CN104330261A - Automatic large engine part butting device - Google Patents
Automatic large engine part butting device Download PDFInfo
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- CN104330261A CN104330261A CN201410554949.6A CN201410554949A CN104330261A CN 104330261 A CN104330261 A CN 104330261A CN 201410554949 A CN201410554949 A CN 201410554949A CN 104330261 A CN104330261 A CN 104330261A
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Abstract
The invention discloses an automatic large engine part butting device, and belongs to the technical field of engine assembly. The butting device comprises a motion butting bracket assembly, a gesture adjusting bracket assembly, an image measurement assembly, a laser ranging sensor assembly, an inclination angle sensor assembly, a stepper motor assembly and a computer control assembly. Through reasonable design, mounting and matching of the above assemblies, measurement data of the image measurement assembly, the laser ranging sensor and the angle sensor are acquired and processed by the computer control assembly; motion control is carried out on the stepper motor motion assembly; and automatic gesture adjusting and butting of two sub parts of the large engine part in the space six-degree of freedom can be realized on the gesture adjusting bracket assembly and the motion butting bracket assembly. Development requirements on efficient and precise butting of large parts during the engine development and production process can be met.
Description
Technical field
The present invention relates to engine assembly technical field, be specifically related to the large parts automatic butt jointing device of a kind of engine and docking calculation.
Background technology
The large parts of engine be by firing chamber and fuel tank these two independently subassembly formed after carrying out Butt Assembling, be one of important step in reseach of engine production run.Existing docking facilities is a kind of simple mechanical splice frock, relies on artificial visual and manual adjustments to complete docking completely.
Docking due to two subassemblies is the six-degree-of-freedom posture compound adjustment process that spatial three-dimensional movement adds axial rotation motion, also have that merging precision is high, the once requirement such as successfully simultaneously, large parts docking at present relies on simple support fixture vehicle, adjustment manually, human eye aim at mechanical splice, can not realize automation mechanized operation; Simple abutting device has higher requirement to the skill level of operating personnel and working experience, only has a small amount of personnel can complete independently.Simple abutting device precision is lower, cannot accurately identification to the attitude of two cabin section levels, pitching and beat, and the first-time qualification rate of docking is lower, needs manually repeatedly adjusts and tries docking.
In order to promote Butt Assembling technical merit and the assembly quality of the large parts of engine, be badly in need of the automatic butt jointing device of the large parts of a kind of engine of invention.
Summary of the invention
In view of this, the invention provides the large parts automatic butt jointing device of a kind of engine, this device supports places two subassemblies of engine, by the space of the automatic adjustment component of Mechatronics control respectively to attitude, realizes the high precision of two parts, efficient, safe automatic butt function.
In order to solve the problems of the technologies described above, the present invention is achieved in that the large parts automatic butt jointing device of a kind of engine, comprise motion docking bracket component, pose adjustment bracket component, image measurement assembly, laser range sensor assembly, obliquity sensor assembly, stepper assemblies and computing machine, peripherals is fuel tank and firing chamber;
Described image measurement assembly be had the video camera of optical imaging measurement and contrast locating compared with target;
Described laser range sensor assembly has had the laser range sensor of range observation function; Described obliquity sensor assembly has had the obliquity sensor with gravity direction measurement of angle, is determined the spatial attitude of the large parts of described engine by the combination of image measurement assembly, laser range sensor assembly and obliquity sensor assembly measurement data by computing machine; Described stepper assemblies completes the motion control of the axial, horizontal, vertical of space and the common six-freedom degree of rotation; Described fuel tank and firing chamber are fixedly mounted on motion docking bracket component and pose adjustment bracket component respectively, and described motion docking bracket component only completes surge motion control, and pose adjustment bracket component completes horizontal, vertical and spinning motion control.
Docking operation:
The first step: utilize target cross in circle view data calculating unit laterally, vertical translational movement and rotation amount deviation, controlled motion mechanism completes adjustment motion, repeats flow process until target cross is in expection calibration position error;
Second step: utilize the vertical deflection angle of obliquity sensor data calculating unit and anticipated deviation amount, controls catenary motion mechanism and reduces deviation, and repeats the first step and offset with the target cross revised vertical deflection adjust and bring;
3rd step: utilize the lateral deflection of laser range sensor data calculating unit and expection angular displacement, control transverse motion mechanism and reduce deviation, and repeat the first step and offset with the target cross revised lateral deflection adjustment and bring; Repeat first, second and third step, until target cross, vertical deflection angle and lateral deflection angle are all in docking desired value error range;
4th step: axial motion mechanism completes docking closing movement.
Further, described motion docking bracket component is made up of be installed mechanism, axial actuating mechanism of guide rail flat board, height adjustment bolt, axial guidance, firing chamber, the lower surface setting height(from bottom) adjusting bolt of guide rail flat board, upper surface installation shaft direction guiding rail, the be installed bottom of mechanism and axial guidance of firing chamber is slidably matched, axial actuating mechanism to be fixedly mounted on guide rail flat board and can drive firing chamber be installed mechanism vertically guide rail move horizontally;
Further, described pose adjustment bracket component comprises horizontal pulley motion driving mechanism, transverse movement group of motors, transverse movement slider-actuated mechanism, transverse movement support, guide rail flat board II, the convex guide rail of transverse shifting, the recessed guide rail of transverse movement, slide block rotating shaft, transverse shifting slide block, transverse shifting pulley, catenary motion driving mechanism, catenary motion support, fuel tank snap ring and snap ring rotary drive mechanism, described guide rail flat board II is provided with the convex guide rail of transverse shifting parallel to each other and the recessed guide rail of transverse movement, the lower surface of transverse movement support connects transverse shifting slide block and transverse shifting pulley respectively, transverse shifting slide block is flexibly connected with transverse movement support by slide block rotating shaft, transverse shifting pulley can rotate around the direction perpendicular to rolling axis, transverse shifting slide block and transverse shifting pulley coordinate with the convex guide rail of the transverse shifting on guide rail flat board II and the recessed guide rail of transverse movement respectively, two motors of transverse movement group of motors are respectively with transverse slider motion driving mechanism with control horizontal pulley motion driving mechanism and be connected, transverse slider motion driving mechanism and horizontal pulley motion driving mechanism drive transverse shifting slide block and transverse shifting pulley transversely to move the recessed guide rail rectilinear motion of convex guide rail transverse movement respectively under the driving of motor, when both amount of movements are consistent, transverse movement support is transverse shifting, when amount of movement is inconsistent, transverse movement support realizes lateral deflection campaign, described catenary motion driving mechanism is arranged between catenary motion support and transverse movement support, drives the motion in the vertical direction of catenary motion driving mechanism by catenary motion group of motors, described snap ring rotary drive mechanism is fixedly mounted on catenary motion support, and fuel tank snap ring and snap ring rotary drive mechanism are fixed, and drives snap ring rotary drive mechanism to drive the fuel tank be fixed on fuel tank snap ring to rotate around fuel tank axis by rotating stepper motor,
Further, described video camera and target are arranged on firing chamber and fuel tank respectively, video camera is installed and installs an obliquity sensor and laser range sensor respectively, and an obliquity sensor installed by target; Two laser range sensors are installed in the below of catenary motion support, video camera and the sensor are all connected with computing machine, computing machine sends the direction of stepper motor and rotates regulating control command, by the spatial attitude of the corresponding adjustment component of motion driving mechanism, the each of two parts is constantly reduced to angular deviation, achieves a butt joint after finally meeting docking condition.
Beneficial effect:
1, the present invention can complete the docking of the large parts of engine automatically, reduces labor intensity, increases work efficiency, strengthens reliability, reduce security-hidden trouble to greatest extent.
2, the present invention relies on complete complete image, distance, angular transducer, electric driving mechanism and control software design, the motion of parts in space respectively to attitude can be realized adjust, be placed to from parts lifting and dock the process of closing up without the need to artificial participation, realize whole-process automatic docking.Further, the precise motion of sensor-based high precision measuring data, motorized drive structure parts and the conservative control algorithm of control software design and flow process, do not possessing under the isostructural condition of self-conductance self-adaptation being provided with and significantly reducing butt junction location difficulty, the high precision docking of 0.15mm positioning error can realized.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention;
The structural representation of Fig. 2 pose adjustment support of the present invention;
Fig. 3 is controlling functions block diagram of the present invention;
Fig. 4 is docking control flow chart of the present invention.
1-pose adjustment bracket component, 101-catenary motion group of motors, 102-rotating stepper motor, 103-snap ring rotary drive mechanism, 104-catenary motion support, 105-fuel tank snap ring, 106-fuel tank, 107-catenary motion driving mechanism, 108-transverse movement driving mechanism, 109-transverse movement group of motors, 110-height adjustment bolt, 111-transverse movement support, 112-guide rail flat board I, 113-transverse shifting guide rail, 2-motion docking bracket component, 201-axial guidance, 202-height adjustment bolt, 203-guide rail flat board II, 204-axial actuating mechanism, 205-firing chamber is installed mechanism, 206-firing chamber, 207-axially-movable motor, 3-computing machine Control Component, 31-computing machine, 4-sensor module, 41-video camera, 42-target, 43-obliquity sensor I, 44-obliquity sensor II, 45-laser range sensor I, 46-laser range sensor II, 47-laser range sensor III, the convex guide rail of 113-transverse shifting, the recessed guide rail of 114-transverse shifting, the rotating shaft of 115-slide block, 116-transverse shifting slide block, 117-transverse shifting pulley, the RS232 interface of 80-computing machine three laser range sensor data, 81-computer picture data USB2.0 interface, the RS232 interface of 82-computing machine two obliquity sensor data, 83-Multi-axis motion control pci card, 84-docks control software design.
Embodiment
To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
As shown in Figure 1, the large parts automatic butt jointing device of a kind of engine of the present invention, comprise motion docking bracket component 2, pose adjustment bracket component 1, sensor module 4 and computing machine 31, wherein, described motion docking bracket component comprises guide rail flat board 203, height adjustment bolt 202, firing chamber are installed mechanism 205, axial guidance 201 and axial actuating mechanism 204, described axial guidance 201 is fixedly connected on the upper surface of guide rail flat board 203, between the lower surface that height adjustment bolt 202 is arranged on guide rail flat board 203 and ground; Axially-movable motor 207 directly controls axial actuating mechanism 204, and realize firing chamber 206 axial location adjustment along guide rail 201, object has been that function is closed up in docking; Especially, limiting firing chamber 206 thus can only move vertically, and all the other are respectively to all keeping fixing, the spatial attitude of firing chamber 206 can be defined as the attitude reference in engine two parts docking.Guide rail 201 determines axial actual motion direction, and guide rail 201 linearity is ensured by finishing, and guide rail 201 levelness is realized by height adjustment bolt 202 intense adjustment guide rail dull and stereotyped 203, by demarcating to determine that numerical value is within the scope of permissible error.
Pose adjustment bracket component 1 comprises horizontal pulley motion driving mechanism 108, transverse movement group of motors 109, transverse movement slider-actuated mechanism 110, transverse movement support 111, guide rail flat board II 112, the convex guide rail of transverse shifting 113, the recessed guide rail 114 of transverse movement, slide block rotating shaft 115, transverse shifting slide block 116, transverse shifting pulley 117, catenary motion driving mechanism 107, catenary motion support 104, fuel tank snap ring 105 and snap ring rotary drive mechanism 103; described guide rail dull and stereotyped II 112 is provided with the convex guide rail of transverse shifting parallel to each other 113 and the recessed guide rail 114 of transverse movement, the lower surface of transverse movement support 111 connects transverse shifting slide block 116 and transverse shifting pulley 117 respectively, transverse shifting slide block 116 is flexibly connected with transverse movement support 111 by slide block rotating shaft 115, transverse shifting pulley 117 can rotate around the direction perpendicular to rolling axis, transverse shifting slide block 116 and transverse shifting pulley 117 coordinate with the convex guide rail of transverse shifting 113 on guide rail dull and stereotyped II 112 and the recessed guide rail 114 of transverse movement respectively, two motors of transverse movement group of motors 109 are respectively with transverse slider motion driving mechanism 110 with control horizontal pulley motion driving mechanism 108 and be connected, transverse slider motion driving mechanism 110 and horizontal pulley motion driving mechanism 108 drive transverse shifting slide block 116 and transverse shifting pulley 117 transversely to move convex guide rail 113 transverse movement recessed guide rail 114 rectilinear motion respectively under the driving of motor, when both amount of movements are consistent, transverse movement support 111 is transverse shifting, when amount of movement is inconsistent, transverse movement support realizes lateral deflection campaign, described catenary motion driving mechanism 107 is arranged between catenary motion support 104 and transverse movement support 111, drives the motion in the vertical direction of catenary motion driving mechanism by catenary motion group of motors, described snap ring rotary drive mechanism 103 is fixedly mounted on catenary motion support 104, fuel tank snap ring 105 is fixed with snap ring rotary drive mechanism 103, drives snap ring rotary drive mechanism 103 to drive the fuel tank be fixed on fuel tank snap ring 105 to rotate around fuel tank axis by rotating stepper motor 102,
Sensor module comprises video camera 41, target 42, obliquity sensor 44, laser range sensor 45 and obliquity sensor 43.
The pose adjustment bracket component of the embodiment of the present invention indicates (comprising Fig. 1 and Fig. 2) totally by drawing reference numeral 1, horizontal pulley motion driving mechanism 108, transverse movement group of motors 109, transverse movement slider-actuated mechanism 110, transverse movement support 111, guide rail flat board 112, the convex guide rail of transverse shifting 113, the recessed guide rail 114 of transverse movement, slide block rotating shaft 115, transverse shifting slide block 116, the compositions such as transverse shifting pulley 117, catenary motion driving mechanism 107, catenary motion support 104, fuel tank snap ring 105 and snap ring rotary drive mechanism 103.This bracket component is for placing fuel tank 106 and adjusting its spatial attitude.The motion of transverse slider motion driving mechanism 110 can make transverse shifting slide block 116 transversely move convex guide rail 113 and realize Precision Linear Moving, transverse shifting slide block 116 is connected with transverse movement support 111 by slide block rotating shaft 115, horizontal pulley motion driving mechanism 108 can make transverse shifting pulley 117 transversely move recessed guide rail 114 and realize rectilinear motion, transverse shifting pulley 117 can rotate around self axle, and be connected with transverse movement support 111, when two motors of transverse movement group of motors 109 control respectively transverse slider motion driving mechanism 110 move and control horizontal pulley motion driving mechanism 110 move time, transverse movement support 111 just can be made to realize lateral deflection and translation motion, and then indirectly drive the fuel tank 106 on it to realize lateral deflection and translation motion adjustment, catenary motion group of motors 101 directly controls catenary motion driving mechanism 107, realizes the vertical deflection of fuel tank 106 and translation motion adjustment, rotary motion motor 102 directly controls snap ring rotary drive mechanism 103, is rotated realize the adjustment of fuel tank 106 axial rotation by snap ring 105.Ensure that from movement executing mechanism aspect fuel tank 106 freely can adjust for benchmark carries out spatial attitude with firing chamber 206 attitude.
As shown in Figure 3, the multiple dissimilar high-precision sensor assembly of distributing installation in the embodiment of the present invention, the attitude data of real-time measurement fuel tank 106, a reference field of butt end, firing chamber 206 installs camera mount, support is installed video camera 41, laser range sensor 45 and obliquity sensor 43.Video camera 41 pixel 5,000,000, view data transfers to computing machine 31 by USB2.0 interface 81; Laser range sensor 45 measuring accuracy is 0.08mm, and data transfer to computing machine 31 by RS232 first serial 80; Obliquity sensor 43 measuring accuracy is 0.01 °, and data transfer to computing machine 31 by RS232 the 4th serial ports 82.The reference field of fuel tank 106 butt end is installed target support, support installing target 42, obliquity sensor 44.The cross in circle feature pattern that target 42 makes for special material; Obliquity sensor 44 is identical with obliquity sensor 43 measuring accuracy, and data transfer to computing machine 31 by RS232 the 5th serial ports 82.Two laser range sensors 46 and 47 installed by the guide rail flat board 112 of pose adjustment bracket component 1, sensor is axially installed front and back along fuel tank, two reference fields respectively before and after corresponding fuel tank, the distance value of survey sensor and two reference fields, data transfer to computing machine 31 by RS232 second serial 80, the 3rd serial ports 80.Especially, the mounting structure of described sensor module is accurate, and has fine tuning structure, and reference for installation is engine components known reference face, sensor module self poisoning it can thus be appreciated that, and be confirmed by demarcation and solidify; That is, can ensure between the measurement data of sensor and parts itself, there is known expection parameters relationship.
As shown in Figure 4, the step achieved a butt joint is as follows:
The first step, motion is made to dock support 2 away from pose adjustment bracket component 1, keep Hoisting Security distance, then by lifting, firing chamber 206 being placed on motion bracket assembly 2 is installed in mechanism 205, fuel tank fuel tank 106 being placed on pose adjustment bracket component 1 is installed on snap ring 105, and parts are more or less the same in 5mm error in the Support Position of snap ring and regulation;
Second step, computing machine 31 continuous acquisition video camera 41 view data, software 84 adopts existence based on the image processing method identification target 42 image cross in circle of fuzzy algorithm and integrality, calculate position deviation, send movement instruction corresponding adjustment fuel tank 106 at flow process 52 place and carry out the translation of horizontal left and right, vertical elevating translational and spinning;
3rd step, Returning process 51 place identifies, repeats until target 42 image cross in circle all enters video camera 41 visual field;
4th step, at flow process 53 place, send movement instruction and make firing chamber 206 axial advancement draw close fuel tank 106, computing machine 31 continuous acquisition laser range sensor 45 data, judge firing chamber 206 apart from fuel tank 106 as 10mm to 8mm locates stop motion, this position is called docking adjustment point; Adjustment point for target image optimum position, is also that front minimum safe distance is closed up in parts docking, and that put fuel tank 106 in adjustment aligns work with the attitude of firing chamber 206, then docks vertically and closes up;
5th step, at docking adjustment point at flow process 54 place, software 84 calculates the desired point position deviation of demarcating in current targets 42 image cross intersection point and video camera 41 two-dimensional coordinate system, send movement instruction at flow process 55 place and make fuel tank 106 laterally adjustment corresponding to vertical translation, Returning process 54 place calculation deviation again, repeats until target 42 image cross intersection point is in desired point error;
6th step, at flow process 56 place, software 84 calculates the expection angle deviation of current targets 42 image cross curve and video camera 41 two-dimensional coordinate axle;
7th step, flow process 57 place sends movement instruction makes fuel tank 106 spinning motion to reduce deviation;
8th step, repeats flow process 54, flow process 55, flow process 56, flow process 57, until in the overall expection cross curve site error in video camera 41 of target image cross curve;
9th step, at flow process 58 place, software 84 gathers the interior angle value relative to gravity of vertical plane of obliquity sensor 43 and obliquity sensor 44, judge that the difference of two angles is whether in desired value error, otherwise send movement instruction at flow process 59 place and make fuel tank 106 in vertical luffing to reduce deviation; Luffing can cause target 42 image cross curve to depart from expection, so should get back to flow process 54 place after flow process 59;
Tenth step, repeat flow process 54, flow process 55, flow process 56, flow process 57, until in the overall expection cross curve site error in video camera 41 of target image cross curve, again calculate angle difference at flow process 58 place, repeat flow process 54, flow process 55, flow process 56, flow process 57, flow process 58, flow process 59, until in the overall expection cross curve site error in video camera 41 of target image cross curve and vertical luffing angle difference in error expected;
11 step, at flow process 60 place, software 84 gathers the range data of laser range sensor 46 and 47, obtains the deflection angle of the current transverse direction of fuel tank 106 thus, this deflection angle should in error expected, otherwise sends movement instruction at flow process 61 place and make the horizontal side-to-side movement of fuel tank 106 to reduce deviation; Horizontal side-to-side movement also can cause target 42 image cross curve to depart from expection, so should get back to flow process 54 place after flow process 61;
12 step, repeat flow process 54, flow process 55, flow process 56, flow process 57, until in the overall expection cross curve site error in video camera 41 of target image cross curve, again carry out the calculating of lateral deflection angle at flow process 60 place, repeat flow process 54, flow process 55, flow process 56, flow process 57, flow process 58, flow process 59, flow process 60, flow process 61, until in the overall expection cross curve site error in video camera 41 of target image cross curve and vertical luffing angle difference and lateral deflection angle is all in desired value error; ;
13 step, at flow process 62 place, software 84 sends movement instruction makes firing chamber 206 move close to fuel tank 106, and the docking completing parts is closed up.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. the large parts automatic butt jointing device of engine, it is characterized in that, comprise motion docking bracket component, pose adjustment bracket component, image measurement assembly, laser range sensor assembly, obliquity sensor assembly, stepper assemblies and computing machine, peripherals is fuel tank and firing chamber;
Described image measurement assembly be had the video camera of optical imaging measurement and contrast locating compared with target;
Described laser range sensor assembly has had the laser range sensor of range observation function; Described obliquity sensor assembly has had the obliquity sensor with gravity direction measurement of angle, is determined the spatial attitude of the large parts of described engine by the combination of image measurement assembly, laser range sensor assembly and obliquity sensor assembly measurement data by computing machine; Described stepper assemblies completes the motion control of the axial, horizontal, vertical of space and the common six-freedom degree of rotation; Described fuel tank and firing chamber are fixedly mounted on motion docking bracket component and pose adjustment bracket component respectively, and described motion docking bracket component only completes surge motion control, and pose adjustment bracket component completes horizontal, vertical and spinning motion control.
2. the large parts automatic butt jointing device of engine as claimed in claim 1, it is characterized in that, docking operation is as follows:
The first step: utilize target cross in circle view data calculating unit laterally, vertical translational movement and rotation amount deviation, controlled motion mechanism completes adjustment motion, repeats flow process until target cross is in expection calibration position error;
Second step: utilize the vertical deflection angle of obliquity sensor data calculating unit and anticipated deviation amount, controls catenary motion mechanism and reduces deviation, and repeats the first step and offset with the target cross revised vertical deflection adjust and bring;
3rd step: utilize the lateral deflection of laser range sensor data calculating unit and expection angular displacement, control transverse motion mechanism and reduce deviation, and repeat the first step and offset with the target cross revised lateral deflection adjustment and bring; Repeat first, second and third step, until target cross, vertical deflection angle and lateral deflection angle are all in docking desired value error range;
4th step: axial motion mechanism completes docking closing movement.
3. the large parts automatic butt jointing device of engine as claimed in claim 1, it is characterized in that, described motion docking bracket component is made up of be installed mechanism, axial actuating mechanism of guide rail flat board I, height adjustment bolt, axial guidance, firing chamber, the lower surface setting height(from bottom) adjusting bolt of guide rail flat board, upper surface installation shaft direction guiding rail, the be installed bottom of mechanism and axial guidance of firing chamber is slidably matched, axial actuating mechanism to be fixedly mounted on guide rail flat board and can drive firing chamber be installed mechanism vertically guide rail move horizontally.
4. the large parts automatic butt jointing device of engine as claimed in claim 1 or 2, it is characterized in that, described pose adjustment bracket component comprises horizontal pulley motion driving mechanism, transverse movement group of motors, transverse movement slider-actuated mechanism, transverse movement support, guide rail flat board II, the convex guide rail of transverse shifting, the recessed guide rail of transverse movement, slide block rotating shaft, transverse shifting slide block, transverse shifting pulley, catenary motion driving mechanism, catenary motion support, fuel tank snap ring and snap ring rotary drive mechanism, described guide rail flat board II is provided with the convex guide rail of transverse shifting parallel to each other and the recessed guide rail of transverse movement, the lower surface of transverse movement support connects transverse shifting slide block and transverse shifting pulley respectively, transverse shifting slide block is flexibly connected with transverse movement support by slide block rotating shaft, transverse shifting pulley can rotate around the direction perpendicular to rolling axis, transverse shifting slide block and transverse shifting pulley coordinate with the convex guide rail of the transverse shifting on guide rail flat board II and the recessed guide rail of transverse movement respectively, two motors of transverse movement group of motors are respectively with transverse slider motion driving mechanism with control horizontal pulley motion driving mechanism and be connected, transverse slider motion driving mechanism and horizontal pulley motion driving mechanism drive transverse shifting slide block and transverse shifting pulley transversely to move the recessed guide rail rectilinear motion of convex guide rail transverse movement respectively under the driving of motor, when both amount of movements are consistent, transverse movement support is transverse shifting, when amount of movement is inconsistent, transverse movement support realizes lateral deflection campaign, described catenary motion driving mechanism is arranged between catenary motion support and transverse movement support, drives the motion in the vertical direction of catenary motion driving mechanism by catenary motion group of motors, described snap ring rotary drive mechanism is fixedly mounted on catenary motion support, and fuel tank snap ring and snap ring rotary drive mechanism are fixed, and drives snap ring rotary drive mechanism to drive the fuel tank be fixed on fuel tank snap ring to rotate around fuel tank axis by rotating stepper motor.
5. the large parts automatic butt jointing device of engine as claimed in claim 1 or 2, it is characterized in that, described video camera and target are arranged on firing chamber and fuel tank respectively, video camera is installed and installs an obliquity sensor and laser range sensor respectively, and an obliquity sensor installed by target; Two laser range sensors are installed in the below of catenary motion support, video camera and the sensor are all connected with computing machine, computing machine sends the direction of stepper motor and rotates regulating control command, by the spatial attitude of the corresponding adjustment component of motion driving mechanism, the each of two parts is constantly reduced to angular deviation, achieves a butt joint after finally meeting docking condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410554949.6A CN104330261B (en) | 2014-10-17 | A kind of electromotor big parts automatic butt jointing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410554949.6A CN104330261B (en) | 2014-10-17 | A kind of electromotor big parts automatic butt jointing device |
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| Publication Number | Publication Date |
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| CN104330261A true CN104330261A (en) | 2015-02-04 |
| CN104330261B CN104330261B (en) | 2017-01-04 |
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