CN109262660B - Barrel section transfer device and method - Google Patents
Barrel section transfer device and method Download PDFInfo
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- CN109262660B CN109262660B CN201811173610.6A CN201811173610A CN109262660B CN 109262660 B CN109262660 B CN 109262660B CN 201811173610 A CN201811173610 A CN 201811173610A CN 109262660 B CN109262660 B CN 109262660B
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- 238000012546 transfer Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 15
- 210000000078 claw Anatomy 0.000 claims description 40
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 12
- 230000007704 transition Effects 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 230000002265 prevention Effects 0.000 claims description 6
- 238000012360 testing method Methods 0.000 abstract description 11
- 230000033001 locomotion Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000036316 preload Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention provides a barrel section transfer device, which comprises a displacement adjusting assembly and a tail end clamping component (5); the tail end clamping component (5) is detachably mounted or fixedly mounted on the displacement adjusting assembly; the displacement adjusting assembly drives the tail end clamping part (5) to move in any one axial direction or any plurality of axial directions in a space rectangular coordinate system; the tail end clamping component (5) comprises a hanging beam (7) and a clamping structure, and one or more clamping structures are arranged on the hanging beam (7); the gripping structure comprises an actuating jaw (12) and a jaw drive structure. Correspondingly, the invention also provides a barrel section transferring method. The invention can automatically realize the transfer of the barrel section, realize the quick, accurate, automatic and safe transfer, adaptively adjust the mass center position of the product, shorten the testing time of the barrel section and reduce the workload and the number of operators.
Description
Technical Field
The invention relates to the field of hoisting equipment and test auxiliary equipment, in particular to a cylinder section transferring device and method.
Background
For the process of dynamic unbalance testing of cylinder section assembly, the adoption of automatic intellectualization is a general trend. The testing of the barrel sections needs to be performed on customized dynamic balance testing equipment, so that automatic testing needs to be performed by an automatic transfer device to realize automatic loading and unloading. Two tooling rings are arranged on the cylinder section, and the tooling rings are clamped by the tail end air claw of the automatic transfer device, so that automatic loading and unloading of the cylinder section are realized through the motion in three directions X, Y, Z. At present, a plurality of enterprises adopt a transfer mode which uses travelling crane slings for manual transfer, which is very inconvenient and unsafe, and the transfer consistency cannot be ensured, so that the test precision is affected.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a cylinder section transferring device and a cylinder section transferring method.
The invention provides a barrel section transfer device, which comprises a displacement adjusting assembly and a tail end clamping part; the tail end clamping component is detachably mounted or fixedly mounted on the displacement adjusting assembly; the displacement adjusting assembly drives the tail end clamping component to move in any one axial direction or any plurality of axial directions in a space rectangular coordinate system;
The tail end clamping component comprises a hanging beam and a clamping structure, and one or more clamping structures are arranged on the hanging beam; the clamping structure comprises an executing clamping jaw and a clamping jaw driving structure, and the clamping jaw driving structure drives the executing clamping jaw to switch between an open state and a furled state;
the jaw driving structure comprises a gas jaw, and a jaw unit contained in the executing jaw is arranged on a movable part of the gas jaw.
Preferably, a transition plate is fixedly arranged on the hanging beam, and a claw linear guide rail is arranged on the transition plate; the pneumatic claw drives the claw unit to move along the claw linear guide rail.
The gas claw comprises a wide gas claw, and a first sensor is arranged on the wide gas claw and/or the executing clamping jaw.
Preferably, in the collapsed state, the free ends of the plurality of claw units are closed to each other;
And a clamping jaw cushion block is arranged at the free end of the jaw unit, and the clamping jaw cushion block comprises an inverted buckle structure.
Preferably, a force sensor is arranged between the executing clamping jaw and the clamping jaw cushion block;
The executing clamping jaw is fixedly provided with an internal thread piece, and is provided with a claw servo motor and a claw lead screw which are sequentially connected.
Preferably, the displacement adjusting assembly comprises a base component, a beam component, a saddle component and a ram component which are connected in sequence;
The ram member includes a ram body, and the end clamp member is securely mounted to the ram body.
Preferably, the base part comprises a column, a base, a first linear guide rail, a first guide rail slide block, a first rack and a first limiting device; the upright post is fixedly connected with the base, the first linear guide rail, the first rack and the first limiting device are all arranged on the base, and the first guide rail sliding block is slidably arranged on the first linear guide rail;
the beam base that beam part contained installs on first guide rail slider, and the first servo motor speed reducer that beam part contained is through the first gear and the meshing transmission of first rack that set up.
Preferably, the beam part further comprises a beam main body, a second servo motor, a transmission case, a second linear guide rail, a second ball screw and a second limiting device;
the beam main body is fixedly connected with the beam base; the second servo motor, the transmission case, the second linear guide rail, the second ball screw and the second limiting device are all installed on the beam main body, and the second servo motor, the transmission case and the second ball screw are connected in sequence.
Preferably, the saddle member comprises a saddle body, a second lead screw nut seat, and a third lead screw nut seat; the saddle body is slidably arranged on the second linear guide rail, and the second screw nut seat is matched with the second ball screw;
The ram component comprises a ram main body, a third servo motor, a third linear guide rail and a third ball screw, and the third servo motor, the third linear guide rail and the third ball screw are all arranged on the ram main body;
the third servo motor, the third ball screw and the third screw nut seat are sequentially connected, and the third linear guide rail is in sliding connection with the saddle body.
Preferably, the device also comprises a camera and a controller; the camera, the first servo motor speed reducer, the second servo motor, the third servo motor and the claw servo motor are all connected to the controller;
the controller comprises the following modules:
And (3) grabbing a module: acquiring a grabbing instruction, enabling the tail end clamping part to move to a set first position, and enabling the execution clamping jaw to grab a tool ring on the barrel section;
and a discharging module: moving the tail end clamping part to a set second position, and releasing the tool ring on the barrel section by the execution clamping jaw;
The controller also includes the following modules:
the tooling ring position acquisition module: judging the actual position information of the tool ring according to the image information from the camera;
and a position calibration module: generating a calibration instruction according to the actual position information of the tool ring and a set value corresponding to the first position;
Anti-falling module: generating a closure judgment signal according to a first monitoring signal from a first sensor arranged on the air jaw;
And (3) an anti-collision module: generating a bump pre-load signal based on a second monitoring signal from a first sensor mounted on the actuating jaw;
and the unbalanced load prevention adjusting module is used for: and generating a clamping jaw position adjustment instruction according to the gravity value information acquired by the force sensor.
The invention also provides a barrel section transferring method, which comprises the following steps:
A grabbing step: acquiring a grabbing instruction, enabling the tail end clamping part to move to a set first position, and enabling the execution clamping jaw to grab a tool ring on the barrel section;
and (3) discharging: moving the tail end clamping part to a set second position, and releasing the tool ring on the barrel section by the execution clamping jaw;
the barrel section transferring method further comprises the following steps:
the position acquisition step of the tool ring: judging the actual position information of the tool ring according to the image information from the camera;
and (3) position calibration: generating a calibration instruction according to the actual position information of the tool ring and a set value corresponding to the first position;
The step of preventing falling: generating a closure judgment signal according to a first monitoring signal from a first sensor arranged on the air jaw;
An anti-collision step: generating a bump pre-load signal based on a second monitoring signal from a first sensor mounted on the actuating jaw;
and (3) unbalanced load prevention adjustment step: and generating a clamping jaw position adjustment instruction according to the gravity value information acquired by the force sensor (17).
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can automatically realize the transfer of the barrel section, realize the quick, accurate, automatic and safe transfer, shorten the testing time of the barrel section and reduce the workload and the number of operators.
2. The invention is applicable to barrel sections with different specifications and types, and can realize automatic transfer of barrel sections with other specifications and types only by replacing different tool rings, reserving the same tool ring interface and debugging the corresponding coordinate positions of equipment.
3. According to the invention, through the arrangement of various sensors, whether the device grabs the tool ring or not can be confirmed, and misoperation is prevented; the anti-collision sensors arranged on the two sides of the clamping jaw can ensure that people, objects and other equipment cannot be impacted in the transfer process.
4. The invention combines visual identification and processing software to transmit the position information of the tool ring to the controller, and the controller finely adjusts the three-axis coordinates of the automatic transfer equipment, so that a closed-loop control system is formed, and smooth transfer of the automatic transfer device of the barrel section is ensured.
5. The back-off design on the clamping jaw cushion block can ensure that the clamping jaw can not be opened even after the sudden air break, so that the barrel section is prevented from falling in the transfer process, and the safety is improved.
6. The force sensor arranged on the clamping jaw obtains the hoisting force of the two clamping jaws, calculates the mass center position of the product through an algorithm, adjusts the position of the clamping jaw, realizes that the product to be transferred is consistent with the center of the hanging beam, prevents the product from tilting and falling in the transfer process caused by unbalanced load, and improves the safety.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a perspective view of a drum segment transfer apparatus provided by the present invention;
FIG. 2 is a front view of the end gripping member;
Fig. 3 is a schematic perspective view of a terminal clamping member.
The figure shows:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
As shown in fig. 1 and 2, the cylinder section transfer device provided by the invention comprises a displacement adjusting assembly and a tail end clamping component 5; the tail end clamping part 5 is detachably mounted or fixedly mounted on the displacement adjusting assembly; the displacement adjusting assembly drives the tail end clamping part 5 to move in any one axial direction or any plurality of axial directions in a space rectangular coordinate system; the tail end clamping part 5 comprises a hanging beam 7 and a clamping structure, and one or more clamping structures are arranged on the hanging beam 7; the gripping structure comprises an actuating jaw 12 and a jaw driving structure, wherein the jaw driving structure drives the actuating jaw 12 to switch between an open state and a folded state. The jaw drive arrangement comprises an air jaw, and the jaw unit comprised by the actuating jaw 12 is mounted on the movable part of the air jaw. In an embodiment, the gas claw comprises a wide gas claw 10.
As shown in fig. 1, the displacement adjustment assembly comprises a base component 1, a beam component 2, a saddle component 3 and a ram component 4 which are connected in sequence; the ram member 4 includes a ram body 6, and the end clamp member 5 is fixedly mounted on the ram body 6. The base part 1 comprises a stand column, a base, a first linear guide rail 9, a first guide rail sliding block, a first rack and a first limiting device; the upright post is fixedly connected with the base, the first linear guide rail 9, the first rack and the first limiting device are all arranged on the base, and the first guide rail sliding block is slidably arranged on the first linear guide rail 9; the beam base that beam part 2 contained is installed on first guide rail slider, and the first servo motor speed reducer that beam part 2 contained is through the first gear and the meshing transmission of first rack that set up. The beam part 2 further comprises a beam main body, a second servo motor, a transmission case, a second linear guide rail 9, a second ball screw and a second limiting device; the beam main body is fixedly connected with the beam base; the second servo motor, the transmission case, the second linear guide rail 9, the second ball screw and the second limiting device are all installed on the beam main body, and the second servo motor, the transmission case and the second ball screw are connected in sequence. The saddle member 3 comprises a saddle body, a second screw nut seat and a third screw nut seat; the saddle body is slidably arranged on a second linear guide rail 9, and a second screw nut seat is matched with a second ball screw; the ram component 4 comprises a ram main body 6, a third servo motor, a third linear guide rail 9 and a third ball screw, and the third servo motor, the third linear guide rail 9 and the third ball screw are all arranged on the ram main body 6; the third servo motor, the third ball screw and the third screw nut seat are sequentially connected, and the third linear guide rail 9 is in sliding connection with the saddle body. That is, the movement of the cross member 2 on the base member 1 constitutes the movement in the X-axis direction in the space rectangular coordinate system; the movement of the saddle member 3 on the cross member 2 constitutes a movement in the Y-axis direction in a space rectangular coordinate system; the movement of the ram member 4 on the saddle member 3 constitutes a movement in the Z-axis direction in a space rectangular coordinate system.
As shown in fig. 2 and 3, a hanging beam 7 is mounted at the lower end of the ram main body 6, a transition plate 8 is fixedly mounted on the hanging beam 7, and a claw linear guide rail 9 is mounted on the transition plate 8; the air jaw drives the jaw unit to move along the jaw linear guide 9. The wide air jaw 10 and/or the actuating jaw 12 have a first sensor mounted thereon. In the folded state, the free ends of the claw units are mutually folded; the free end of the claw unit is provided with a claw cushion block 11, and the claw cushion block 11 comprises an inverted buckle structure. Safety is particularly critical due to the particularities of the transfer products. The back-off design on the clamping jaw cushion block 11 can ensure that the actuating clamping jaw 12 can not be opened even after the sudden air break, so as to prevent the barrel section from falling off in the transfer process. The wide air claw 10 is integrated with an in-place signal induction switch for opening and closing, so that whether the tool ring is grabbed or not is ensured, and misoperation is prevented. The installation of the crash sensors 13 on both sides of the actuating jaw 12 ensures that no persons, objects or other equipment will be impacted during the transfer process. That is, in the preferred embodiment, the first sensor on the wide air jaw 10 is applied as a signal sensing switch, and the first sensor on the implement jaw 12 is applied as a bump sensor 13.
In order to avoid the phenomenon that the product slides down due to unbalanced load of the transferred product 19 in the transfer process, the tail end of the cylinder section transfer device is also integrated with a set of unbalanced load adjusting mechanism. The cylinder section transfer device is used for hoisting the tool ring 18 through the execution clamping jaw 12, so that transfer of transferred products 19 is realized. A force sensor 17 is arranged between the executing clamping jaw 12 and the clamping jaw cushion block 11, and a matched claw servo motor 14 drives an internal thread piece 16 fixedly connected to the executing clamping jaw 12 through a claw lead screw 15, so that the two executing clamping jaws 12 move on the linear guide rail 9, and the transferred product 19 is consistent with the center of the hanging beam 7. The claw servo motor 14 is mounted on the transition plate 8 or the hanging beam 7. Specifically, as shown in fig. 2, a force sensor 17 is installed between the two actuating jaws 12 and the jaw pad 11, and two weight data G1 and G2 can be measured in real time. The distance between the two tooling rings 18 is known as X, and the original distance from the left tooling ring to the center of the equipment hanging beam is known as X3. According to the torque balance principle, g1×1+x2) = (g1+g2) ×x2 is obtained, and the distance from the center of mass of the transferred product 19 to the left tooling ring is x1=g2×x2/G1, where x2=x-X1 is known, and x1=g2×x/(g1+g2) is obtained. The amount of movement Δx=x1-X3 that needs to be adjusted.
Along with the use frequency improvement, because of various reasons, on-orbit conveying platform positioning accuracy reduces, can appear the deviation and lead to carrying out clamping jaw 12 unable automatic snatch the frock ring, can be at terminal clamping part 5 integrated machine vision positioning system, can go through the camera and discern the actual position of frock ring, pass the position information of frock ring to the controller through vision discernment and processing software, the triaxial coordinate of the equipment is carried in fine setting of controller, form a closed loop control system like this, guarantee that section of a cylinder moves the smooth moving of automatic moving device. In addition, it is also necessary to prevent the products from falling down and toppling during the transfer process due to unbalanced loading. Specifically, the barrel section transferring device further comprises a camera and a controller; the camera, the first servo motor reducer, the second servo motor, the third servo motor, and the claw servo motor 14 are all connected to the controller.
Preferably, the controller comprises the following modules: and (3) grabbing a module: acquiring a grabbing instruction, enabling the tail end clamping part 5 to move to a set first position, and enabling the executing clamping jaw 12 to grab the tool ring on the barrel section; and a discharging module: the end gripping member 5 is moved to a set second position, causing the actuating jaws 12 to release the tooling ring on the barrel section. The controller also includes the following modules: the tooling ring position acquisition module: judging the actual position information of the tool ring according to the image information from the camera; and a position calibration module: generating a calibration instruction according to the actual position information of the tool ring and a set value corresponding to the first position; anti-falling module: generating a closure judgment signal according to a first monitoring signal from a first sensor arranged on the air jaw; and (3) an anti-collision module: generating a bump pre-load signal based on a second monitoring signal from a first sensor mounted on the actuating jaw 12; and the unbalanced load prevention adjusting module is used for: based on the gravity value information acquired by the force sensor 17, a jaw position adjustment command is generated.
The invention also provides a barrel section transferring method, which comprises the following steps: a grabbing step: acquiring a grabbing instruction, enabling the tail end clamping part 5 to move to a set first position, and enabling the executing clamping jaw 12 to grab the tool ring on the barrel section; and (3) discharging: the end gripping member 5 is moved to a set second position, causing the actuating jaws 12 to release the tooling ring on the barrel section. Preferably, the barrel section transferring method further comprises the steps of: the position acquisition step of the tool ring: judging the actual position information of the tool ring according to the image information from the camera; and (3) position calibration: generating a calibration instruction according to the actual position information of the tool ring and a set value corresponding to the first position; the step of preventing falling: generating a closure judgment signal according to a first monitoring signal from a first sensor arranged on the air jaw; an anti-collision step: generating a bump pre-load signal based on a second monitoring signal from a first sensor mounted on the actuating jaw 12; and (3) unbalanced load prevention adjustment step: based on the gravity value information acquired by the force sensor 17, a jaw position adjustment command is generated.
Preferred embodiment of the barrel transfer method: and transporting the cylinder section to a testing station on the track conveying platform, and triggering a station in-place signal after the cylinder section is stopped accurately at a designated position. Pressing an automatic operation button, moving the cylinder section transferring device into position along the three axes through a set program X, Y, Z, executing the opening of the air claw, descending the ram main body 6, sleeving the tool ring on the cylinder section, executing the closing of the air claw, ascending the ram main body 6, and grabbing the tool ring on the cylinder section; x, Y, Z, moving to the testing equipment along the three axes, executing the opening of the air claw, lifting the ram main body 6, moving to the zero position, and completing the transfer. The transfer from the test equipment to the on-orbit conveying platform can be realized only by repeating the steps.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (6)
1. A barrel section transfer device, which is characterized by comprising a displacement adjusting component and a tail end clamping component (5); the tail end clamping component (5) is detachably mounted or fixedly mounted on the displacement adjusting assembly; the displacement adjusting assembly drives the tail end clamping part (5) to move in any one axial direction or any plurality of axial directions in a space rectangular coordinate system;
the tail end clamping component (5) comprises a hanging beam (7) and a clamping structure, and one or more clamping structures are arranged on the hanging beam (7); the clamping structure comprises an executing clamping jaw (12) and a clamping jaw driving structure, wherein the clamping jaw driving structure drives the executing clamping jaw (12) to switch between an open state and a furled state;
the clamping jaw driving structure comprises an air jaw, and a jaw unit contained in the executing clamping jaw (12) is arranged on a movable part of the air jaw;
A transition plate (8) is fixedly arranged on the hanging beam (7), and a claw linear guide rail (9) is arranged on the transition plate (8); the pneumatic claw drives the claw unit to move along the claw linear guide rail (9);
the gas claw comprises a wide gas claw (10), and a first sensor is arranged on the wide gas claw (10) and/or the executing clamping jaw (12);
In the folded state, the free ends of the claw units are mutually folded;
A clamping jaw cushion block (11) is arranged at the free end of the jaw unit, and the clamping jaw cushion block (11) comprises an inverted buckle structure;
a force sensor (17) is arranged between the executing clamping jaw (12) and the clamping jaw cushion block (11);
An internal screw (16) is fixedly arranged on the executing clamping jaw (12), the executing clamping jaw (12) is provided with a claw servo motor (14) and a claw lead screw (15), and the claw servo motor (14), the claw lead screw (15) and the internal screw (16) are sequentially connected;
The camera also comprises a camera and a controller; the camera, the first servo motor speed reducer, the second servo motor, the third servo motor and the claw servo motor (14) are all connected to the controller;
the controller comprises the following modules:
and (3) grabbing a module: acquiring a grabbing instruction, enabling the tail end clamping part (5) to move to a set first position, and enabling the executing clamping jaw (12) to grab the tool ring on the barrel section;
And a discharging module: moving the tail end clamping part (5) to a set second position, and releasing the tool ring on the barrel section by the execution clamping jaw (12);
The controller also includes the following modules:
the tooling ring position acquisition module: judging the actual position information of the tool ring according to the image information from the camera;
and a position calibration module: generating a calibration instruction according to the actual position information of the tool ring and a set value corresponding to the first position;
Anti-falling module: generating a closure judgment signal according to a first monitoring signal from a first sensor arranged on the air jaw;
And (3) an anti-collision module: generating an impact pre-tightening signal based on a second monitoring signal from a first sensor mounted on the actuating jaw (12);
and the unbalanced load prevention adjusting module is used for: generating a clamping jaw position adjustment instruction according to the gravity value information acquired by the force sensor (17);
the first sensor is applied as an anti-collision sensor (13).
2. The drum segment transfer device according to claim 1, wherein the displacement adjustment assembly comprises a base member (1), a beam member (2), a saddle member (3), and a ram member (4) connected in this order;
The ram member (4) includes a ram body (6), and the end clamp member (5) is fixedly mounted on the ram body (6).
3. The drum segment transfer device according to claim 2, wherein the base member (1) comprises a column, a base, a first linear guide (9), a first guide slider, a first rack, and a first stopper; the upright post is fixedly connected with the base, the first linear guide rail (9), the first rack and the first limiting device are all arranged on the base, and the first guide rail sliding block is slidably arranged on the first linear guide rail (9);
The beam base that beam part (2) contained is installed on first guide rail slider, and the first servo motor speed reducer that beam part (2) contained is through the first gear and the meshing transmission of first rack that set up.
4. A drum segment transfer device according to claim 3, wherein the cross member (2) further comprises a cross member main body, a second servo motor, a transmission case, a second linear guide (9), a second ball screw, and a second stopper;
The beam main body is fixedly connected with the beam base; the second servo motor, the transmission case, the second linear guide rail (9), the second ball screw and the second limiting device are all installed on the beam main body, and the second servo motor, the transmission case and the second ball screw are connected in sequence.
5. The cartridge segment transfer apparatus according to claim 4, wherein the saddle member (3) includes a saddle body, a second lead screw nut seat, and a third lead screw nut seat; the saddle body is slidably arranged on a second linear guide rail (9), and a second screw nut seat is matched with a second ball screw;
the ram component (4) comprises a ram main body (6), a third servo motor, a third linear guide rail (9) and a third ball screw, wherein the third servo motor, the third linear guide rail (9) and the third ball screw are all arranged on the ram main body (6);
the third servo motor, the third ball screw and the third screw nut seat are sequentially connected, and the third linear guide rail (9) is in sliding connection with the saddle body.
6. A barrel section transfer method for realizing the barrel section transfer device of claim 1, comprising the steps of:
a grabbing step: acquiring a grabbing instruction, enabling the tail end clamping part (5) to move to a set first position, and enabling the executing clamping jaw (12) to grab the tool ring on the barrel section;
And (3) discharging: moving the tail end clamping part (5) to a set second position, and releasing the tool ring on the barrel section by the execution clamping jaw (12);
the barrel section transferring method further comprises the following steps:
the position acquisition step of the tool ring: judging the actual position information of the tool ring according to the image information from the camera;
and (3) position calibration: generating a calibration instruction according to the actual position information of the tool ring and a set value corresponding to the first position;
The step of preventing falling: generating a closure judgment signal according to a first monitoring signal from a first sensor arranged on the air jaw;
an anti-collision step: generating an impact pre-tightening signal based on a second monitoring signal from a first sensor mounted on the actuating jaw (12);
And (3) unbalanced load prevention adjustment step: and generating a clamping jaw position adjustment instruction according to the gravity value information acquired by the force sensor (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811173610.6A CN109262660B (en) | 2018-10-09 | 2018-10-09 | Barrel section transfer device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811173610.6A CN109262660B (en) | 2018-10-09 | 2018-10-09 | Barrel section transfer device and method |
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| CN109262660A CN109262660A (en) | 2019-01-25 |
| CN109262660B true CN109262660B (en) | 2024-06-28 |
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| CN113547258A (en) * | 2021-07-26 | 2021-10-26 | 唐山开元自动焊接装备有限公司 | Nesting process for cone part of tank body of mixer truck |
| CN114833856A (en) * | 2022-05-31 | 2022-08-02 | 浙江金马逊机械有限公司 | Clamping device with adjustable clamping range, mechanical clamping jaw and method |
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