Large rod piece butt joint relative pose detection mechanism

Abstract

The invention relates to the field of rod piece butt joint, and discloses a large rod piece butt joint relative pose detection mechanism which comprises a closing component, the closing component comprises a first side ring, a second side ring, a hinge frame and a guide ring, the first side ring is fixedly connected with the guide ring, the second side ring is fixedly connected with the hinge frame, and the first side ring is fixedly connected with the hinge frame. The guide ring is hinged to the hinge frame; two groups of closing parts are arranged; by means of the opening and closing design of the hinge frame and the side ring, rapid installation and cohesion on a large rod piece are achieved; the guide ring is rotated, the bolt is pushed through the arc groove, the supporting rod is driven to abut against the rod piece, stable self-locking of the mechanism is achieved through single operation, and a reliable measuring datum is determined. And finally, high-precision relative pose data can be directly output through a measurement base line established between the fixing frames by the pull rope encoder, so that blindness and low efficiency of manual fine adjustment are fundamentally eliminated, and the precision and efficiency of docking operation are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of rod connection, and in particular to a mechanism for detecting the relative position and orientation of large rod connections. Background Technology

[0002] In the construction and installation of large steel structures, ship masts, and large pipelines, precise connection between large components is often required. These components are characterized by their large size and high weight, making their position adjustment in the air extremely difficult.

[0003] Currently, the relative pose detection and adjustment during the docking process largely rely on the experience and visual inspection of operators, supplemented by repeated and cumbersome fine-tuning using equipment such as cranes. This method has significant drawbacks: First, manual judgment has low accuracy and poor consistency, which easily introduces human error and affects the docking quality; second, the cyclical process of "lifting, observing, and adjusting" is tedious and time-consuming, resulting in low work efficiency. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that the existing methods not only seriously affect the docking quality due to the low accuracy and poor consistency of manual judgment, but also have low work efficiency due to the cumbersome and time-consuming process of "lifting, observing and adjusting".

[0005] The above-mentioned technical problems are solved by the following technical solution: This invention proposes a large rod docking relative pose detection mechanism, which includes, A closing component, comprising a first side ring, a second side ring, a hinge frame, and a guide ring, wherein the first side ring is fixedly connected to the guide ring, the second side ring is fixedly connected to the hinge frame, and the guide ring is hinged to the hinge frame; the closing component is configured in two sets. A support frame, which is adapted to be installed inside the hinge frame; A pull-cord encoder, which is mounted on top of the support frame of a set of the closing components; A fixing frame, which is mounted on top of the support frame of another set of the closing components; Specifically, firstly, by unfolding the hinge frame, the first side ring and the second side ring open, allowing it to be easily fitted onto the outside of a large rod; then, by closing the hinge frame, the first side ring and the second side ring close to wrap around the rod, and the two are fixed by a mechanism such as a buckle, thus completing the initial installation and clamping of the equipment, realizing the rapid assembly and disassembly of the equipment on large rods, and overcoming the inconvenience of installation caused by its weight and size; Next, rotate the guide ring. Through its internal structure and the cooperation of the support frame, the support frame is tightly pressed and pressed against the outer wall of the rod. The final fastening of the mechanism can be achieved through a simple rotation operation, ensuring the stable locking of the entire detection mechanism on the rod. Finally, the pull rope of the pull rope encoder installed at the top of the support frame is pulled out and fixed to the fixed frame, thereby establishing a high-precision measurement baseline between the two rods to be connected. The relative position and attitude between the two rods can be accurately detected by the pull rope encoder.

[0006] In a preferred embodiment of the large rod docking relative posture detection mechanism of the present invention: the hinge frame includes two sets of hinge rods that are hinged to each other, a mounting cavity opened on the inner side of the hinge rods, and a guide rail fixedly connected to the side of the hinge rods away from the second side ring.

[0007] In a preferred embodiment of the large rod docking relative posture detection mechanism of the present invention: the guide ring includes a rotating ring fixedly connected to the first side ring, a limiting plate fixedly connected to the outer circumferential surface of the rotating ring, an arc groove formed on the surface of the limiting plate, and a sliding groove formed on the side of the rotating ring away from the first side ring; the guide rail is slidably disposed inside the sliding groove; when the guide ring is rotated, the rotating ring rotates on one side of the hinge rod through the cooperation of the sliding groove and the guide rail, and drives the support frame to press and fix the rod through the guidance of the arc groove.

[0008] In a preferred embodiment of the large rod docking relative posture detection mechanism of the present invention: the arc groove extends from one end away from the rotating ring to one end close to the rotating ring on the surface of the limiting plate; Specifically, through the special design of the arc groove and its cooperation with the screw on the support frame, the sliding compression or movement away from the rod of the support frame can be controlled by the curved surface of the arc groove when the rotating ring rotates.

[0009] In a preferred embodiment of the large rod docking relative posture detection mechanism of the present invention: a mounting ring is fixedly connected to the opposite side of the first side ring and the second side ring, and fastening heads are fixedly connected to both ends of the mounting ring; when the first side ring and the second side ring are closed, they are connected to the fastening heads through external buckles or locks, thereby completing the wrapping of the rod by the first side ring and the second side ring.

[0010] In a preferred embodiment of the large rod docking relative posture detection mechanism of the present invention: the support frame includes a support rod slidably disposed inside the mounting cavity, and a guide wheel fixedly connected to one end of the support rod; with the design of the guide wheel, the position of the rod can be easily fine-tuned during the docking process, which facilitates docking adjustment.

[0011] In a preferred embodiment of the large rod docking relative posture detection mechanism of the present invention: a bolt is fixedly connected to one side of the support rod, and a nut is threadedly connected to the outer side of the bolt; the bolt is slidably disposed inside the arc groove; Specifically, when the guide ring rotates, the wall of the arc groove pushes the bolt, thereby forcing the entire support rod to slide radially within the mounting cavity, thus compressing the rod. After compression, the device can be locked by tightening the nut, ensuring the stability of the rod clamping.

[0012] In a preferred embodiment of the large rod docking relative posture detection mechanism of the present invention: the support frame includes a mounting plate fixedly connected to the top of the support rod, and a mounting hole opened on the outside of the mounting plate; the mounting hole is used to fix the pull rope of the pull rope encoder.

[0013] The beneficial effects of this invention are as follows: the device utilizes the opening and closing design of the hinged frame and side ring to achieve rapid installation and clamping on large rods; by rotating the guide ring and pushing the bolt through the arc groove, the support rod is driven to tighten against the rod, achieving stable self-locking of the mechanism with a single operation and establishing a reliable measurement benchmark; finally, by using the measurement baseline established between the fixed frames through the pull-rope encoder, high-precision relative pose data can be directly output, fundamentally eliminating the blindness and inefficiency of manual fine-tuning, and significantly improving the accuracy and efficiency of docking operations. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0015] Figure 1 A schematic diagram of the overall installation structure of the present invention is shown.

[0016] Figure 2 A schematic diagram of the overall structure of the closing component of the present invention is shown.

[0017] Figure 3 A partial structural schematic diagram of the present invention is shown.

[0018] Figure 4 A schematic diagram of the rotating ring structure of the present invention is shown.

[0019] Figure 5 A schematic diagram of the installation of the pull-cord encoder and support frame of the present invention is shown.

[0020] Figure 6 A schematic diagram of the installation of the fixing frame and support frame of the present invention is shown. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0022] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0023] Reference Figures 1-6 This embodiment provides a large rod docking relative pose detection mechanism, which includes, Closing component 1 includes a first side ring 11, a second side ring 12, a hinge frame 13, and a guide ring 14. The first side ring 11 is fixedly connected to the guide ring 14, the second side ring 12 is fixedly connected to the hinge frame 13, and the guide ring 14 is hinged to the hinge frame 13. Closing component 1 is configured in two sets. Support frame 2 is adapted to be installed inside the hinge frame 13; The pull-rope encoder 3 is mounted on the top of the support frame 2 of a set of closing parts 1; Fixing bracket 4 is installed on the top of the support bracket 2 of another set of closing parts 1; Specifically, firstly, by unfolding the hinge frame 13, the first side ring 11 and the second side ring 12 are opened, allowing them to be easily fitted onto the outside of large rods; then, by closing the hinge frame 13, the first side ring 11 and the second side ring 12 are closed to wrap around the rod, and the two are fixed by mechanisms such as buckles, thus completing the initial installation and clamping of the equipment, realizing the rapid assembly and disassembly of the equipment on large rods, and overcoming the inconvenience of installation caused by its weight and size; Next, rotate the guide ring 14. Through its internal structure and the cooperation of the support frame 2, the support frame 2 is tightly pressed and pressed against the outer wall of the rod. The final fastening of the mechanism can be achieved through a simple rotation operation, ensuring the stable locking of the entire detection mechanism on the rod. Finally, the pull rope of the pull rope encoder 3 installed at the top of the support frame 2 is pulled out and fixed to the fixing frame 4, thereby establishing a high-precision measurement baseline between the two rods to be connected. The relative position and attitude between the two rods can be accurately detected by the pull rope encoder 3.

[0024] The hinge frame 13 includes two sets of hinge rods 131 that are hinged to each other, a mounting cavity 132 opened inside the hinge rods 131, and a guide rail 133 fixedly connected to the side of the hinge rods 131 away from the second side ring 12.

[0025] The guide ring 14 includes a rotating ring 141 fixedly connected to the first side ring 11, a limiting plate 142 fixedly connected to the outer circumferential surface of the rotating ring 141, an arc groove 143 formed on the surface of the limiting plate 142, and a sliding groove 144 formed on the side of the rotating ring 141 away from the first side ring 11; the guide rail 133 is slidably disposed inside the sliding groove 144; when the guide ring 14 is rotated, the rotating ring 141 rotates on one side of the hinge rod 131 through the cooperation of the sliding groove 144 and the guide rail 133, and drives the support frame 2 to press the fixed rod through the guidance of the arc groove 143.

[0026] A mounting ring 15 is fixedly connected to the opposite side of the first side ring 11 and the second side ring 12. Fastening heads 16 are fixedly connected to both ends of the mounting ring 15. When the first side ring 11 and the second side ring 12 are closed, they are connected to the fastening heads 16 through external buckles or locks, thereby completing the wrapping of the rod by the first side ring 11 and the second side ring 12.

[0027] As one embodiment provided, such as Figure 3 The arc groove 143 extends on the surface of the limiting plate 142 from one end away from the rotating ring 141 to one end near the rotating ring 141; Specifically, through the special design of the arc groove 143 and its cooperation with the screw 211 on the support frame 2, when the rotating ring 141 rotates, the curved surface of the arc groove 143 can guide the sliding compression or movement away from the rod of the support frame 2.

[0028] As one embodiment provided, such as Figure 5 , Figure 6 The support frame 2 includes a support rod 21 that is slidably disposed inside the mounting cavity 132, and a guide wheel 22 that is fixedly connected to one end of the support rod 21. With the design of the guide wheel 22, the position of the rod can be easily fine-tuned during the docking process, which facilitates docking adjustment.

[0029] A bolt 211 is fixedly connected to one side of the support rod 21, and a nut 212 is threadedly connected to the outer side of the bolt 211; the bolt 211 is slidably disposed inside the arc groove 143. Specifically, when the guide ring 14 rotates, the wall of the arc groove 143 pushes the bolt 211, thereby forcing the entire support rod 21 to slide radially within the mounting cavity 132, thus compressing the rod. After compression, the equipment can be locked by tightening the nut 212 to ensure the stability of clamping the rod.

[0030] As one embodiment provided, such as Figure 6 The support frame 2 includes a mounting plate 41 fixedly connected to the top of the support rod 21, and a mounting hole 42 opened on the outside of the mounting plate 41; the mounting hole 42 is used to fix the pull rope of the pull rope encoder 3.

[0031] In summary, the operator first unfolds the two sets of hinge rods 131 of the hinge frame 13, causing the first side ring 11 and the second side ring 12, which are fixedly connected to it, to open, thus easily fitting the equipment onto the outside of the rod. Then, the hinge frame 13 is closed, so that the two side rings wrap around the rod, and the fastening heads 16 at both ends of the mounting ring 15 are used in conjunction with external buckles for locking. This effectively overcomes the installation difficulties caused by the weight and volume of the large rod, achieving rapid assembly and disassembly and initial engagement of the equipment. Next, the guide ring 14, which is fixedly connected to the first side ring 11, is rotated. Its rotating ring 141 rotates through the sliding groove 144 and the guide rail 133 on the hinge rod 131. At the same time, the wall of the arc groove 143 fixed to the limiting plate 142 pushes the bolt 211 sliding within it. This bolt 211 is fixed to one side of the support rod 21, thereby forcing the entire support rod 21 into the mounting cavity 132 of the hinge rod 131. The component slides radially along the axis until the guide wheel 22 at one end of the support rod 21 is tightly pressed and pressed against the outer wall of the rod. During this process, a simple rotation operation is used to guide the circular motion of the support frame 2 by using the curved surface of the arc groove 143 to achieve the final fastening and self-locking, ensuring the stability and reliability of the entire detection reference on the rod. At this time, the nut 212 on the bolt 211 can be further tightened to enhance the locking effect and ensure the long-term stability of the clamping force. Finally, the pull rope of the pull rope encoder 3 installed on the mounting plate 41 at the top of a set of support rods 21 is pulled out and its end is fixed to the mounting hole 42 or the fixing bracket 4 of the mounting plate 41 of another set of closing parts 1, thereby establishing a high-precision measurement baseline between the two rods to be connected. By calculating the data of the pull rope encoder 3, the relative position and attitude between the two rods can be accurately and efficiently detected.

[0032] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A mechanism for detecting the relative posture of large rod connections, characterized in that: include, The closing component (1) includes a first side ring (11), a second side ring (12), a hinge frame (13), and a guide ring (14). The first side ring (11) is fixedly connected to the guide ring (14), the second side ring (12) is fixedly connected to the hinge frame (13), and the guide ring (14) is hinged to the hinge frame (13). The closing component (1) is configured in two sets. Support frame (2), which is adapted to be installed inside the hinge frame (13); A pull-cord encoder (3) is mounted on the top of the support frame (2) of a set of closing components (1); A fixing frame (4) is mounted on top of the support frame (2) of another set of closing components (1).

2. The large rod docking relative posture detection mechanism according to claim 1, characterized in that: The hinge frame (13) includes two sets of hinge rods (131) that are hinged to each other, a mounting cavity (132) opened inside the hinge rod (131), and a guide rail (133) fixedly connected to the side of the hinge rod (131) away from the second side ring (12).

3. The large rod docking relative posture detection mechanism according to claim 2, characterized in that: The guide ring (14) includes a rotating ring (141) fixedly connected to the first side ring (11), a limiting plate (142) fixedly connected to the outer circumferential surface of the rotating ring (141), an arc groove (143) formed on the surface of the limiting plate (142), and a sliding groove (144) formed on the side of the rotating ring (141) away from the first side ring (11); the guide rail (133) is slidably disposed inside the sliding groove (144).

4. The large rod docking relative posture detection mechanism according to claim 3, characterized in that: The arc groove (143) extends on the surface of the limiting plate (142) from one end away from the rotating ring (141) to one end near the rotating ring (141).

5. The large rod docking relative posture detection mechanism according to claim 3 or 4, characterized in that: A mounting ring (15) is fixedly connected to the side opposite to the first side ring (11) and the second side ring (12), and fastening heads (16) are fixedly connected to both ends of the mounting ring (15).

6. The large rod docking relative posture detection mechanism according to claim 5, characterized in that: The support frame (2) includes a support rod (21) that is slidably disposed inside the mounting cavity (132) and a guide wheel (22) that is fixedly connected to one end of the support rod (21).

7. The large rod docking relative posture detection mechanism according to claim 6, characterized in that: A bolt (211) is fixedly connected to one side of the support rod (21), and a nut (212) is threadedly connected to the outer side of the bolt (211); the bolt (211) is slidably disposed inside the arc groove (143).

8. The large rod docking relative posture detection mechanism according to claim 6 or 7, characterized in that: The support frame (2) includes a mounting plate (41) fixedly connected to the top of the support rod (21) and a mounting hole (42) opened on the outside of the mounting plate (41).

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