Positioning platform for civil air defense door production

Abstract

The invention discloses a positioning platform for civil air defense door production, which is applied to the technical field of civil air defense door positioning platforms, and comprises a turnover mechanism, a bearing mechanism, two positioning mechanisms and a detection mechanism, the bearing mechanism is erected on the turnover mechanism, the two positioning mechanisms are located on the two sides of the bearing mechanism, and the detection mechanism is arranged on the bearing mechanism. The arrangement direction of the two sets of positioning mechanisms is perpendicular to the arrangement direction of the turnover mechanism, the detection mechanism is fixed to the top of the turnover mechanism, and the positioning mechanisms are used for storing, limiting, taking and positioning frameworks used in the civil air defense door production process. The detection mechanism is used for providing laser positioning projection and carrying out detection and position feedback on the positioned skeleton position; the positioning mechanism comprises a supporting assembly and a positioning assembly, the supporting assembly comprises two sets of second hydraulic cylinders, a first motor and a movable block, and the positioning assembly comprises a material storage part, a limiting part and a material taking part.

Description

Technical Field

[0001] This invention relates to the field of positioning platform technology for air defense doors, specifically a positioning platform for the production of air defense doors. Background Technology

[0002] As the entrance and exit doors of civil air defense projects, the main function of civil air defense doors is to protect the safety of personnel and property and prevent external threats from entering. They are key protective equipment in civil air defense projects. During their production and manufacturing process, it is necessary to accurately position components such as door frame profile assembly and door leaf steel frame assembly to ensure the geometric accuracy and airtight performance of the finished door.

[0003] Currently, the positioning process in the production and processing of air-raid shelter doors mostly adopts traditional manual positioning methods, relying mainly on worker experience and completing the process through manual marking, tape measure measurement, and square alignment. This manual positioning method suffers from significant random errors in measurement and marking, making it difficult to guarantee positioning accuracy. Furthermore, it is easily affected by the worker's skill level and operating conditions, leading to issues such as diagonal deviations in the door frame and distortion of the door leaf skeleton, directly impacting the fit accuracy between the door leaf and the frame. Simultaneously, manually positioned air-raid shelter doors exhibit poor quality stability. The inherent inconsistencies in manual operation between different batches, and even between products within the same batch, make it difficult to maintain consistent positioning accuracy. This results in large fluctuations in the geometric dimensions of the finished doors, frequent occurrences of quality problems such as jammed locking mechanisms or inadequate sealing, seriously affecting the protective reliability of air-raid shelter projects.

[0004] Therefore, it is necessary to provide a positioning platform for the production of air defense doors to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a positioning platform for the production of air-raid shelter doors, which can improve the positioning accuracy and product quality stability during the production of air-raid shelter doors, thereby solving the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a positioning platform for the production of air-raid shelter doors, comprising a flipping mechanism, a supporting mechanism, two sets of positioning mechanisms and a detection mechanism. The supporting mechanism is mounted on the flipping mechanism, and the two sets of positioning mechanisms are located on both sides of the supporting mechanism. The setting direction of the two sets of positioning mechanisms is perpendicular to the setting direction of the flipping mechanism. The detection mechanism is fixed on the top of the flipping mechanism. The positioning mechanism is used to store, limit, retrieve and position the skeleton used in the production process of air-raid shelter doors. The detection mechanism is used to provide laser positioning projection and to detect and provide position feedback on the position of the positioned skeleton. The positioning mechanism includes a support component and a positioning component. The support component includes two sets of hydraulic cylinders, a motor, and a movable block. The positioning component includes a storage part, a limiting part, and a picking part. The storage part includes a fixed frame, a sliding cylinder, and a cylinder. The picking part includes a cylinder, a motor, and a clamp. The clamp has two sets of grippers arranged in a T-shape. The testing mechanism includes a rotating table, a camera, and a laser positioning projector.

[0007] According to the above technical solution, a bearing seat is fixedly connected to the top of the hydraulic cylinder 2, the motor 1 is fixed to the side of one of the bearing seats, a rotating seat is provided between the two sets of bearing seats, the output end of the motor 1 passes through the two sets of bearing seats and is connected to the bearing of the bearing seat, the output end of the motor 1 is fixedly connected to the rotating seat, two sets of guide rails 2 are fixedly connected to one side of the rotating seat, and the movable block is set on the two sets of guide rails 2 and is slidably connected to the two sets of guide rails 2.

[0008] According to the above technical solution, the fixed frame is fixed on the side of the movable block away from the rotating seat, and the side of the fixed frame away from the movable block is provided with an opening. The sliding cylinder is provided inside the fixed frame and is slidably connected to the fixed frame. One end of the sliding cylinder is fixedly connected with a flange, and the other end of the sliding cylinder is provided with a sliding groove. A sliding plate is provided in the sliding groove and is slidably connected to the sliding cylinder. According to the above technical solution, a fixing block 1 and a fixing block 2 are fixedly connected to one side of the fixing frame, and a cylinder 1 is located between the fixing block 1 and the fixing block 2. The two ends of the cylinder 1 are fixedly connected to the fixing block 1 and the fixing block 2 respectively.

[0009] According to the above technical solution, the limiting part includes a dual-output cylinder, a support plate, a pressure sensor, and a stop plate. The dual-output cylinder is fixed to the top of the sliding cylinder. The opening width at the top of the fixing frame is greater than the width of the dual-output cylinder in the direction perpendicular to the fixing frame. The output end of the dual-output cylinder passes through the sliding cylinder. A telescopic column is fixedly connected to the output end of the dual-output cylinder. The other end of the telescopic column is fixedly connected to the support plate. A plurality of springs arranged in a dot matrix are fixedly connected to the side of the support plate facing the telescopic column. The two ends of the springs are fixedly connected to the support plate and the sliding cylinder, respectively. The support plate is L-shaped.

[0010] According to the above technical solution, a fixing block three is fixedly connected to the other side of the fixing frame, the cylinder two is fixedly connected to the fixing block three, the output end of the cylinder two passes through the fixing block three, the output end of the cylinder two is fixedly connected to a support frame, the motor two is installed inside the support frame, the motor two is fixedly connected to the support frame, and the output end of the motor two passes through the support frame and is fixedly connected to the clamp two.

[0011] According to the above technical solution, the rotating platform is fixed on the top of the active end, and a rotating rod is fixedly connected to the rotating end of the rotating platform. The rotating rod is L-shaped, and the camera and laser positioning projector are fixed on the rotating rod.

[0012] According to the above technical solution, the camera is electrically connected to an analysis module, and the analysis module is also signal-connected to the positioning mechanism. The analysis module is used to acquire the image captured by the camera, calculate the distance between the skeleton and the laser line projected by the laser positioning projector, and then control the positioning mechanism to move, causing the skeleton to move according to the calculated distance, so that the position of the skeleton corresponds to the laser line.

[0013] According to the above technical solution, the flipping mechanism includes a base, a positioner, and two sets of clamps. The positioner includes an active end and a passive end. The active end is fixed to the top of one end of the base. Two sets of guide rails are fixedly connected to the top of the end of the base away from the active end. The passive end is slidably connected to the two sets of guide rails. A turntable is provided on the opposite side of the active end and the passive end. The turntables on the active end and the passive end are rotatably connected to the active end and the passive end. The turntables on the active end and the passive end are coaxially arranged. The two sets of clamps are respectively fixed on the opposite side of the two sets of turntables. The clamp is provided with two sets of grippers, and several balls are rotatably arranged on the opposite side of the two sets of grippers.

[0014] According to the above technical solution, the supporting mechanism includes four sets of hydraulic cylinders and a supporting plate. The four sets of hydraulic cylinders are respectively arranged in pairs on both sides of the base, and the supporting plate is fixed to the top of the output end of the hydraulic cylinder. The two sets of hydraulic cylinders are located on both sides of the support plate along the base setting direction.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: By setting up a positioning component, the present invention can utilize the cooperative structure of the sliding cylinder and the sliding plate in the storage section to enable the skeleton to be stored in either a vertical or horizontal state. Furthermore, by utilizing the linkage structure of the dual-output cylinder, telescopic column, spring, and pressure sensor in the limiting section, the skeleton is automatically limited within the sliding cylinder. The pressure sensor monitors the limiting pressure in real time, avoiding damage to the skeleton due to excessively tight limiting or skeleton displacement due to excessively loose limiting, thus ensuring the stability and safety of skeleton storage. Simultaneously, it allows workers to choose different feeding methods according to their operating habits or site requirements, improving operational flexibility and convenience. Moreover, by utilizing the cooperation of cylinder two, motor two, and T-shaped gripper two, combined with the adjustment of the movable blocks by the drive component three, the skeleton can be flexibly gripped and moved between the sliding cylinder and the frame of the air-raid shelter door, providing a reliable conveying means for subsequent precision positioning and effectively improving the positioning accuracy and product quality stability during air-raid shelter door production. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural schematic diagram of the present invention; Figure 3 This is the invention Figure 2 Enlarged structural diagram of region A in the middle; Figure 4 This is a schematic diagram of the positioning mechanism of the present invention; Figure 5 This is a cross-sectional schematic diagram of the positioning mechanism of the present invention; Figure 6 This is the invention Figure 5 Enlarged structural diagram of region B in the middle; Figure 7 This is a cross-sectional schematic diagram of the positioning mechanism of the present invention; Figure 8 This is the invention Figure 7 Enlarged structural diagram of region C in the middle; Figure 9 This is a schematic diagram of another embodiment of the positioning mechanism of the present invention; Figure 10 This is a schematic diagram of the positioning component of the present invention in a vertical state; In the diagram: 1. Tilting mechanism; 11. Base; 12. Guide rail; 13. Driving end; 14. Driven end; 15. Turntable; 16. Clamp one; 17. Ball bearing; 2. Supporting mechanism; 21. Hydraulic cylinder one; 22. Support plate; 3. Support assembly; 31. Hydraulic cylinder two; 32. Bearing seat; 33. Motor one; 34. Rotating seat; 35. Guide rail two; 36. Movable block; 4. Positioning assembly; 41. Fixed frame; 42. Sliding cylinder; 43. Sliding plate; 4 4. Fixed block one; 45. Cylinder one; 46. Fixed block two; 47. Dual-output cylinder; 48. Telescopic column; 49. Support plate; 410. Pressure sensor; 411. Support plate; 412. Fixed block three; 413. Cylinder two; 414. Support frame; 415. Motor two; 416. Clamp two; 417. Gripper two; 418. Spring; 5. Detection mechanism; 51. Rotating table; 52. Rotating rod; 53. Camera; 54. Laser positioning projector. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1-10 The present invention provides a technical solution: a positioning platform for the production of air-raid shelter doors, comprising a flipping mechanism 1, a supporting mechanism 2, two sets of positioning mechanisms, and a detection mechanism 5. The supporting mechanism 2 is mounted on the flipping mechanism 1, and the two sets of positioning mechanisms are located on both sides of the supporting mechanism 2. The setting direction of the two sets of positioning mechanisms is perpendicular to the setting direction of the flipping mechanism 1. The detection mechanism 5 is fixed on the top of the flipping mechanism 1. The flipping mechanism 1 is used to clamp the frame of the air-raid shelter door and drive the air-raid shelter door to flip at a set angle. The supporting mechanism 2 is used to provide basic bottom support during the production process of the air-raid shelter door. The positioning mechanisms are used to store, limit, retrieve, and position the frame used in the production process of the air-raid shelter door. The detection mechanism 5 is used to provide laser positioning projection and to detect and provide position feedback on the position of the frame after positioning.

[0019] Specifically, such as Figures 1-3 As shown, the flipping mechanism 1 includes a base 11, a positioner, and two sets of clamps 16. The positioner includes an active end 13 and a driven end 14. The active end 13 is fixed to the top of one end of the base 11. Two sets of guide rails 12 are fixedly connected to the top of the end of the base 11 away from the active end 13. The driven end 14 is slidably connected to the two sets of guide rails 12. A turntable 15 is provided on the opposite side of the active end 13 and the driven end 14. The turntables 15 are rotatably connected to the active end 13 and the driven end 14. The turntables 15 on the active end 13 and the driven end 14 are coaxially arranged. The two sets of clamps 16 are respectively fixed on the opposite side of the two sets of turntables 15. A drive component 1 is provided in the active end 13 for driving the turntable 15 to rotate. A drive component 2 is provided in the driven end 14 for driving the driven end 14 to move along the direction of the guide rail 12. The drive component 1 and the drive component 2 are selected according to actual needs and can be a drive motor or other drive components.

[0020] like Figure 3 As shown, the clamp 16 is provided with two sets of grippers, and several balls 17 are rotatably arranged on the opposite side of the two sets of grippers.

[0021] Specifically, such as Figure 1 and Figure 4As shown, the support mechanism 2 includes four sets of hydraulic cylinders 21 and a support plate 22. The four sets of hydraulic cylinders 21 are respectively arranged in pairs on both sides of the base 11. The support plate 22 is fixed on the top of the output end of the hydraulic cylinders 21. The hydraulic cylinders 21 are used to adjust the height of the support plate 22. The support plate 22 is used to provide basic support for the frame of the civil defense door.

[0022] In actual operation, workers use a lifting device to place the frame of the air-raid shelter door onto the support plate 22. Then, hydraulic cylinder 21 extends, aligning the door frame on the support plate 22 with the clamping height of clamp 16. Next, the drive component 2 within the driven end 14 is activated, adjusting the distance between it and the active end 13 so that the two clamps 16 can adapt to the size of the air-raid shelter door and clamp it. If there is an angular deviation on the horizontal plane when clamping the two ends of the air-raid shelter door frame, the clamps 16 are appropriately released from the air-raid shelter door. With the clamping action of the ball bearing 17 connected to the clamp 16, the staff can easily adjust the angle of the air-raid shelter door. After the angle of the air-raid shelter door is adjusted, the clamp 16 clamps the two ends of the frame of the air-raid shelter door. If it is necessary to flip the air-raid shelter door or adjust the angle between the air-raid shelter door and the horizontal plane, first control the hydraulic cylinder 21 to start retracting to avoid the support plate 22 interfering with the flipping of the air-raid shelter door. Then control the drive component inside the active end 13 to start, and drive the turntable 15 to rotate, thereby driving the clamp 16 holding the air-raid shelter door on the turntable 15 to rotate synchronously.

[0023] Specifically, such as Figure 1 and Figure 4 As shown, the positioning mechanism includes a support component 3 and a positioning component 4. The support component 3 includes two sets of hydraulic cylinders 31, a motor 33, and a movable block 36. The two sets of hydraulic cylinders 31 are located on both sides of the support plate 22 along the setting direction of the base 11. The top of the hydraulic cylinders 31 is fixedly connected to a bearing seat 32. The motor 33 is fixed to the side of one of the bearing seats 32. A rotating seat 34 is provided between the two sets of bearing seats 32. The output end of the motor 33 passes through the two sets of bearing seats 32 and is connected to the bearings of the bearing seats 32. The output end of the motor 33 is fixedly connected to the rotating seat 34. Two sets of guide rails 35 are fixedly connected to one side of the rotating seat 34. The movable block 36 is set on the two sets of guide rails 35 and is slidably connected to the two sets of guide rails 35. The movable block 36 is provided with a driving component 3 for driving the movable block 36 to move along the setting direction of the guide rails 35. The positioning component 4 is fixed on the movable block 36.

[0024] Furthermore, such as Figures 4-10As shown, the positioning component 4 includes a storage section, a limiting section, and a picking section. The storage section is fixed on the movable block 36, the limiting section is fixed on the storage section, and the picking section is located on the side of the storage section. The storage section is used by workers to store the skeleton from different angles and automatically move the skeleton into the inside of the air-raid shelter door frame. The limiting section is used to limit the skeleton in the storage section. The picking section is used to assist in taking out the skeleton in the storage section and to position the skeleton that has been moved into the inside of the air-raid shelter door frame.

[0025] Furthermore, such as Figure 4 and Figure 10 As shown, the storage section includes a fixed frame 41, a sliding cylinder 42, and a cylinder 45. The fixed frame 41 is fixed to the side of the movable block 36 away from the rotating seat 34. An opening is provided on the side of the fixed frame 41 away from the movable block 36. The sliding cylinder 42 is located inside the fixed frame 41 and is slidably connected to the fixed frame 41. A flange is fixedly connected to one end of the sliding cylinder 42, and a groove is provided at the other end of the sliding cylinder 42. A sliding plate 43 is provided in the groove, and the sliding plate 43 and the sliding cylinder 42 are connected. The sliding connection allows the sliding plate 43 to be inserted into the groove at the end of the sliding cylinder 42 when the sliding cylinder 42 is in a vertical position, which closes the bottom of the sliding cylinder 42. At this time, the skeleton can be placed vertically into the sliding cylinder 42. When the sliding cylinder 42 is in a horizontal position, the sliding plate 43 can be removed from the groove at the end of the sliding cylinder 42, which allows the skeleton to be placed horizontally into the sliding cylinder 42. This makes it easier for workers to place the skeleton to be positioned into the sliding cylinder 42 in different ways. Fixed blocks 44 and 46 are fixedly connected to one side of the fixed frame 41. Cylinder 45 is located between fixed blocks 44 and 46. The two ends of cylinder 45 are fixedly connected to fixed blocks 44 and 46 respectively. Cylinder 45 extends and retracts to adjust the position of sliding cylinder 42 inside the fixed frame 41, thereby causing sliding cylinder 42 to move closer to or away from the frame of the air-raid shelter door held by clamp 16.

[0026] Furthermore, such as Figures 4-8 As shown, the limiting part includes a dual-output cylinder 47, a support plate 49, a pressure sensor 410, and a stop plate 411. The dual-output cylinder 47 is fixed to the top of the sliding cylinder 42. The opening width at the top of the fixing frame 41 is greater than the width of the dual-output cylinder 47 in the direction perpendicular to the fixing frame 41. The output end of the dual-output cylinder 47 passes through the sliding cylinder 42. A telescopic column 48 is fixedly connected to the output end of the dual-output cylinder 47. The other end of the telescopic column 48 is fixedly connected to the support plate 49. Several springs 418 arranged in a dot matrix are fixedly connected to the side of the support plate 49 facing the telescopic column 48. The two ends of the springs 418 are fixedly connected to the support plate 49 and the sliding cylinder 42, respectively. The support plate 49 is L-shaped.

[0027] Furthermore, such as Figure 10As shown, the material handling unit includes a second cylinder 413, a second motor 415, and a second clamp 416. A third fixing block 412 is fixedly connected to the other side of the fixing frame 41. The second cylinder 413 is fixedly connected to the third fixing block 412. The output end of the second cylinder 413 passes through the third fixing block 412. A support frame 414 is fixedly connected to the output end of the second cylinder 413. The second motor 415 is installed inside the support frame 414 and is fixedly connected to the support frame 414. The output end of the second motor 415 passes through the support frame 414 and is fixedly connected to the second clamp 416. Two sets of grippers 417 are provided on the second clamp 416. The grippers 417 are arranged in a T-shape.

[0028] In actual operation, the control motor 33 is started, which drives the positioning component 4 to rotate. When the sliding cylinder 42 is in a vertical state, the sliding plate 43 is inserted into the groove at the end of the sliding cylinder 42, which can close the bottom of the sliding cylinder 42, making it easy to vertically put the skeleton into the sliding cylinder 42. When the sliding cylinder 42 is in a horizontal state, the sliding plate 43 is taken out from the groove at the end of the sliding cylinder 42, and the skeleton can be horizontally placed into the sliding cylinder 42.

[0029] When placing the skeleton inside the sliding cylinder 42, it is also necessary to control the retraction of the dual-output cylinder 47 to pull the telescopic column 48 to its fully extended state. The telescopic column 48 drives the support plate 49 to move closer to the side of the dual-output cylinder 47. At the same time, since there are several springs 418 between the support plate 49 and the sliding cylinder 42, the elastic force of the springs 418 will move the support plate 49 away from the side of the dual-output cylinder 47, further keeping the telescopic column 48 in a fully extended state. Therefore, the minimum distance of the support plate 49 towards the sliding cylinder 42 is the fully extended length of the telescopic column 48. At this time, the distance between the other side of the support plate 49 and the sliding cylinder 42 is the largest, and the space that can accommodate the skeleton is the shortest, which makes it convenient for the staff to put the skeleton into the sliding cylinder 42.

[0030] When it is necessary to limit the placement of the skeleton, the dual-output cylinder 47 is gradually extended. Due to the elastic force of the spring 418, the support plate 49 will still move away from the dual-output cylinder 47 under the action of the elastic force, so that the telescopic column 48 is still fully extended at first. Then, when the distance between the support plate 49 and the sliding cylinder 42 increases to a certain extent, the elastic force of the spring 418 turns into a pulling force, which drives the support plate 49 to move closer to the dual-output cylinder 47, causing the telescopic column 48 to retract until it is fully retracted, so that the dual-output cylinder 47 can continue to extend, driving the support plate 49 to move towards the side with the skeleton, limiting the skeleton inside the sliding cylinder 42. During this process, the pressure sensor 410 continuously detects the pressure value when limiting the skeleton inside the sliding cylinder 42, until the pressure value reaches the set range, the dual-output cylinder 47 stops extending, and the skeleton is limited.

[0031] Then, control the extension of hydraulic cylinder 31 so that the height of rotating seat 34 and positioning component 4 is higher than the height of the air defense door frame. Then, control motor 33 to start, drive rotating seat 34 to rotate, and drive positioning component 4 on movable block 36 to a horizontal state. Then, control cylinder 45 to retract, and drive sliding cylinder 42 to move closer to fixed block 44 through fixed block 46, thereby moving sliding cylinder 42 to fixed block 44, so that sliding cylinder 42 and the frame inside sliding cylinder 42 are located above the air defense door frame, which is convenient for subsequent use.

[0032] When the frame inside the sliding cylinder 42 is taken, the double-output cylinder 47 is controlled to retract, causing the support plate 49 to move toward the side of the double-output cylinder 47, thus releasing the restriction on the frame inside the sliding cylinder 42. Then, the hydraulic cylinder 31 can be controlled to continue to extend, driving the positioning component 4 to rise. Under the action of gravity, the frame slides down onto the frame of the air-raid shelter door in a stacked manner. Then, the driving component 3, which moves on the guide rail 35, is started by controlling the driving block 36. The hydraulic cylinder 31 extends, driving the positioning component 4 to adjust its position so that the clamp 416 corresponds to the position of the frame. Then, the motor 415 is started, so that the gripper 417 is located on both sides of the frame. Then, the clamp 416 is controlled to drive the gripper 417 to clamp the frame. Then, the driving component 3, which moves on the guide rail 35, is started by controlling the driving block 36 to adjust the position of the positioning component 4 and the frame held by the gripper 417.

[0033] After controlling the retraction of the dual-output cylinder 47, causing the support plate 49 to move towards the side of the dual-output cylinder 47 and releasing the restriction on the internal skeleton of the sliding cylinder 42, the control of the hydraulic cylinder 31 to continue extending is stopped. Then, the skeleton can be taken out of the sliding cylinder 42 and placed on the air defense door by adjusting the height and position of the clamping part of the opposite positioning mechanism, the extension and retraction of the cylinder 413, and the angle of the clamp 416.

[0034] Specifically, such as Figure 2 As shown, the detection mechanism 5 includes a rotating platform 51, a camera 53, and a laser positioning projector 54. The rotating platform 51 is fixed on the top of the active end 13. A rotating rod 52 is fixedly connected to the rotating end of the rotating platform 51. The rotating rod 52 is L-shaped. The camera 53 and the laser positioning projector 54 are fixed on the rotating rod 52.

[0035] The camera 53 is electrically connected to an analysis module, which is also signal-connected to the positioning mechanism. The analysis module is used to acquire the image captured by the camera 53, calculate the distance between the skeleton and the laser line projected by the laser positioning projector 54, and then control the positioning mechanism to move, causing the skeleton to move according to the calculated distance, so that the position of the skeleton corresponds to the laser line.

[0036] In actual operation, the rotating platform 51 can be driven by a motor. When the rotating platform 51 is started, it can drive the rotating rod 52 to rotate clockwise or counterclockwise along the axis of the rotating end of the rotating platform 51, thereby driving the camera 53 and the laser positioning projector 54 to be positioned on the top of the air-raid shelter door held by the clamp 16 for laser positioning and visual inspection, or drive the camera 53 and the laser positioning projector 54 to be positioned on the top side of the base 11, so that the staff can use the hoisting equipment to hoist the air-raid shelter door.

[0037] After the skeleton is initially positioned, the laser positioning projector 54 is turned on, and the camera 53 captures the position of the skeleton and the laser line, and feeds it back to the analysis module. The analysis module identifies the position and distance between the skeleton and the laser line. When the position of the skeleton and the laser line do not coincide, the analysis module controls the operation of the two sets of positioning mechanisms, so that the two sets of sliding cylinders 42 are collinear and their open ends face each other. Then, it controls the clamping parts on the two sets of positioning mechanisms to operate, controls the extension and retraction of cylinder 413 and the start of motor 415, so that the short sides of the grippers 417 on the clamps 416 clamp the skeleton on the frame of the security door. Then, it controls the drive component 3, which moves on the guide rail 35, to start, driving the positioning component 4 and the skeleton clamped by clamp 416 to the point where the laser line coincides. If the frame to be positioned is tilted relative to the frame of the air defense door, the analysis module controls the operation of two sets of positioning mechanisms, so that the open ends of the two sets of sliding cylinders 42 face each other. Then, it controls the clamping parts on the two sets of positioning mechanisms to operate, controls the extension and retraction of cylinder 413 and the start of motor 415, so that the end of one set of grippers 417 on the two sets of clamps 416 is located on both sides of the frame. Then, it controls the drive component 3 of the drive block 36 to start moving on the guide rail 35, and uses the thrust of the gripper 417 when it moves to drive the frame to adjust the position angle, so that the frame moves to coincide with the laser line.

[0038] Working method of positioning platform used in the production of air-raid shelter doors: Step 1: Frame storage and transport to the designated location: The rotating seat 34 is driven by motor 33 to adjust the sliding cylinder 42 of the storage section to a vertical or horizontal position, and the sliding plate 43 is inserted or removed to match the storage method for adjusting the storage posture; then, the double-output cylinder 47 is controlled to retract so that the support plate 49 makes room for the sliding cylinder 42, and the frame is placed in; then the double-output cylinder 47 is controlled to extend, and the support plate 49 is pressed against the frame by the linkage of spring 418 and telescopic column 48 until the pressure sensor 410 reaches the set value to complete the limit; then the hydraulic cylinder 31 extends to lift the positioning component 4, the motor 33 rotates the sliding cylinder 42 to a horizontal position, and the cylinder 45 retracts to move the sliding cylinder 42 directly above the air defense door frame, ready for retrieval.

[0039] Step 2: Selection of skeleton removal method: Method A: Gravity sliding removal: Control the double output cylinder 47 to retract, releasing the limit on the skeleton; the hydraulic cylinder 31 continues to extend, driving the positioning component 4 to rise, so that the skeleton slides down from the bottom of the sliding cylinder 42 to the frame of the air defense door under the action of gravity. This method is suitable for removing short skeletons, and the two positioning mechanisms can work independently, which is conducive to improving the positioning accuracy and efficiency of the skeleton. Method B: Clamping and Removal: Stop the extension of hydraulic cylinder 2 31 and maintain the position of sliding cylinder 42; adjust the height and angle through the material picking part of the opposite positioning mechanism, insert clamp 2 416 into sliding cylinder 42, clamp the skeleton and place it directly in the designated area of ​​the frame of the air-raid shelter door. This method is suitable for the use of long skeletons and requires two sets of positioning mechanisms to work together, which helps to improve the positioning accuracy of the skeleton.

[0040] Step 3: Initial clamping and position adjustment: Control the drive component 3 to make the movable block 36 slide on the guide rail 2 35 to adjust the position of the material picking part; start the motor 2 415 to make the gripper 2 417 align with the skeleton, the clamp 2 416 clamps the skeleton, and drive the movable block 36 through the drive component 3 to roughly move the skeleton to the vicinity of the preset installation position.

[0041] Step 4: Laser Projection and Visual Inspection: The laser positioning projector 54 projects a standard laser line onto the surface of the air-raid shelter door, and the camera 53 captures the actual image of the current frame and the laser line. The analysis module identifies the position of the frame and the laser line in the image and calculates the distance and directional deviation between them.

[0042] Step 5: Precise positioning and calibration: If the skeleton does not coincide with the laser line, the analysis module controls the operation of the two sets of positioning mechanisms to make the two sets of sliding cylinders 42 collinear and their open ends facing each other. The clamps 416 on the two sets of positioning mechanisms hold the two ends of the skeleton respectively. According to the calculated distance, the drive component 3 is controlled to drive the positioning component 4 to move until the skeleton and the laser line are completely aligned, thus completing the precise positioning.

[0043] The above methods can improve the positioning accuracy and product quality stability during the production of air-raid shelter doors.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A positioning platform for the production of air-raid shelter doors, comprising a flipping mechanism (1), a supporting mechanism (2), two sets of positioning mechanisms and a detection mechanism (5), characterized in that, The supporting mechanism (2) is mounted on the flipping mechanism (1). The two sets of positioning mechanisms are located on both sides of the supporting mechanism (2). The setting direction of the two sets of positioning mechanisms is perpendicular to the setting direction of the flipping mechanism (1). The detection mechanism (5) is fixed on the top of the flipping mechanism (1). The positioning mechanism is used to store, limit, retrieve and position the skeleton used in the production process of the air defense door. The detection mechanism (5) is used to provide laser positioning projection and to detect and provide position feedback on the position of the skeleton after positioning. The positioning mechanism includes a support component (3) and a positioning component (4). The support component (3) includes two sets of hydraulic cylinders (31), a motor (33), and a movable block (36). The positioning component (4) includes a storage part, a limiting part, and a picking part. The storage part includes a fixed frame (41), a sliding cylinder (42), and a cylinder (45). The picking part includes a cylinder (413), a motor (415), and a clamp (416). The clamp (416) is provided with two sets of grippers (417), which are T-shaped. The detection mechanism (5) includes a rotating table (51), a camera (53), and a laser positioning projector (54).

2. The positioning platform for producing air-raid shelter doors according to claim 1, characterized in that, The top of the hydraulic cylinder 2 (31) is fixedly connected to a bearing seat (32). The motor 1 (33) is fixed to the side of one of the bearing seats (32). A rotating seat (34) is provided between the two sets of bearing seats (32). The output end of the motor 1 (33) passes through the two sets of bearing seats (32) and is connected to the bearing of the bearing seat (32). The output end of the motor 1 (33) is fixedly connected to the rotating seat (34). Two sets of guide rails 2 (35) are fixedly connected to one side of the rotating seat (34). The movable block (36) is set on the two sets of guide rails 2 (35) and is slidably connected to the two sets of guide rails 2 (35).

3. The positioning platform for producing air-raid shelter doors according to claim 2, characterized in that, The fixed frame (41) is fixed on the side of the movable block (36) away from the rotating seat (34). The fixed frame (41) has an opening on the side away from the movable block (36). The sliding cylinder (42) is located inside the fixed frame (41). The sliding cylinder (42) is slidably connected to the fixed frame (41). One end of the sliding cylinder (42) is fixedly connected to a flange. The other end of the sliding cylinder (42) is provided with a sliding groove. A sliding plate (43) is provided in the sliding groove. The sliding plate (43) is slidably connected to the sliding cylinder (42).

4. A positioning platform for the production of air-raid shelter doors according to claim 3, characterized in that, One side of the fixed frame (41) is fixedly connected to a first fixed block (44) and a second fixed block (46). The first cylinder (45) is located between the first fixed block (44) and the second fixed block (46). The two ends of the first cylinder (45) are fixedly connected to the first fixed block (44) and the second fixed block (46) respectively.

5. A positioning platform for the production of air-raid shelter doors according to claim 4, characterized in that, The limiting part includes a dual-output cylinder (47), a support plate (49), a pressure sensor (410), and a stop plate (411). The dual-output cylinder (47) is fixed on the top of the sliding cylinder (42). The opening width of the top of the fixing frame (41) is greater than the width of the dual-output cylinder (47) in the direction perpendicular to the fixing frame (41). The output end of the dual-output cylinder (47) passes through the sliding cylinder (42). The output end of the dual-output cylinder (47) is fixedly connected to a telescopic column (48). The other end of the telescopic column (48) is fixedly connected to the support plate (49). A plurality of springs (418) arranged in a dot matrix are fixedly connected to the side of the support plate (49) facing the telescopic column (48). The two ends of the springs (418) are fixedly connected to the support plate (49) and the sliding cylinder (42) respectively. The support plate (49) is arranged in an L-shape.

6. A positioning platform for the production of air-raid shelter doors according to claim 5, characterized in that, A fixing block three (412) is fixedly connected to the other side of the fixing frame (41). The cylinder two (413) is fixedly connected to the fixing block three (412). The output end of the cylinder two (413) passes through the fixing block three (412). The output end of the cylinder two (413) is fixedly connected to the support frame (414). The motor two (415) is set inside the support frame (414). The motor two (415) is fixedly connected to the support frame (414). The output end of the motor two (415) passes through the support frame (414) and is fixedly connected to the clamp two (416).

7. A positioning platform for the production of air-raid shelter doors according to claim 6, characterized in that, The rotating platform (51) is fixed on the top of the active end (13). A rotating rod (52) is fixedly connected to the rotating end of the rotating platform (51). The rotating rod (52) is L-shaped. The camera (53) and the laser positioning projector (54) are fixed on the rotating rod (52).

8. A positioning platform for the production of air-raid shelter doors according to claim 7, characterized in that, The camera (53) is electrically connected to an analysis module, which is also signal-connected to the positioning mechanism. The analysis module is used to acquire the image captured by the camera (53), calculate the distance between the skeleton and the laser line projected by the laser positioning projector (54), and then control the positioning mechanism to move, causing the skeleton to move according to the calculated distance, so that the position of the skeleton corresponds to the laser line.

9. A positioning platform for the production of air-raid shelter doors according to claim 8, characterized in that, The flipping mechanism (1) includes a base (11), a positioner, and two sets of clamps (16). The positioner includes an active end (13) and a driven end (14). The active end (13) is fixed to the top of one end of the base (11). Two sets of guide rails (12) are fixedly connected to the top of the end of the base (11) away from the active end (13). The driven end (14) is set on the two sets of guide rails (12) and slidably connected to the guide rails (12). A turntable (15) is set on the opposite side of the active end (13) and the driven end (14). The turntables (15) are rotatably connected to the active end (13) and the driven end (14). The turntables (15) on the active end (13) and the driven end (14) are coaxially arranged. The two sets of clamps (16) are respectively fixed on the opposite side of the two sets of turntables (15). The clamp (16) is provided with two sets of jaws, and several balls (17) are rotatably arranged on the opposite side of the two sets of jaws.

10. A positioning platform for the production of air-raid shelter doors according to claim 9, characterized in that, The supporting mechanism (2) includes four sets of hydraulic cylinders (21) and a supporting plate (22). The four sets of hydraulic cylinders (21) are respectively arranged in pairs on both sides of the base (11), and the supporting plate (22) is fixed on the top of the output end of the hydraulic cylinders (21). The two sets of hydraulic cylinders (31) are located on both sides of the support plate (22) along the setting direction of the base (11).

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