Zero-lifting horizontal docking assembly system based on cylinder attitude adjustment

Abstract

The utility model discloses a kind of zero hoisting horizontal butt joint assembly systems based on cylinder posture adjustment, especially refers to full load cylinder in the storage plant without hoisting equipment needs to be periodically overhauled, full load cylinder is parked on storage equipment, AGV transfers storage equipment and full load cylinder to assembly station, visual alignment measurement system real-time detection pose, cylinder support guiding device automatic posture adjustment alignment, push device automatic operation a kind of zero hoisting horizontal butt joint assembly system design based on cylinder posture adjustment and its operation method.The horizontal butt joint assembly system can realize cylinder periodic overhaul zero hoisting, improve product and personnel safety, assembly station does not need hoisting equipment and lifting appliance, save cost;Cylinder support guiding device has automatic and manual posture adjustment function, real-time digital display adjustment range, improve assembly system safety, reliability;Based on visual alignment measurement system, improve alignment accuracy and reliability, shorten alignment time, reduce labor intensity of staff, improve work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of horizontal docking assembly technology for cylindrical bodies, and in particular to a horizontal docking assembly system for adjusting the posture of cylindrical bodies. Background Technology

[0002] With the development of intelligent manufacturing, cylindrical assembly is gradually moving towards integration, automation and intelligence. However, my country's cylindrical docking assembly still relies on special lifting tools, overhead cranes and special cylinder support and attitude adjustment vehicles.

[0003] The existing cylindrical horizontal docking assembly equipment and operating methods have many problems. For example, the cylindrical parts are large in size and heavy in weight, requiring special lifting tools and heavy-load overhead cranes for hoisting, and each hoisting takes a long time, reducing the safety of products and personnel. The assembly equipment is also long in size and supported by multiple RGV support adjustment devices at the bottom. When manually adjusting, it is easy to have false support, and the adjustment time is long, which is extremely dependent on the experience and skills of the operators. Utility Model Content

[0004] This invention addresses the above-mentioned problems by proposing a zero-lifting horizontal docking assembly system for fully loaded cylinders in storage workshops without hoisting equipment. The system involves the cylinders being parked on storage equipment, AGVs transferring the cylinders from the storage equipment to the assembly station, a vision alignment and measurement system monitoring the cylinder's position in real time, an automatic alignment adjustment device for the cylinder support guide, and an automatic pushing device. This horizontal docking assembly system enables zero-lifting for regular cylinder maintenance, improving product and personnel safety. The assembly station eliminates the need for hoisting equipment and tools, saving costs. The cylinder support guide has automatic and manual adjustment functions and a real-time digital display of the adjustment range, improving the safety and reliability of the assembly system. Based on the vision alignment and measurement system, it improves alignment accuracy and reliability, shortens alignment time, reduces employee workload, and increases work efficiency.

[0005] This application achieves the above effects through the following approach:

[0006] A zero-lift horizontal docking assembly system based on cylindrical attitude adjustment includes a fully loaded cylindrical transfer AGV, a fully loaded cylindrical storage device, a vision alignment and measurement system, an automatic tail-end flipping docking device, a central control system, a cylindrical support and guiding device, a cylindrical support and attitude adjustment RGV, and a pushing device, wherein:

[0007] The fully loaded cylindrical transport AGV is used for transporting and providing overall support for fully loaded cylindrical containers and storage equipment.

[0008] The fully loaded cylindrical storage device is used for supporting and storing fully loaded cylindrical containers, and periodically performs full-load cylindrical container rotation.

[0009] The visual alignment measurement system is used for rapid alignment of the cylinder and the tail, and rapid alignment of the cylinder and the cylindrical support and guide device.

[0010] The automatic tail-end flipping and docking equipment is used to disassemble and install the tail end of the cylinder.

[0011] The overall control system is used to control and manage the fully loaded cylindrical transfer AGV, the fully loaded cylindrical storage equipment, the vision alignment and measurement system, the tail automatic flipping and docking equipment, the cylindrical support and attitude adjustment RGV, and the pushing device, so as to complete the automated horizontal docking and assembly task of the cylindrical body.

[0012] The cylindrical support and guide device is used to fix the cylinder, support the push device and the cylinder, and provide an assembly track for the cylinder;

[0013] The cylindrical support and attitude adjustment RGV is used to support the cylinder, the cylindrical support guide device, and the pushing device, and has automatic and manual attitude adjustment functions.

[0014] The pushing device is connected to the assembly pin at the tail of the cylinder for cylinder assembly and disassembly operations.

[0015] Furthermore, the fully loaded cylindrical transfer AGV is a dual-vehicle linkage AGV, and the fully loaded cylindrical transfer AGV is connected and interacts with the central control system through optical communication.

[0016] Furthermore, the fully loaded cylindrical storage device is equipped with a first rolling mechanism, which is used to realize the 360° rolling of the fully loaded cylinder, and is used for periodic rolling during product storage and for aligning and connecting the cylinder frame during periodic maintenance of the fully loaded cylinder.

[0017] The rolling mechanism is driven by a motor reducer or by a handwheel.

[0018] Furthermore, the visual alignment measurement system includes three sets of binocular vision cameras. The first set of visual alignment measurement system is used to measure the pose of the head part of the cylinder, the second set of visual alignment measurement system is used to measure the pose of the tail part of the cylinder and the tail part pose, and the third set of visual alignment measurement system is used to measure the pose of the cylindrical support guide device.

[0019] Encoded points are affixed to the surfaces of the cylinder, tail, and cylindrical support guide devices. The vision alignment and measurement system identifies the encoded points and fits the pose, thereby detecting the position and attitude of the cylinder, tail, and cylindrical support guide devices in real time, and feeding back the position and attitude information to the tail automatic flipping docking equipment and the cylindrical support attitude adjustment RGV.

[0020] Furthermore, the tail automatic flipping docking device has a first walking mechanism located at the bottom of the device, which is used to support and move the tail micro-motion flipping docking device; the first walking mechanism consists of a first lateral movement mechanism, a first rotation mechanism, a fine adjustment walking mechanism, a first lifting mechanism, a second rolling mechanism, a flipping mechanism, and a clamping mechanism, which are used to realize the clamping of the cylindrical tail and the six-degree-of-freedom attitude adjustment function.

[0021] Furthermore, the front end of the cylindrical support guide device is provided with a transition frame, which is extended outward by a set angle to facilitate the entry of the cylindrical support mechanism during assembly; the cylindrical support guide device is cylindrical in shape with an arc surface on the lower surface, and a traveling rack and a guide rail are arranged along its radial direction. The traveling rack and the guide rail are arranged side by side to form a guide mechanism for mounting the push device.

[0022] A proximity switch target is provided at a set position on the side of the rack.

[0023] Furthermore, the cylindrical support attitude adjustment RGV comprises several RGVs, each RGV having a second traveling mechanism, a second lateral movement mechanism, a second lifting mechanism, a second rotation mechanism, and a third rolling mechanism; wherein,

[0024] The front and rear cylindrical support attitude adjustment RGVs are fastened to the cylindrical support guide device by bolts, while the cylindrical support attitude adjustment RGV located in the middle is supported by the cylindrical support guide device through an arc surface but is not fixedly connected; each cylindrical support attitude adjustment RGV is equipped with a pressure sensor.

[0025] In this application, the pressure value can be displayed digitally in real time and automatically adjusted to achieve constant force support of the cylindrical support guide device and avoid the phenomenon of false support.

[0026] The second traveling mechanism, the second traversing mechanism, the second lifting mechanism, and the second rolling mechanism are driven by motor reducers for posture adjustment, or they can be driven by handwheels to improve equipment reliability and avoid delays in work progress; the rotary mechanism is undriven and is a follow-up structure.

[0027] Furthermore, the pushing device includes a motor and a matching reducer, cylindrical gear, and slider. The motor and reducer drive the cylindrical gear to move along the traveling rack, and the slider moves linearly along the guide rail, providing guidance for the movement of the pushing device.

[0028] After the four sliders are assembled with the guide rail, a 2mm gap is left between the bottom of the sliders and the bottom of the guide rail, and a 3mm gap is left on the sides to prevent the pushing device from jamming due to machining errors in the guide rail (length greater than 20m). The gripper frame and the motor bracket are connected by a ball joint to ensure that the cylinder is only subjected to axial force during assembly / retraction. A proximity switch is used to control the automatic deceleration of the pushing device to avoid impact damage to the cylinder or tubular body when assembly is in place.

[0029] Based on the above-mentioned zero-lifting horizontal docking assembly system based on cylindrical attitude adjustment, this application also provides its operation method, which includes the following steps:

[0030] 1) When the fully loaded cylinder needs to be inspected regularly, the central control system issues an instruction to the fully loaded cylinder transfer AGV to lift the fully loaded cylinder storage equipment and the fully loaded cylinder off the ground;

[0031] 2) Move the fully loaded cylindrical storage equipment and the fully loaded cylinder to the assembly station;

[0032] 3) When the tail automatic flipping docking equipment moves to the set position, its flipping mechanism flips to a vertical state, adjusts its position until the clamping mechanism grabs the tail of the cylinder and automatically completes the tail removal.

[0033] 4) The cylindrical support posture adjustment RGV with cylindrical support guide device moves to a set position at a distance from the rear end face of the cylinder, and the fully loaded cylinder storage equipment with fully loaded cylinder automatically rolls until the cylinder engraving line is aligned with the front transition engraving line of the cylindrical support guide device 6.

[0034] 5) The middle support adjustment RGV in the cylindrical support attitude adjustment RGV descends, and the support attitude adjustment RGVs at the front and rear ends, with cylindrical support guide devices, perform automatic attitude adjustment in four degrees of freedom: lateral movement, lifting, rotation, and pitch, so as to achieve concentricity between the transition frame pin and the cylindrical pin hole of the cylindrical support guide device.

[0035] 6) The front and rear support posture adjustment RGVs with cylindrical support guides move, so that the end face of the transition frame of the cylindrical support guide is in contact with the rear end face of the cylinder; the middle support posture adjustment RGVs perform walking, lateral movement, and lifting posture adjustment.

[0036] 7) The transition frame of the cylinder and the cylindrical support guide device is manually fastened to the connection using bolts;

[0037] 8) The pushing device automatically connects to the tail of the cylinder to perform the withdrawal operation;

[0038] 9) Upon reaching the designated position, the pushing device will automatically stop operating based on feedback from the proximity switch, thus completing the operation.

[0039] 10) Operators conduct inspection and testing, and assembly work is carried out after the testing is completed;

[0040] 11) When the assembly is in place, the pushing device decelerates according to the feedback from the proximity switch until the assembly force suddenly increases, the assembly is in place, and the pushing device stops automatically.

[0041] 12) Push the device back to the parking position and install the axial limit block and circumferential limit block on the cylinder;

[0042] 13) Remove the fastening bolts connecting the transition frame of the cylinder and cylindrical support guide device;

[0043] 14) The cylindrical support attitude adjustment RGV with cylindrical support guide device travels to a set position at a distance from the rear end face of the cylinder;

[0044] 15) The tail automatic flipping docking equipment moves to the designated position and adjusts its position until the tail pin hole and the cylindrical pin hole are concentric, thus completing the tail installation work.

[0045] Compared with the prior art, the advantages of this application are as follows:

[0046] This application proposes a zero-lifting horizontal docking assembly system for fully loaded cylinders in a storage facility without hoisting equipment. The system involves the cylinders being parked on storage equipment, transported by AGV from the storage equipment to the assembly station, real-time position detection by a vision alignment and measurement system, automatic alignment adjustment by a cylinder support and guide device, and automatic operation of a pushing device. This horizontal docking assembly system enables zero-lifting for regular cylinder maintenance, improving product and personnel safety. The assembly station eliminates the need for hoisting equipment and tools, saving costs. The cylinder support and guide device features automatic and manual position adjustment functions and a real-time digital display of the adjustment range, enhancing the safety and reliability of the assembly system. Based on the vision alignment and measurement system, alignment accuracy and reliability are improved, alignment time is shortened, employee workload is reduced, and work efficiency is increased. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A schematic diagram of a zero-lifting horizontal docking assembly system based on cylinder attitude adjustment provided for an embodiment of this utility model;

[0049] Figure 2 A schematic diagram of a fully loaded cylindrical storage device provided in an embodiment of this utility model;

[0050] Figure 3 A schematic diagram of the automatic tail-turning docking device provided in an embodiment of this utility model;

[0051] Figure 4 A schematic diagram of the cylindrical support and guide device and the pushing device provided in the embodiment of this utility model;

[0052] Figure 5 A schematic diagram of a cylindrical support attitude adjustment RGV provided in an embodiment of this utility model;

[0053] In the diagram, 1—Fully loaded cylindrical transfer AGV, 2—Fully loaded cylindrical storage equipment, 3—Vision alignment and measurement system, 4—Tail automatic flipping and docking equipment, 5—Overall control system, 6—Cylindrical support and guiding device, 7—Cylindrical support and attitude adjustment RGV, 8—Pushing device, 301—First group of vision alignment and measurement systems, 302—Second group of vision alignment and measurement systems, 303—Third group of vision alignment and measurement systems;

[0054] 201—First rolling mechanism;

[0055] 401—First traveling mechanism, 402—First lateral movement mechanism, 403—First rotation mechanism, 404—Fine adjustment traveling mechanism, 405—First lifting mechanism, 406—Second rolling mechanism, 407—Tilting mechanism, 408—Clamping mechanism;

[0056] 601—Transition frame, 602—Traveling rack, 603—Guide rail, 604—Proximity switch target, 801—Motor, 802—Slider, 803—Reducer, 804—Cylindrical gear, 805—Motor bracket, 806—Spherical hinge, 807—Grab frame, 808—Proximity switch;

[0057] 701—Second traveling mechanism, 702—Second lateral movement mechanism, 703—Second lifting mechanism, 704—Second slewing mechanism, 705—Third rolling mechanism. Detailed Implementation

[0058] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0059] Reference Figures 1 to 5 As shown, this utility model relates to the design and operation method of a zero-lifting horizontal docking assembly system based on cylinder posture adjustment, which involves the following steps: the cylinder is fully loaded and needs to be regularly inspected in a storage workshop without lifting equipment; the cylinder is parked on the storage equipment; the AGV transfers the storage equipment and the cylinder to the assembly station; the vision alignment measurement system detects the posture in real time; the cylinder support and guide device automatically adjusts the posture and aligns; and the pushing device operates automatically.

[0060] Example 1:

[0061] This embodiment is a zero-lifting horizontal docking assembly system based on cylindrical posture adjustment. The horizontal docking assembly system includes a fully loaded cylindrical transfer AGV1, a fully loaded cylindrical storage device2, a vision alignment and measurement system3, a tail automatic flipping docking device4, a central control system5, a cylindrical support and guide device6, a cylindrical support and posture adjustment RGV7, and a pushing device8.

[0062] The fully loaded cylindrical transport AGV1 is mainly used for transporting and providing overall support for fully loaded cylindrical containers and storage equipment.

[0063] The fully loaded cylindrical storage device 2 is used for supporting and storing fully loaded cylindrical containers, and periodically performs full-load cylindrical container rotation.

[0064] The visual alignment measurement system 3 is used for rapid alignment of the cylinder and the tail, and rapid alignment of the cylinder and the cylindrical support and guide device.

[0065] The automatic tail-turning and docking device 4 is used for the automatic disassembly and installation of the tail of the cylinder.

[0066] The overall control system 5 is used to control and manage the fully loaded cylindrical transfer AGV, the fully loaded cylindrical storage equipment, the vision alignment and measurement system, the tail automatic flipping and docking equipment, the cylindrical support and attitude adjustment RGV, and the pushing device to complete the automated horizontal docking and assembly task of the cylindrical body.

[0067] The cylindrical support and guide device 6 is used to fix the cylinder, support the pusher and the cylinder, and provide an assembly track for the cylinder.

[0068] The cylindrical support and attitude adjustment RGV7 is used to support a cylinder, a cylindrical support guide device, and a pushing device, and has automatic and manual attitude adjustment functions.

[0069] The pushing device 8 is connected to the assembly pin at the tail of the cylinder for cylinder assembly and disassembly operations.

[0070] The horizontal docking assembly station and the full-load cylindrical storage station share a set of full-load cylindrical storage equipment 2, which improves equipment utilization, allows for regular maintenance of the full-load cylindrical storage without lifting, and improves product and personnel safety.

[0071] The fully loaded cylindrical transfer AGV1 is a dual-vehicle linkage AGV, and the fully loaded cylindrical transfer AGV1 is connected and interacts with the central control system 5 through optical communication.

[0072] The fully loaded cylindrical storage device 2 has a first rolling mechanism 201, which can realize 360° rolling of the fully loaded cylinder. It is used for periodic rolling during product storage and for aligning and connecting the cylinder frame during periodic maintenance of the fully loaded cylinder. The rolling mechanism 201 can be driven by a motor reducer or by a handwheel, which improves the reliability of the equipment and avoids delays in work progress.

[0073] The visual alignment measurement system 3 consists of three sets of binocular vision cameras, fixed to the wall by brackets. The first set of visual alignment measurement system 301 is used to measure the pose of the cylinder head, the second set of visual alignment measurement system 302 is used to measure the pose of the cylinder tail and the tail section, and the third set of visual alignment measurement system 303 is used to measure the pose of the cylindrical support guide device 6. Encoded points are affixed to the surfaces of the cylinder, tail, and cylindrical support guide device 6. The visual alignment measurement system 3 identifies these encoded points to fit the pose, thereby detecting the position and attitude of the cylinder, tail, and cylindrical support guide device 6 in real time and feeding the information back to the tail automatic flipping docking device 4 and the cylindrical support attitude adjustment RGV7.

[0074] The automatic tail-end flipping and docking device 4 comprises a first traveling mechanism 401, a first lateral movement mechanism 402, a first rotation mechanism 403, a fine-tuning traveling mechanism 404, a first lifting mechanism 405, a second rolling mechanism 406, a flipping mechanism 407, and a clamping mechanism 408, enabling tail-end clamping and six-degree-of-freedom attitude adjustment functions. Each degree of freedom of the automatic tail-end flipping and docking device 4 can be driven by a motor reducer or by a handwheel, improving equipment reliability and avoiding delays in work progress.

[0075] The control system 5 provides unified control and management for the fully loaded cylindrical transfer AGV1, the fully loaded cylindrical storage equipment 2, the vision alignment and measurement system 3, the tail automatic flipping and docking equipment 4, the cylindrical support and attitude adjustment RGV7, and the pushing device 8.

[0076] The front transition frame 601 of the cylindrical support guide device 6 is expanded outward by 15 degrees to facilitate the entry of the cylindrical support mechanism during assembly; the cylindrical support guide device 6 is equipped with a traveling rack 602, a guide rail 603, and a proximity switch target 604.

[0077] The cylindrical support and attitude adjustment RGV7 consists of four RGVs, each with a second traveling mechanism 701, a second lateral movement mechanism 702, a second lifting mechanism 703, a second slewing mechanism 704, and a third rolling mechanism 705. The second traveling mechanism 701, second lateral movement mechanism 702, second lifting mechanism 703, and third rolling mechanism 705 can be driven by a motor reducer or by a handwheel, improving equipment reliability and avoiding delays in work progress. The slewing mechanism 704 is undriven and has a follow-up structure. The front and rear cylindrical support and attitude adjustment RGV7s are bolted to the cylindrical support guide device 6, while the middle two cylindrical support and attitude adjustment RGV7s are supported by an arc surface but not fixedly connected to the cylindrical support guide device 6. Each cylindrical support and attitude adjustment RGV7 is equipped with a pressure sensor, which can display the pressure value in real time and automatically adjust it to achieve constant force support for the cylindrical support guide device 6, avoiding false support.

[0078] The pushing device 8 is driven by a motor 801 and a reducer 803 to move two cylindrical gears 804 along the traveling rack 602, and four sliders 802 move linearly along the guide rail 603, providing guidance for the movement of the pushing device 8. After the four sliders 802 are assembled with the guide rail 603, a 2mm gap is reserved between the bottom of the sliders 802 and the bottom of the guide rail 603, and a 3mm gap is reserved on the sides, to prevent the pushing device 8 from jamming due to machining errors in the guide rail 603 (which is longer than 20m). The gripping frame 807 is connected to the motor bracket 805 by a ball joint 806, ensuring that the cylinder is only subjected to axial force during assembly / retraction. The proximity switch 808 is used to control the automatic deceleration of the pushing device 8 to avoid impact damage to the cylinder or tube when it is assembled in place.

[0079] Example 2:

[0080] The operation method of the horizontal docking assembly system provided in Embodiment 1 includes the following steps:

[0081] When the fully loaded cylinder needs to be inspected regularly, the central control system 5 issues an instruction to direct two fully loaded cylinder transfer AGV1s to run synchronously to the designated fully loaded cylinder storage equipment 2. The two fully loaded cylinder transfer AGV1s then lift the fully loaded cylinder storage equipment 2 and the fully loaded cylinders off the ground.

[0082] Two fully loaded cylindrical transfer AGV1s operate synchronously to transfer the fully loaded cylindrical storage equipment 2 and the fully loaded cylinder to the assembly station. The two fully loaded cylindrical transfer AGV1s descend synchronously to lower the fully loaded cylindrical storage equipment 2 and the fully loaded cylinder to the ground.

[0083] When the vision alignment measurement system 3 is working, according to the detection results, the tail automatic flip docking device 4 flip mechanism 407 flips to a vertical state, the tail automatic flip docking device 4 moves to the designated position, and automatically adjusts its posture until the clamping mechanism 408 grabs the tail and automatically completes the tail removal.

[0084] The tail-end automatic tilting and docking device 4 moves to the parking position with its tail end, and the tilting mechanism 407 of the tail-end automatic tilting and docking device 4 tilts to a horizontal state;

[0085] According to the detection results of the visual alignment measurement system 3, the four cylindrical support attitude adjustment RGV7s with cylindrical support guide devices 6 travel to a distance of 10mm from the rear end face of the cylinder, and the fully loaded cylinder storage device 2 with the fully loaded cylinder automatically rolls until the cylinder engraving line is aligned with the engraving line of the front transition frame 601 of the cylindrical support guide device 6.

[0086] According to the detection results of the visual alignment measurement system 3, the second and third support and attitude adjustment RGVs in the cylindrical support and attitude adjustment RGV7 descend, and the first and fourth support and attitude adjustment RGVs with cylindrical support guide device 6 perform automatic attitude adjustment of four degrees of freedom: lateral movement, lifting, rotation, and pitch, so as to realize that the pin of the transition frame 601 of the cylindrical support guide device 6 is concentric with the cylindrical pin hole.

[0087] The first and fourth support and adjustment RGVs with cylindrical support and guide devices 6 move to achieve the fit between the end face of the transition frame 601 of the cylindrical support and guide device 6 and the rear end face of the cylinder.

[0088] Based on the detection results of the visual alignment measurement system 3, the second and third support posture adjustment RGVs perform walking, lateral movement, and lifting posture adjustment. During lifting, based on the positioning signal fed back by the pressure sensor 706, the four support posture adjustment RGVs in the cylindrical support posture adjustment RGV7 support the cylindrical support guide device 6.

[0089] The cylinder and the transition frame 601 of the cylindrical support and guide device 6 are manually fastened together using bolts.

[0090] The pushing device 8 automatically connects to the tail of the cylinder to perform the withdrawal operation;

[0091] After exiting the position, based on the feedback from proximity switch 808, the pushing device 8 automatically stops operating, and the exit operation is completed.

[0092] The operators perform maintenance and testing, and then proceed with the assembly work after the testing is completed.

[0093] When the distance to the assembly position is about 20mm, according to the feedback of the proximity switch 808, the push device 8 automatically performs the first deceleration. The manual extension of the limit mechanism at both ends of the cylinder is then performed. After the push device 8 travels for 20 seconds, it automatically performs the second deceleration (to prevent the cylinder stop block from impacting the limit mechanism due to excessive speed). The assembly force suddenly increases to 2t, the assembly is in place, and the push device 8 automatically stops.

[0094] Push device 8 back to the parking position, and manually install the axial limit block and circumferential limit block on the cylinder;

[0095] Manually remove the fastening bolts of the transition frame 601 between the cylindrical and cylindrical support guide device 6;

[0096] Four cylindrical support and attitude adjustment RGV7 units with cylindrical support and guide devices 6 travel to a distance of 4m from the rear end face of the cylinder;

[0097] When the vision alignment measurement system 3 is working, according to the detection results, the tail automatic flip docking device 4 flip mechanism 407 flips to a vertical state, the tail automatic flip docking device 4 moves to the designated position, and automatically adjusts its posture until the tail pin hole and the cylindrical pin hole are concentric. The tail automatic flip docking device 4 automatically completes the tail installation work.

[0098] The tail automatic tilting and docking device 4 moves to the parking position, and the tilting mechanism 407 of the tail automatic tilting and docking device 4 tilts to a horizontal state, and the assembly operation is completed.

[0099] There are many specific applications of this utility model. The above description is only a preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this utility model, and these improvements should also be considered within the protection scope of this utility model.

Claims

1. A zero-lifting horizontal docking assembly system based on cylindrical attitude adjustment, characterized in that: The horizontal docking assembly system includes a fully loaded cylindrical transfer AGV, a fully loaded cylindrical storage device, a vision alignment and measurement system, an automatic tail-end flipping docking device, a central control system, a cylindrical support and guiding device, a cylindrical support and attitude adjustment RGV, and a pushing device, wherein: The fully loaded cylindrical transport AGV is used for transporting and providing overall support for fully loaded cylindrical containers and storage equipment. The fully loaded cylindrical storage device is used for supporting and storing fully loaded cylindrical containers, and periodically performs full-load cylindrical container rotation. The visual alignment measurement system is used for rapid alignment of the cylinder and the tail, and rapid alignment of the cylinder and the cylindrical support and guide device. The automatic tail-end flipping and docking equipment is used to disassemble and install the tail end of the cylinder. The overall control system is used to control and manage the fully loaded cylindrical transfer AGV, the fully loaded cylindrical storage equipment, the vision alignment and measurement system, the tail automatic flipping and docking equipment, the cylindrical support and attitude adjustment RGV, and the pushing device, so as to complete the automated horizontal docking and assembly task of the cylindrical body. The cylindrical support and guide device is used to fix the cylinder, support the push device and the cylinder, and provide an assembly track for the cylinder; The cylindrical support and attitude adjustment RGV is used to support the cylinder, the cylindrical support guide device, and the pushing device, and has automatic and manual attitude adjustment functions. The pushing device is connected to the assembly pin at the tail of the cylinder for cylinder assembly and disassembly operations.

2. The zero-lifting horizontal docking assembly system based on cylindrical attitude adjustment according to claim 1, characterized in that: The fully loaded cylindrical transfer AGV is a dual-vehicle linkage AGV, and the fully loaded cylindrical transfer AGV is connected and interacts with the central control system through optical communication.

3. The zero-lifting horizontal docking assembly system based on cylindrical attitude adjustment according to claim 1, characterized in that: The fully loaded cylindrical storage equipment is equipped with a first rolling mechanism, which is used to realize the rolling of the fully loaded cylindrical cylinder, and is used for periodic rolling during product storage and for aligning and connecting the cylinder frame during periodic maintenance of the fully loaded cylindrical cylinder.

4. The zero-lifting horizontal docking assembly system based on cylindrical attitude adjustment according to claim 1, characterized in that: The visual alignment measurement system includes three sets of binocular vision cameras. The first set of visual alignment measurement system is used to measure the pose of the head part of the cylinder, the second set of visual alignment measurement system is used to measure the pose of the tail part of the cylinder and the tail part pose, and the third set of visual alignment measurement system is used to measure the pose of the cylindrical support guide device. Encoded points are affixed to the surfaces of the cylinder, tail, and cylindrical support guide devices. The vision alignment and measurement system identifies the encoded points and fits the pose, thereby detecting the position and attitude of the cylinder, tail, and cylindrical support guide devices in real time, and feeding back the position and attitude information to the tail automatic flipping docking equipment and the cylindrical support attitude adjustment RGV.

5. The zero-lifting horizontal docking assembly system based on cylindrical attitude adjustment according to claim 1, characterized in that: The automatic tail-end flipping docking device has a first traveling mechanism located at the bottom of the device, which is used to support and move the tail-end micro-motion flipping docking device. The first traveling mechanism consists of a first lateral movement mechanism, a first rotation mechanism, a fine-tuning traveling mechanism, a first lifting mechanism, a second rolling mechanism, a flipping mechanism, and a clamping mechanism, which are used to realize the clamping of the cylindrical tail and the six-degree-of-freedom attitude adjustment function.

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

7. The zero-lifting horizontal docking assembly system based on cylindrical attitude adjustment according to claim 1, characterized in that: The cylindrical support and attitude adjustment RGV comprises several RGVs, each RGV having a second traveling mechanism, a second lateral movement mechanism, a second lifting mechanism, a second rotation mechanism, and a third rolling mechanism; wherein, The front and rear cylindrical support attitude adjustment RGVs are fastened to the cylindrical support guide device by bolts, while the cylindrical support attitude adjustment RGV located in the middle is supported by the cylindrical support guide device through an arc surface but is not fixedly connected; each cylindrical support attitude adjustment RGV is equipped with a pressure sensor.

8. The zero-lifting horizontal docking assembly system based on cylindrical attitude adjustment according to claim 6, characterized in that: The pushing device includes a motor and a matching reducer, a cylindrical gear, and a slider. The motor and reducer drive the cylindrical gear to move along the traveling rack, and the slider moves linearly along the guide rail, providing guidance for the movement of the pushing device.

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