Four-corner elastic tool dismounting and mounting device

Abstract

The utility model provides a four-corner elastic tool dismounting and mounting device which can be used for dismounting and mounting a four-corner elastic tool (a tensioning device) for assembling an insulating plate for an LNG (Liquefied Natural Gas) ship, and comprises a frame, four opening mechanisms, a driver and a synchronous transmission mechanism, due to the facts that the hooking pieces of the four opening mechanisms can only move in the plane of the frame, and the synchronous transmission mechanism is driven by the driver to drive the four hooking pieces to synchronously move outwards, when the frame and the insulating plate provided with the four-corner elastic tool are horizontally arranged, the four-corner elastic tool can move outwards synchronously. According to the disassembling and assembling device, the four pull ring pieces of the four-corner elastic workpiece can be hooked through the four hooking pieces of the disassembling and assembling device, the four pull ring pieces are pulled outwards in the horizontal direction so that the four-corner elastic workpiece can be opened, the pull ring pieces cannot be pulled in other directions, the disassembling and assembling process is more stable, safety is higher, and the disassembling and assembling efficiency is improved. And the position of the four-corner elastic tool is not changed in the disassembly and assembly process, positioning is accurate when disassembly and assembly are conducted again, the product quality can be improved, and automatic production can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of disassembly and assembly devices, and in particular relates to an automatic disassembly and assembly device for four-corner elastic tooling. Background Art

[0002] A large number of polyurethane insulation panels are used for heat insulation in liquefied natural gas (LNG) ships. A commonly used insulation panel structure includes a panel body and supporting wooden strips installed at the four corners of the panel body. The panel body is a multi-layer composite structure. After setting the glue, it needs to be pressed by a large press. The four supporting wooden strips are bonded to the panel body with glue and also need to be pressed. For the convenience of production, a four-corner elastic fixture is currently used to press the four supporting wooden strips at the four corners of the panel body at the same time. In order to ensure the pressing effect, the four-corner elastic fixture will press the supporting wooden strips with a large force. Therefore, it is very time-consuming and labor-intensive to manually assemble and disassemble the four-corner elastic fixture, and the operator is also prone to injury when operating carelessly.

[0003] In order to solve the above problems, CN109940652A proposes a disassembly and assembly device for a corner clamp positioning and tensioning device (i.e. the above-mentioned four-corner elastic tooling). The clamping mechanisms at the four corners of the four-corner elastic tooling have pull rings. The disassembly and assembly device can hook the four pull rings and pull them outward, that is, it can open the four-corner elastic tooling, thereby realizing automatic disassembly and assembly of the tooling.

[0004] However, the above-mentioned disassembly and assembly device still has some shortcomings, mainly in that: since the disassembly and assembly device adopts a connecting rod structure to rotate the gripping piece at the end in the vertical direction to achieve the pulling of the pull ring, the gripping piece will not only pull the pull ring outward in the horizontal direction, but also pull the pull ring upward, that is, the movement trajectory of the end of the gripping piece is an arc, which causes the assembly position of the four-corner elastic tooling on the insulating board to be inaccurate, thereby affecting the clamping effect of the supporting wooden strips and affecting the quality of the final product; it will also cause the risk of the four-corner elastic tooling accidentally falling off the gripping piece during the expansion process, posing a safety hazard. Utility Model Content

[0005] The utility model is designed to solve the above problems, and aims to provide a disassembly and assembly device that can more stably disassemble and assemble the four-corner elastic tooling and can make the assembly accuracy of the four-corner elastic tooling on the insulating board higher. The utility model adopts the following technical solutions:

[0006] The utility model provides a four-corner elastic tooling disassembly and assembly device, which is used for disassembling and assembling the four-corner elastic tooling, wherein the four corners of the four-corner elastic tooling are respectively provided with a clamping mechanism, which is used for clamping the small wooden strips supporting the corners of the liquefied natural gas ship insulation board, and the clamping mechanism has a pull ring for loosening the small wooden strips, and is characterized in that it comprises: a frame, which is in the shape of a flat plate as a whole; four opening mechanisms, which are respectively provided with hooks and hanging parts that can move along the surface direction of the frame, and are used for using the corresponding pull ring parts to open the four clamping mechanisms; a driver, which is used for driving the four opening mechanisms to open or retract them; and a synchronous transmission mechanism, which is used for driving the four hooks and hanging parts to move synchronously in a direction away from the center of the frame under the drive of the driver.

[0007] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such technical features, wherein the hook member is connected to a transmission connecting plate, and the synchronous transmission mechanism includes: a rotating shaft, the driver is used to drive the rotating shaft to rotate; a turntable, coaxially arranged at one end of the rotating shaft; and four connecting rods, one end of which is rotatably connected to the edge of the turntable, and the other end is rotatably connected to the transmission connecting plate.

[0008] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such technical features, wherein the turntable is in the shape of a cross plate, having four arms of equal length, two adjacent arms being perpendicular to each other, one end of the four connecting rods being rotatably connected to the outer end portion of each arm, and the four connecting rods being of equal length, when the spreading mechanism is retracted, each arm of the turntable is respectively oriented toward each spreading mechanism, one end of the connecting rod is connected to the transmission connecting plate of the spreading mechanism, and the other end is connected to the arm adjacent to the arm corresponding to the spreading mechanism.

[0009] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such technical features, wherein the connecting rod includes: a hexagonal rod portion, whose cross-section is hexagonal; and two fisheye joints, which are respectively arranged at both ends of the hexagonal rod portion, one of the fisheye joints is rotatably connected to the transmission connecting plate through a rotating shaft, and the other fisheye joint is rotatably connected to one of the arms of the turntable through a rotating shaft.

[0010] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such technical features, wherein the pull ring is in the shape of a U-shaped round rod, the hook member has a V-shaped groove for hooking the pull ring member, and the bottoms of the V-shaped grooves of the four hook members are located on the same plane parallel to the surface direction of the frame.

[0011] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such a technical feature, wherein the hook member includes a first frustum of a cone and a second frustum of a cone, and the end with a smaller diameter of the first frustum of a cone is connected to the end with a smaller diameter of the second frustum of a cone, thereby forming a circle of the V-shaped groove.

[0012] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such technical features, wherein the spreading mechanism also includes: a first guide rail, which is arranged below the frame and whose length direction is consistent with the diagonal direction of the frame; a first slider, which can be slidably engaged on the first guide rail, and the transmission connecting plate is fixed on the first slider; and an extended mounting plate, which is in the shape of a bent plate, one end of which is fixed on the transmission connecting plate, and the other end is equipped with the hook.

[0013] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such technical features, and also include: four tooling detection sensors, which are respectively arranged on the frame through corresponding brackets and are respectively located next to each of the extended mounting plates, with their detection ends facing downward, for detecting whether the corresponding hook parts are in the correct working position of the pull ring parts.

[0014] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such technical features, wherein the driver is a cylinder, a hydraulic cylinder or an electric cylinder, which has a piston rod parallel to the surface direction of the frame, and the synchronous transmission mechanism also includes: a rack, which is arranged on the piston rod and is parallel to the piston rod; a gear, which is meshed with the rack and coaxially arranged on the other end of the rotating shaft; and a transmission guide assembly, which is used to guide the movement of the rack.

[0015] The four-corner elastic tooling assembly and disassembly device provided by the utility model may also have such technical features, and also includes: a flange shaft, which is arranged in the middle of the upper surface of the frame, for installing the four-corner elastic tooling assembly and disassembly device on other equipment, wherein the gear is arranged in the flange shaft, the two ends of the rotating shaft are respectively located above and below the frame, the flange shaft has a clearance opening, and the rack is located outside the flange shaft and meshes with the gear through the clearance opening.

[0016] Function and effect of utility model

[0017] According to the four-corner elastic tooling disassembly and assembly device of the utility model, it includes a frame, four spreading mechanisms, a driver and a synchronous transmission mechanism, wherein, since the hook parts of the four spreading mechanisms can only move along the plane (X, Y) of the frame, and the synchronous transmission mechanism drives the four hook parts to move synchronously outward under the drive of the driver, when the frame and the LNG ship insulation board equipped with the four-corner elastic tooling (tensioning device) are arranged horizontally, the four-corner elastic tooling disassembly and assembly device can hook the four pull ring parts of the four-corner elastic workpiece through its four hook parts, and pull the four pull ring parts outward in the horizontal direction to spread the four-corner elastic tooling, and will not pull the pull ring parts in other directions (Z direction), thereby making the disassembly and assembly process of the four-corner elastic tooling more stable and safer, and more importantly, the position of the four-corner elastic tooling can remain unchanged during the disassembly and assembly process, so it can be accurately positioned when disassembled again, which is beneficial to improving the quality of the product and can also realize automatic production. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the four-corner elastic tooling disassembly and assembly device in the embodiment of the utility model;

[0019] Figure 2 It is a three-dimensional diagram of the four-corner elastic tooling disassembly and assembly device at different angles in the embodiment of the utility model;

[0020] Figure 3 It is a three-dimensional diagram of the partial structure of the four-corner elastic tooling disassembly and assembly device in the embodiment of the utility model;

[0021] Figure 4 yes Figure 2 An enlarged view of the portion within the middle frame A;

[0022] Figure 5 It is a three-dimensional diagram of the hook member in the embodiment of the utility model;

[0023] Figure 6 It is a three-dimensional diagram of the mechanical arm and the four-corner elastic tooling disassembly and assembly device in the embodiment of the utility model;

[0024] Figure 7 It is a three-dimensional diagram of the four-corner elastic tooling disassembly and assembly device in the embodiment of the utility model in use;

[0025] Figure 8 yes Figure 7 An enlarged view of the portion within the middle frame B;

[0026] Fig. 9 This is a flow chart of assembling the four-corner elastic tooling by the four-corner elastic tooling disassembly and assembly device in the embodiment of the utility model;

[0027] Fig.10 This is a flow chart of disassembling the four-corner elastic tooling by the four-corner elastic tooling disassembly and assembly device in the embodiment of the utility model;

[0028] Fig.11 It is a three-dimensional diagram of the four-corner elastic tooling and the marine insulation board in the embodiment of the utility model;

[0029] Fig.12 It is a three-dimensional diagram of the four-corner elastic tooling in the embodiment of the utility model;

[0030] Fig.13 It is an enlarged view of the corners of the four-corner elastic tooling in the embodiment of the utility model.

[0031] Reference numerals:

[0032] Four-corner flexible tooling assembly and disassembly device 10; fixing frame 11; flange shaft 111; clearance opening 1111; frame 112; frame end rod 1121; mounting box part 1122; opening mechanism 12; opening guide assembly 121; first guide rail 1211; first slider 1212; transmission connecting plate 122; extension mounting plate 123; first plate part 1231; second plate part 1232; third plate part 1233; hook member 124; first truncated cone part 1241; second truncated cone part 1242; mounting plate part 1243; V-shaped groove 1244; fastener 125; driver 13; synchronous transmission mechanism 14; rack 141; gear 142; rotating shaft 143; bearing 144; turntable 145; connecting rod 146; hexagonal rod part 1461; fisheye joint 1462; sensor bracket 151; tooling detection sensor 152.

[0033] LNG ship insulation panel 20; insulation panel body 21; support bar 22.

[0034] Four-corner elastic tooling 30; tooling frame 31; support rod 311; connecting plate 312; clamping mechanism 32; fixing seat 321; pressing roller 322; clamping drive assembly 323; guide rod 3231; limiting plate 3232; pressing plate 3233; compression spring 3234; pull ring assembly 324; pull ring mounting plate 3241; pull ring member 3242.

[0035] Robotic arm 40. DETAILED DESCRIPTION

[0036] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the four-corner elastic tooling assembly and disassembly device of the present invention is specifically described below in conjunction with the embodiments and drawings.

[0037] <Example>

[0038] This embodiment provides a four-corner elastic tooling disassembly and assembly device, which is used to automatically disassemble and assemble a four-corner elastic tooling.

[0039] The four-corner elastic fixture is used to press or support the four corners of the workpiece. To facilitate understanding of the structure and function of the disassembly and assembly device of this embodiment, the following will be described in conjunction with a four-corner elastic fixture used to press the four corners of a marine insulation board.

[0040] Fig.11 is a three-dimensional diagram of the four-corner elastic tooling and the marine insulation board in this embodiment, Fig.12 It is a three-dimensional diagram of the four-corner elastic tooling in this embodiment.

[0041] like Fig.11 and Fig.12 As shown, the LNG ship insulation plate 20 includes an insulation plate body 21 and four support bars 22, wherein the four corners of the insulation plate body 21 respectively have an inwardly concave strip groove, and the four support bars 22 are respectively embedded in the four strip grooves and bonded to the bottom of the groove by glue. The four-corner elastic fixtures 30 are used to simultaneously press the four support bars 22 into the corresponding strip grooves.

[0042] The four-corner elastic fixture 30 includes a fixture frame 31 and four pressing mechanisms 32 .

[0043] The tool frame 31 includes four support rods 311 and four U-shaped connecting plates 312. The connecting plates 312 are provided with a plurality of mounting holes. The tool frame 31 is used to be arranged on the outer ring of the insulating plate body 21 and play a supporting role.

[0044] Fig.13 yes Fig.12 An enlarged view of the portion within the middle frame C.

[0045] like Fig.13 As shown, the pressing mechanism 32 includes a fixing seat 321 , a pressing roller 322 , a pressing driving assembly 323 and a pull ring assembly 324 .

[0046] The fixed seat 321 is fixedly mounted on the connecting plate 312. The pressure roller 322 is a segmented pressure roller. The clamping drive assembly 323 includes a guide rod 3231, a limit plate 3232, a pressure plate 3233 and two compression springs 3234. The guide rod 3231 passes through the guide hole on the fixed seat 321, the limit plate 3232 and the pressure plate 3233 are respectively connected to the two ends of the guide rod 3231 and are respectively located on both sides of the fixed seat 321, and the pressure plate 3233 is embedded in the structure in the middle of the pressure roller 322. The two ends of the compression spring 3234 are respectively in contact with the fixed seat 321 and the pressure plate 1233. Therefore, under the action of the compression spring 3234, the pressure plate 3233 drives the pressure roller 322 to push toward the center of the tooling frame 31.

[0047] The ring pull assembly 324 includes a ring pull mounting plate 3241 and a ring pull member 3242. The ring pull mounting plate 3241 and the limit plate 3232 are fixed together in a superimposed manner, and the ring pull member 3242 is U-shaped, with both ends respectively fixed in two mounting holes of the ring pull mounting plate 3241. The ring pull member 3242 is an axisymmetric structure, the direction of its central axis is consistent with the extension direction of the guide rod, and the central axis of the ring pull member 3242 is located in the middle of the two guide rods.

[0048] The structure and function of the disassembly and assembly device of this embodiment will be specifically described below in conjunction with the structure of the four-corner elastic fixtures 30 .

[0049] Figure 1 It is a three-dimensional diagram of the four-corner elastic tooling disassembly and assembly device in this embodiment. Figure 2 It is a three-dimensional diagram of the four-corner elastic tooling assembly and disassembly device at different angles in this embodiment. Figure 3 This is a three-dimensional diagram of the structure of the four-corner elastic tooling part in this embodiment, to show the internal structure. Figure 3 Some frame structures are omitted.

[0050] like Figures 1 to 3 As shown, the four-corner elastic tool assembly and disassembly device 10 (hereinafter referred to as the disassembly and assembly device 10 ) includes a fixing frame 11 , four spreading mechanisms 12 , a driver 13 and a synchronous transmission mechanism 14 .

[0051] The fixing frame 11 includes a flange shaft 111 and a frame 112 .

[0052] The frame 112 is used to support other components. The frame 112 is flat as a whole and includes a square frame portion and frame end rods 1121 extending outward from the four corners of the square frame portion. In this embodiment, the frame 112 is composed of a plurality of square metal rods, four of which are arranged on its diagonal line, and the frame end rods 1121 are the outer ends of the four metal rods. The middle part of the frame 112 also has a box-shaped installation box portion 1122, and the installation box portion 1122 has a mounting hole that penetrates in the vertical direction.

[0053] The flange shaft 111 is fixedly mounted in the middle of the upper part of the frame 112, and is used to connect the disassembly and assembly device 10 to other equipment. A strip-shaped opening 1111 is opened in the middle of the flange shaft 111.

[0054] The four opening mechanisms 12 are respectively arranged under the four frame end rods 1121 of the frame 112, and are used to open the four clamping mechanisms 32 of the four-corner elastic tooling 30, that is, to pull the four pull ring members 3242 in the opposite directions shown by D1~D4 in the figure, so that the four pressure rollers 322 move in directions away from each other, so that the four-corner elastic tooling 30 can be put on the workpiece; or the four-corner elastic tooling 30 no longer presses the workpiece and can be removed from the workpiece.

[0055] Figure 4 yes Figure 2 An enlarged view of the portion within frame A.

[0056] like Figure 4 As shown, the spreading mechanism 12 includes a spreading guide assembly 121 , a transmission connecting plate 122 , an extending mounting plate 123 , a hook and fastener 124 and a hook and fastener 125 .

[0057] The expansion guide assembly 121 is used to guide the movement of the extension mounting plate 122 and the hook fastener 123. The expansion guide assembly 121 includes a first guide rail 1211 and a first slider 1212. The first guide rail 1211 is installed below the frame end rod 1121, and the length direction is consistent with the length direction of the frame end rod 1121. The first slider 1212 is slidably engaged with the first guide rail 1211.

[0058] The transmission connecting plate 122 is fixed below the first sliding block 1212 , and has a mounting hole at one end thereof close to the middle of the frame 112 .

[0059] The extension mounting plate 123 is in the shape of a bent strip plate, and its overall shape is similar to a bent finger. Specifically, the extension mounting plate 123 has a first plate portion 1231, a second plate portion 1232 and a third plate portion 1233 that are integrally formed. The angle between the first plate portion 1231 and the second plate portion 1232 is an obtuse angle, the second plate portion 1232 has a gradual width and its width is wider near one end of the first plate portion 1231, the angle between the second plate portion 1232 and the third plate portion 1233 is also an obtuse angle, and the corners of the extension mounting plate 123 are all rounded. The length direction of the first plate portion 1231 is consistent with the length direction of the frame end rod 1121, and the length direction of the third plate portion 1233 is perpendicular to the surface direction of the frame 112.

[0060] Figure 5 It is a three-dimensional diagram of the hook member in this embodiment.

[0061] like Figure 5 As shown, the hook member 124 includes an integrally formed first truncated cone portion 1241, a second truncated cone portion 1242, and two semi-cylindrical mounting plate portions 1243. The first truncated cone portion 1241 is disposed below the second truncated cone portion 1242, and the ends of the two truncated cone portions with smaller diameters are connected to form a circle of V-shaped grooves 1244. The two mounting plate portions 1243 are formed on the ends of the second truncated cone portion 1242 with larger diameters, and each has a mounting hole, and a mounting groove 1243a matching the outer end of the third plate portion 1233 is formed between the two mounting plate portions 1243.

[0062] The fastener 125 is a pin that matches the mounting hole on the hook member 124 , and fixes the hook member 124 to one end of the extended mounting plate 123 .

[0063] The driver 13 is a driving cylinder fixed on the fixing frame 11 . In this embodiment, the driver 13 is a cylinder with large thrust and adjustable stroke.

[0064] The synchronous transmission mechanism 14 is used to synchronously drive the four opening mechanisms 12 to open under the drive of the driver 13. The synchronous transmission mechanism 14 includes a rack 141, a gear 142, a rotating shaft 143, a bearing 144, a rotating disk 145, four connecting rods 146 and corresponding connecting parts (not shown in the figure), and a transmission guide assembly 147.

[0065] The rack 141 is mounted on the piston rod of the driver 13 (cylinder) through a corresponding connecting plate, and the length direction of the rack 141 is consistent with the length direction of the piston rod. The gear 142 is mounted on one end of the rotating shaft 143 and meshes with the rack 141. The rotating shaft 143 is mounted on the mounting box portion 1122 of the frame 112 through a bearing 144, and the two ends of the rotating shaft 143 are respectively located above and below the frame 112, and the end located below is fixedly connected to the middle of the rotating disk 145. The rotating disk 145 is in the shape of a cross plate and has four arms, and the outer end of each arm has a mounting hole. The connecting rod 146 includes a hexagonal rod 1461 and two fisheye joints 1462 connected to its two ends, one fisheye joint 1462 is mounted on one end of the rotating disk 145 through a corresponding connecting piece (rotating shaft member), and the other fisheye joint 1462 is mounted on one end of the transmission connecting plate 122 through a corresponding connecting piece (rotating shaft member). That is, one end of the connecting rod 146 is rotatably connected to one end of the rotating disk 145, and the other end is rotatably connected to one end of the transmission connecting plate 122. The transmission guide assembly 147 includes a second guide rail 1471 and two second sliders 1472. The second guide rail 1471 is installed on the back of the rack 141, and its length direction is the same as the length direction of the rack 141. The two second sliders 1472 are installed on the upper surface of the frame 112 through a mounting plate, and are slidably engaged with the second guide rail 1471 respectively, so as to guide the movement of the rack 141.

[0066] In addition, in this embodiment, the gear 142 is disposed in the flange shaft 111 , and the rack 141 is located outside one side of the flange shaft 111 and meshes with the gear 142 inside the flange shaft 111 through the clearance opening 1111 .

[0067] When the expansion mechanism 12 is not expanded, the connecting rod 146 is inclined relative to the diagonal direction of the frame 112, and the four ends of the cross-shaped rotating disk 145 are respectively facing the four expansion mechanisms 12. One end of the connecting rod 146 is connected to one expansion mechanism 12, and the other end is connected to the edge of the end of the rotating disk 145 that the expansion mechanism 12 is facing. Figure 2 When the opening mechanism 12 is opened, the next end of the rotating disk 145 will rotate toward the opening mechanism 12 under the drive of the driver 13, thereby driving the corresponding connecting rod 146 to push the transmission connecting plate 122.

[0068] In this embodiment, the four arms of the turntable 145 are of the same length, and a 90-degree angle is formed between two adjacent arms. The lengths of the four connecting rods 146 are also consistent. Therefore, the synchronous transmission mechanism 14 can drive the four opening mechanisms 12 to open with the same amplitude, that is, the four hooks 124 can synchronously move outward by approximately the same distance in the horizontal direction and approximately on the same plane.

[0069] In the retracted state, the relative position distribution of the four hooks 124 corresponds to the relative position distribution of the four pull rings 3242 of the four-corner elastic fixture 30. Specifically, when the center of the disassembly and assembly device 10 and the center of the four-corner elastic fixture 30 are located in the same vertical direction, the four hooks 124 are respectively located in the middle of the inner side of the four pull rings 3242 (that is, the middle of the through hole formed by them). From the retracted state to the expanded state, the stroke of the hook 124 is less than the maximum stroke of the pull ring 3242 (corresponding to the distance between the limit plate 3232 and the pressure plate 3233).

[0070] In addition, sensor brackets 151 and tooling detection sensors 152 are respectively installed on the four frame end rods 1121, which are used to detect the pull ring member 3242 of the four-corner elastic tooling 30, so as to realize automatic control. The sensor bracket 151 includes a square U-shaped rod and a trapezoidal end plate. One end of the square U-shaped rod is installed on the upper surface of the frame end rod 1121, and the other end is located below the frame end rod 1121 and beside one side of the extended mounting plate 123. The trapezoidal end plate is installed on the other end. The tooling detection sensor 152 is installed on the surface of the trapezoidal end plate facing the extended mounting plate 123, and its detection end faces directly below, which is used to detect whether there is a component directly below it. In this embodiment, the tooling detection sensor 152 is a proximity switch, and its installation position allows it to detect the pull ring mounting plate 3241 directly below when the hook 124 hooks the pull ring member 3242.

[0071] The disassembly and assembly device 10 is arranged in a device having a translation drive mechanism and a lifting drive mechanism, or is installed on an industrial robot arm. The use of the above device is described below in conjunction with an industrial robot arm.

[0072] Figure 6 It is a side view of the four-corner elastic tooling assembly and disassembly device and the mechanical arm in this embodiment.

[0073] like Figure 6 As shown, the robot arm 40 is a multi-axis industrial robot arm in the prior art, and the other end of the flange shaft 111 of the disassembly and assembly device 10 is coaxially mounted on the end joint of the robot arm 40. The robot arm 40 can drive the disassembly and assembly device 10 to translate, lift and / or rotate according to a predetermined moving path.

[0074] Figure 7 It is a three-dimensional diagram of the four-corner elastic tooling assembly and disassembly device in this embodiment in use. Figure 8 yes Figure 7 Enlarged view of the portion within frame B.

[0075] Fig. 9 It is a flow chart of assembling the four-corner elastic tooling by the four-corner elastic tooling disassembly and assembly device in this embodiment.

[0076] like Figures 6 to 9 As shown, the process of assembling the four-corner elastic fixture 30 onto the insulating plate 20 using the above-mentioned disassembly and assembly device 10 includes the following steps:

[0077] In step S1 - 1 , the robot arm 40 moves the disassembly and assembly device 10 horizontally to above the four-corner elastic fixtures 30 , and then lowers the disassembly and assembly device 10 to the height of the four-corner elastic fixtures 30 .

[0078] When the disassembly and assembly device 10 descends to the height of the four-corner elastic fixtures 30, its four hooks 124 are respectively inserted into the through holes of the corresponding pull ring members 3242, and the bottom of its V-shaped groove 1244 is approximately at the same horizontal plane as the pull ring member 3242.

[0079] Step S1 - 2 , the driver 13 drives the synchronous transmission mechanism 14 to synchronously open the four opening mechanisms 12 , and the disassembly and assembly device 10 grabs the four-corner elastic tooling 30 .

[0080] Driven by the driver 13 , the hook member 124 moves outward along the diagonal direction of the frame 112 , and its V-shaped groove 1244 abuts against the U-shaped bottom of the pull ring member 3242 and drives the pull ring member 3242 to move, thereby synchronously expanding the four pressure rollers 322 .

[0081] Optionally, in step S1 - 2 , after the driver 13 completes the driving of the expansion, four tooling detection sensors 152 (proximity switches) may be used to detect that a component within a predetermined distance, that is, the corresponding expansion mechanism 12 has hooked the pull ring 3242 .

[0082] In step S1-3, the robot arm 40 raises the disassembly and assembly device 10 holding the four-corner elastic tooling 30 to a predetermined height, then moves it horizontally to above the insulating board 20 to be assembled, and then lowers it to the height of the insulating board 20 so that the insulating board 20 is located on the inner side of the frame of the four-corner elastic tooling 30.

[0083] In step S1 - 4 , the driver 13 drives the synchronous transmission mechanism 14 to synchronously retract the four spreading mechanisms 12 , so that the four-corner elastic tooling 30 is tightly sleeved on the insulating plate 20 .

[0084] Among them, when the four hook members 124 move synchronously toward the center of the frame 112, under the drive of each clamping drive assembly 323 (including a compression spring) of the four-corner elastic tooling 30, the corresponding pressure roller 322 moves toward the center of the insulating plate body 21 until the pressure roller 322 abuts against the strip groove on the support bar 22, thereby pressing the support bar 22 against the corner of the insulating plate body 21, and the entire four-corner elastic tooling 30 is tightly sleeved on the insulating plate 20.

[0085] In step S1 - 5 , the robot arm 40 raises the assembly and disassembly device 10 to a predetermined height, so that the assembly and disassembly device 10 is completely separated from the four-corner elastic fixture 30 .

[0086] Among them, the structural dimension design of the synchronous transmission mechanism 14 and the driving stroke setting of the driver 13 make the hook member 124 located in the inner middle part of the corresponding pull ring member 3242 when retracted, that is, the hook member 124 is not in contact with the pull ring member 3242 at this time. At this time, the disassembly and assembly device 10 is raised again to allow the four hook members 124 to pass through the corresponding pull ring members 3242.

[0087] Through the above steps, the four-corner elastic fixture 30 can be automatically assembled onto the insulating plate 20 so that the four support bars 22 are pressed tightly into the strip grooves at the four corners of the insulating plate body 21 .

[0088] Fig.10 It is a flow chart of disassembling the four-corner elastic tooling by the four-corner elastic tooling disassembly and assembly device in this embodiment.

[0089] like Figures 6 to 8 as well as Fig.10 As shown, the process of disassembling the four-corner elastic fixture 30 assembled on the insulating plate 20 using the above-mentioned disassembly and assembly device 10 includes the following steps:

[0090] In step S2 - 1 , the robot arm 40 moves the disassembly and assembly device 10 horizontally to above the insulating plate 20 equipped with the four-corner elastic fixtures 30 , and then lowers the disassembly and assembly device 10 to the height of the insulating plate 20 .

[0091] Step S2 - 2 , the driver 13 drives the synchronous transmission mechanism 14 to synchronously open the four opening mechanisms 12 , and the disassembly and assembly device 10 grabs the four-corner elastic tooling 30 .

[0092] The specific operations of step S2-1 and step S2-2 are basically the same as those of the above-mentioned step S1-1 and step S2-1, so they will not be repeated.

[0093] In step S2-3, the robot arm 40 raises the disassembly and assembly device 10 holding the four-corner elastic fixtures 30 to a predetermined height, and then moves it horizontally to above a predetermined stacking position.

[0094] After the disassembling and assembling device 10 holding the four-corner elastic fixtures 30 is raised, the four-corner elastic fixtures 30 are completely separated from the insulating plate 20 .

[0095] In step S2-4, the robot arm 40 horizontally rotates the disassembly and assembly device 10 holding the four-corner elastic fixtures 30 by a predetermined angle, and then lowers it to a predetermined height.

[0096] In step S2-5, the driver 13 drives the synchronous transmission mechanism 14 to synchronously retract the four spreading mechanisms 12, so that the disassembly and assembly device 10 releases the four-corner elastic tooling 30, and the four-corner elastic tooling 30 is stacked above the top four-corner elastic tooling 30 in the stacking position.

[0097] Among them, according to the predetermined control parameters, the robot arm 40 horizontally rotates a four-corner elastic tooling 30 currently grasped by the disassembly and assembly device 10 to a predetermined angle that is staggered with the placement angle of the previous disassembled four-corner elastic tooling 30 (that is, the top tooling at the stacking position), and then places the current four-corner elastic tooling 30 on the stacking position, so that the stacked multiple four-corner elastic tooling 30 are placed in a spiral shape with a certain angle staggered in sequence, and the tooling frames 31 of two adjacent four-corner elastic tooling 30 are in contact with each other, while the clamping mechanisms 32 do not contact each other, thereby making the stacked four-corner elastic tooling 30 more stable.

[0098] Through the above steps, the four-corner elastic fixtures 30 assembled on the insulating plate 20 can be automatically disassembled, and the disassembled four-corner elastic fixtures 30 can be automatically stacked.

[0099] Functions and Effects of the Embodiments

[0100] The four-corner elastic tooling disassembly and assembly device provided in this embodiment includes a frame, four spreading mechanisms, a driver and a synchronous transmission mechanism, wherein, since the hook parts of the four spreading mechanisms can only move along the plane (X, Y) of the frame, and the synchronous transmission mechanism drives the four hook parts to move synchronously outward under the drive of the driver, when the frame and the LNG ship insulation board equipped with the four-corner elastic tooling (tensioning device) are arranged horizontally, the four-corner elastic tooling disassembly and assembly device can hook the four pull ring parts of the four-corner elastic workpiece through its four hook parts, and pull the four pull ring parts outward in the horizontal direction to spread the four-corner elastic tooling, and will not pull the pull ring parts in other directions (Z direction), thereby making the disassembly and assembly process of the four-corner elastic tooling more stable and safer, and more importantly, the position of the four-corner elastic tooling can remain unchanged during the disassembly and assembly process, so it can be accurately positioned when disassembled again, which is beneficial to improving product quality and can also realize automatic production.

[0101] In the embodiment, the synchronous transmission mechanism includes a rotating shaft, a cross-shaped rotating disk and four connecting rods of equal length. Its structure enables the four hooks to move on the same plane and synchronously move the same stroke, so that the four-corner elastic tooling can be stably opened.

[0102] Furthermore, the hook piece includes two opposite frustum parts, which cooperate to form a V-shaped groove. Not only can the V-shaped groove be used to conveniently and stably hook the pull ring formed by the round rod, but also because the hook piece is composed of two frustum parts, its structural strength is relatively high, and the four-corner elastic tooling can be stretched with a large force without deformation or damage. Therefore, the disassembly and assembly device can also be used for four-corner elastic tooling with a large clamping force, and its application range is wider.

[0103] Furthermore, the hook part is detachably mounted on the end of the extended mounting plate by a pin part. During use, only the hook part in the opening mechanism frequently contacts the pull ring part, and other parts are less worn. Therefore, the hook part can be replaced separately when it is worn, which makes the use cost of the four-corner elastic tooling disassembly and assembly device lower and the replacement of the hook part is very convenient and quick.

[0104] Furthermore, the connecting rod is composed of a hexagonal rod portion and two fisheye joints. The hexagonal rod has high strength and can withstand greater tension and pressure, etc. The fisheye joint is a self-lubricating spherical bearing that can withstand greater loads. Therefore, the disassembly and assembly device can be suitable for four-corner elastic tooling with greater clamping force and have a longer service life.

[0105] Furthermore, in the embodiment, the rotating shaft is driven to rotate by a gear rack, thereby driving the four opening mechanisms to open, and a large-thrust, stroke-adjustable cylinder is used to drive the rack. The structure is simple and reliable, and the cylinder stroke adjustment can make the disassembly and assembly device suitable for four-corner elastic tooling of different sizes.

[0106] Furthermore, the gear and the rotating shaft are arranged on the flange shaft, and the rack is meshed with the gear through the opening on the flange shaft, which not only makes the overall appearance of the disassembly and assembly device more simple and beautiful, but also can protect the gears and the like and extend their service life.

[0107] Furthermore, a tool detection sensor (proximity switch) is also provided at each opening mechanism, which can detect whether the corresponding hook member is located at the pull ring member, thereby facilitating the implementation of relevant automatic control and making the disassembly and assembly device more reliable during use.

[0108] The above embodiments are only used to illustrate the specific implementation of the utility model, and the utility model is not limited to the description scope of the above embodiments. The technicians in this industry should understand that the utility model is not limited by the above embodiments. The above embodiments and the description are only to illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

[0109] For example, in the above embodiment, the disassembly and assembly device 10 is used to disassemble and assemble a four-corner elastic fixture 30 for a marine insulation board 20. In an alternative embodiment, the disassembly and assembly device 10 can also be used to disassemble and assemble other four-corner elastic fixtures with the same principle and similar pull rings.

[0110] In the above embodiment, the driver 13 is a cylinder with large thrust and adjustable stroke. In an alternative solution, the driver 13 can also adopt other large driving force drivers in the prior art, such as a hydraulic cylinder, an electric cylinder or a motor. When a motor is adopted, the synchronous transmission mechanism 14 can be adaptively modified. For example, instead of using a rack, an output gear meshing with the above-mentioned gear 142 can be set on the motor output shaft.

[0111] In the above embodiment, the shape of the extended mounting plate 123 is similar to a bent finger. In an alternative solution, the extended mounting plate 123 may also adopt other bent shapes, such as a plate shape that is roughly bent at a right angle, which can also achieve the corresponding technical effect.

[0112] In the above embodiment, the hook member 124 includes two conical cone portions connected at small ends to form a V-shaped groove 1244 for hooking the pull ring member 3242. In an alternative embodiment, the hook member 124 may also adopt other shapes, such as a hook shape with an opening facing outward in the diagonal direction of the frame 112.

[0113] In the above embodiment, guide rails and sliders are used in the spreading mechanism 12 and the synchronous transmission mechanism 14 to achieve the guidance of linear motion. In an alternative solution, other linear motion guiding structures in the prior art may also be used.

[0114] In the above embodiment, the turntable 145 is in the shape of a cross-shaped plate. In an alternative solution, the turntable 145 may also be in other shapes, such as a round plate or a square plate, and the positions of the four mounting holes thereon may be consistent with the positions of the mounting holes on the above cross-shaped plate.

[0115] In the above embodiment, the middle part of the connecting rod 146 is a hexagonal rod, and the two ends are fisheye joints. In an alternative solution, the connecting member 146 can also adopt other structures, such as a round rod or a square rod in the middle part, and other types of joints or corresponding mounting holes at the two ends, etc., which can also achieve the corresponding technical effects.

Claims

1. A four-corner elastic fixture disassembly and assembly device, used for disassembling and assembling the four-corner elastic fixture, wherein the four corners of the four-corner elastic fixture are respectively provided with a clamping mechanism, which is used to clamp the corner supporting wooden strips of the liquefied natural gas ship insulation board, and the clamping mechanism has a pull ring for loosening it, characterized in that: include: The frame is generally flat; Four spreading mechanisms, arranged at four corners of the frame, respectively having hooks movable along the surface direction of the frame, for spreading the four clamping mechanisms by using the corresponding pull rings; A driver, used for driving the four spreading mechanisms to spread or retract them; as well as The synchronous transmission mechanism is used for driving the four hooks to move synchronously in a direction away from the center of the frame under the drive of the driver.

2. The four-corner elastic tooling assembly and disassembly device according to claim 1, Features: Wherein, the hook is connected with a transmission connecting plate, The synchronous transmission mechanism comprises: A rotating shaft, wherein the driver is used to drive the rotating shaft to rotate; a rotating disk coaxially disposed at one end of the rotating shaft; and One end of the four connecting rods is rotatably connected to the edge of the rotating disk, and the other end is rotatably connected to the transmission connecting plate.

3. The four-corner elastic tooling assembly and disassembly device according to claim 2, characterized in that: in, The turntable is in the shape of a cross plate, having four arms of equal length, and two adjacent arms are perpendicular to each other. One end of the four connecting rods is rotatably connected to the outer end of each arm, and the four connecting rods are of equal length. When the spreading mechanism is retracted, the arms of the turntable face the spreading mechanisms respectively, one end of the connecting rod is connected to the transmission connecting plate of the spreading mechanism, and the other end is connected to the arm adjacent to the arm corresponding to the spreading mechanism.

4. The four-corner elastic tooling assembly and disassembly device according to claim 3, characterized in that: in, The connecting rod comprises: a hexagonal shank portion having a hexagonal cross-section; and Two fisheye joints are respectively arranged at the two ends of the hexagonal rod. One of the fisheye joints is rotatably connected to the transmission connecting plate via a rotating shaft, and the other fisheye joint is rotatably connected to one of the arms of the turntable via a rotating shaft.

5. The four-corner elastic tooling assembly and disassembly device according to claim 2, characterized in that: in, The pull ring is in the shape of a U-shaped round rod. The hook member has a V-shaped groove for hooking the pull ring member. The bottoms of the V-shaped grooves of the four hooking members are located on the same plane parallel to the surface direction of the frame.

6. The four-corner elastic tooling assembly and disassembly device according to claim 5, characterized in that: in, The hook member includes a first truncated cone portion and a second truncated cone portion. An end of the first truncated cone portion with a smaller diameter is connected to an end of the second truncated cone portion with a smaller diameter, thereby forming a circle of the V-shaped groove.

7. The four-corner elastic tooling assembly and disassembly device according to claim 5 or 6, Features: Wherein, the expansion mechanism further comprises: A first guide rail, arranged below the frame and having a length direction consistent with a diagonal direction of the frame; A first sliding block is slidably engaged on the first guide rail, and the transmission connecting plate is fixed on the first sliding block; and The extended mounting plate is in the shape of a bent plate, one end of which is fixed on the transmission connecting plate, and the other end of which is installed with the hook member.

8. The four-corner elastic tooling assembly and disassembly device according to claim 7, characterized in that: Also includes: Four tooling detection sensors are respectively arranged on the frame through corresponding brackets and are respectively located beside each of the extended mounting plates, with their detection ends facing downwards, for detecting whether the corresponding hooking member is in the correct working position of the pull ring member.

9. The four-corner elastic tooling assembly and disassembly device according to claim 2, Features: Wherein, the driver is a pneumatic cylinder, a hydraulic cylinder or an electric cylinder, which has a piston rod parallel to the surface direction of the frame, The synchronous transmission mechanism also includes: A rack, arranged on the piston rod and parallel to the piston rod; a gear meshing with the rack and coaxially disposed on the other end of the rotating shaft; and The transmission guide assembly is used to guide the movement of the rack.

10. The four-corner elastic tooling assembly and disassembly device according to claim 9, characterized in that: Also includes: A flange shaft is arranged in the middle of the upper surface of the frame, Wherein, the gear is arranged in the flange shaft, The two ends of the rotating shaft are respectively located above and below the frame. The flange shaft has a clearance opening, The rack is located outside the flange shaft and meshes with the gear through the clearance opening.

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