7. The horizontal long-shaft automatic long-distance docking calibration device according to claim 6, characterized in that: The second adjustment device (8) further includes a height adjustment mechanism (34), which is installed on the second support platform (31). The second support structure (32) includes at least two support frames, and the two support frames are equidistantly arranged along the length direction of the second support platform (31). Either of the two support frames is referred to as the fulcrum support frame (32a). The fulcrum support frame (32a) is installed on the lifting part of the height adjustment mechanism (34). The height adjustment mechanism (34) can adjust the height of the fulcrum support frame (32a) in the vertical direction.

8. The horizontal long-shaft automatic long-distance docking calibration device according to claim 7, characterized in that: The height adjustment mechanism (34) includes a vertical drive device (35), a drive screw (36), and a circular mounting plate (37). The vertical drive device (35) is fixedly mounted on the second support platform (31). The drive screw (36) is coaxially and integrally connected to the drive shaft of the vertical drive device (35). The circular mounting plate (37) has a threaded hole that can be threadedly engaged with the drive screw (36). The fulcrum support frame (32a) is fixedly mounted on the circular mounting plate (37). When the vertical drive device (35) drives the drive screw (36) to rotate, the circular mounting plate (37) moves vertically along the drive screw (36) with the fulcrum support frame (32a).

9. The horizontal long-shaft automatic long-distance docking calibration device according to claim 6, characterized in that: The mobile chassis (9) includes a chassis frame (38) and a second lead screw drive device (39). The two second lead screw drive devices (39) are arranged along the length direction of the chassis frame (38) and are arranged side by side along the width direction of the chassis frame (38). Guide rails are provided on both sides of the chassis frame (38) along the length direction. The first support platform (10) and the second support platform (31) are slidably engaged on the guide rails by a slider. The bottom surface of the first support platform (10) is equipped with a lead screw nut that cooperates with the second lead screw drive device (39). The second lead screw drive device (39) can drive the first support platform (10) to slide on the chassis frame (38). The push-pull mechanism (33) can drive the second support platform (31) to slide on the chassis frame (38).

10. The horizontal long-shaft automatic long-distance docking calibration device according to claim 1, characterized in that: The calibration unit (2) includes a laser interferometer (45); the laser interferometer (45) is mounted on the side of the control unit (3) near the shaft machine (29) by a translation structure, the translation structure allows the laser interferometer (45) to move in the vertical plane and can lock it in place; the laser interferometer (45) can emit a high-frequency dispersed laser beam, and measure the lateral and height position difference between the first major axis (5) and the second major axis (6) by the reflection and refraction signals of the laser on the surface of the shaft.

11. The horizontal long-shaft automatic long-distance docking calibration device according to claim 1, characterized in that: The sensor module (4) also includes a photoelectric sensor (41) and an infrared sensor (42); the photoelectric sensor (41) is suspended above the annular opening cover (13) and can detect whether its own photoelectric door is blocked; the infrared sensor (42) is located at the end of the upper cover (17) away from the hinge structure (18) and is mounted on the side of the annular opening cover (13) away from the control unit (3) by a bracket, and can detect the length of its own emitted laser.

12. A method for operating a horizontal long-shaft automatic long-distance alignment and calibration device, applied to the horizontal shaft automatic alignment and calibration device as described in any one of claims 1 to 11, characterized in that: Includes the following steps: Step 1: Move the second long shaft (6) toward the first support structure (14) by means of the suspension device. When the second long shaft (6) is close to the top of the annular opening and closing cover (13), the photoelectric sensor (41) of the sensor module (4) detects that its own photoelectric door is blocked and immediately sends an opening signal to the opening and closing control device (19). Step 2: After receiving the opening signal, the opening and closing control device (19) drives the hinge shaft of the hinge structure (18) to rotate, so that the upper cover (17) of the annular opening and closing cover (13) rotates around the hinge shaft, the upper cover (17) and the lower cover (16) separate away from the non-hinged end, and the annular opening and closing cover (13) opens. Step 3: Place the second long shaft (6) on the first support structure (14) using the suspension device. After placement, the control unit (3) sends a closing signal to the opening and closing control device (19). Step 4: After receiving the closing signal, the opening and closing control device (19) drives the hinge shaft of the hinge structure (18) to rotate in the opposite direction, so that the upper cover (17) and the lower cover (16) of the annular opening and closing cover (13) contact the non-hinged end, and the annular opening and closing cover (13) closes. Step 5: The control unit (3) controls the second lead screw drive device (39) of the mobile chassis (9) to rotate. By utilizing the threaded engagement between the second lead screw drive device (39) and the lead screw nut at the bottom of the first support platform (10), the first support platform (10) and the second long shaft (6) on it slide along the guide rail of the chassis frame (38) of the mobile chassis (9) towards the direction of the second adjustment device (8). Step 6: At the same time, the push-pull mechanism (3) of the second adjustment device (8) drives the second support platform (31) to move away from the shaft machine (29) until the second long shaft (6) is translated onto the second support structure (32). Then the screw drive device (40) of the moving chassis (9) reverses the drive, so that the first support platform (10) is reset to the initial position. Step 7: Move the first long shaft (5) toward the first support structure (14) using the suspension device, and perform the operations of steps 1 and 2 again to place the first long shaft (5) on the first support structure (14). After placement, the control unit (3) sends a closing signal to the opening and closing control device (19). After the control unit (3) determines that the annular opening and closing cover (13) is in a closed state through the infrared sensor (42), it immediately sends adjustment signals to the first adjustment device (7) and the second adjustment device (8). Step 8: After the first adjustment device (7) receives the adjustment signal, the rotating support (11) drives the first long shaft (5) to rotate relative to the first support platform (10); at the same time, the image sensor (43) of the sensor module (4) determines the coaxiality of the first long shaft (5) and the external ring clamping device (15) in real time until the first long shaft (5) and the external ring clamping device (15) are coaxial. Step 9: The second lead screw drive device (39) drives the first support platform (10) to move the first long shaft (5) toward the external annular clamping device (15) until the end of the first long shaft (5) close to the second adjustment device (8) enters the clamping range of the external annular clamping device (15). The claws (23) of the external annular clamping device (15) approach each other and clamp against the outer circumferential surface of the first long shaft (5), thus completing the clamping of the first long shaft (5). Step 10: After the second adjustment device (8) receives the adjustment signal, the push-pull mechanism (33) drives the second support platform (31) to move the second long shaft (6) towards the shaft machine (29) until the end of the second long shaft (6) near the shaft machine (29) is sleeved on the outer circumferential wall of the main shaft of the shaft machine (29), and the abutting blocks of the internal annular chuck (30) move away from each other and abut against and clamp on the circumferential surface of the inner wall of the second long shaft (6), thus completing the fixation of the second long shaft (6); Step 11: The image sensor (43) detects the coaxiality of the first major axis (5) and the second major axis (6). The control unit (3) controls the height adjustment mechanism (34) to cooperate with the shaft machine (29) to finely adjust the height of the second major axis (6) in the vertical direction until the axis of the first major axis (5) and the axis of the second major axis (6) are at the same height in the vertical direction. Step 12: Each distance sensor (44) detects the distance between itself and the outer circumference of the second long axis (6) near the end of the moving chassis (9). At the same time, the image sensor (43) detects the image at the joint of the first long axis (5) and the second long axis (6) near each other in real time. The image processing chip implanted in itself determines whether there is a gap and the location of the gap. If the detection results of each distance sensor (44) are inconsistent or there is a gap, it is determined that the first long axis (5) and the second long axis (6) are not in a coaxial state. Step 13: The control unit (3) sends a fine-tuning signal to the external ring clamping device (15) or the height adjustment mechanism (34) based on the detection results of the distance sensor (44) and the image sensor (43): If the first long axis (5) needs to be fine-tuned, the external ring clamping device (15) is controlled to fine-tune the posture of the claw (23), or the rotating support seat (11) is controlled to fine-tune the rotation angle of the first long axis (5); If the second long axis (6) needs to be fine-tuned, the height adjustment mechanism (34) is controlled to fine-tune the height of the fulcrum support frame (32a), or the shaft machine (29) is controlled to fine-tune the position of the main shaft, until the detection results of each distance sensor (44) are consistent, and there are no gaps in the image detection results of the image sensor (43), and the coaxial detection results of the image sensor (43) show that the first long axis (5) and the second long axis (6) are coaxial. Step Fourteen: Based on Step Thirteen, the calibration unit (2) detects whether the first long axis (5) and the second long axis (6) are in a coaxial state; if the detection result is that they are not coaxial, the adjustment continues according to the detection result; if the detection result is that they are coaxial, the second lead screw drive device (39) drives the first support platform (10) to move the first long axis (5) towards the direction close to the second adjustment device (8), so that the first long axis (5) and the second long axis (6) are close to each other in the docking space.

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