CN111442699A - Automatic butt joint device - Google Patents
Automatic butt joint device Download PDFInfo
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- CN111442699A CN111442699A CN202010241376.7A CN202010241376A CN111442699A CN 111442699 A CN111442699 A CN 111442699A CN 202010241376 A CN202010241376 A CN 202010241376A CN 111442699 A CN111442699 A CN 111442699A
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- aligning
- positioning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B33/00—Manufacture of ammunition; Dismantling of ammunition; Apparatus therefor
- F42B33/001—Devices or processes for assembling ammunition, cartridges or cartridge elements from parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention relates to an automatic docking system for small and medium-sized missiles, in particular to an automatic docking device. The device comprises a butt joint frame body, and a lower rotary aligning unit, a lower sliding block positioning unit, a screwing unit, a visual detection unit and an upper rotary clamping positioning unit which are sequentially arranged on the butt joint frame body from bottom to top; the lower sliding block positioning unit, the screwing unit and the upper rotating clamping positioning unit are respectively connected with the vertical sliding rail in a sliding manner; the lower rotating and aligning unit is used for automatically aligning the lower cabin section and adjusting the phase angle; the lower sliding block positioning unit is used for positioning the phase angle of the lower cabin section; the tightening unit is used for automatically tightening the upper cabin section and the lower cabin section with fixed torque; the upper rotary clamping and positioning unit is used for clamping, phase angle adjusting and positioning the upper cabin section; the visual detection unit is used for identifying the characteristics of the pins and the holes on the end surfaces of the upper cabin section and the lower cabin section and calculating respective adjustment values. The invention can ensure the automatic butt joint and tightening precision between the projectile body cabin sections and greatly improve the production efficiency.
Description
Technical Field
The invention relates to an automatic docking system for small and medium-sized missiles, in particular to an automatic docking device.
Background
At present, certain domestic small and medium-sized missiles are connected with a front missile cabin and a rear missile cabin through threaded sleeves, the end faces of the two adjacent cabin sections meet the relative phase requirements in a pin-hole positioning mode, and the whole assembly process is completely manually operated. This type of assembly has the following drawbacks: firstly, the process of carrying and butting the cabin sections completely adopts manual operation, so that the labor intensity of operators is high; secondly, the tightening torque of the manual tightening is difficult to ensure the technical requirements.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an automatic docking apparatus. The butt joint device can ensure automatic centering and butt joint of the bullet cabin, ensure automatic tightening of the fixed moment and reduce the labor intensity of operators.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic butt joint device comprises a butt joint frame body, and a lower rotary aligning unit, a lower sliding block positioning unit, a screwing unit, a visual detection unit and an upper rotary clamping positioning unit which are sequentially arranged on the butt joint frame body from bottom to top;
the lower sliding block positioning unit, the screwing unit and the upper rotating clamping positioning unit are respectively connected with a vertical sliding rail arranged on the butt joint frame body in a sliding manner;
the lower rotating and aligning unit is used for automatically aligning the lower cabin section and adjusting the phase angle; the lower sliding block positioning unit is used for positioning the phase angle of the lower cabin section; the tightening unit is used for automatically tightening the upper cabin section and the lower cabin section with fixed torque; the upper rotary clamping and positioning unit is used for clamping, phase angle adjusting and positioning the upper cabin section; the visual detection unit is used for identifying the characteristics of the pins and the holes on the end surfaces of the upper cabin section and the lower cabin section and calculating respective adjustment values.
The lower rotating and aligning unit comprises a bearing seat, a rotating support, a lower cabin tooling seat, an aligning mechanism, an aligning disc, an adjusting platen, a serialized product adjusting seat, a rotating driving speed reduction motor and a rotating main shaft, wherein the rotating support is connected with the butt joint frame body and ensures that the rotating center of the rotating support is concentric with the clamping center of the upper rotating clamping and positioning unit; the centering plate is placed on the adjusting bedplate in a floating mode through a plurality of universal balls, the centering plate is connected with the conical surface of the centering mechanism, and the universal balls are contained in a limiting sleeve arranged below the centering plate; the lower cabin section tooling seat is arranged on the aligning disc.
The aligning mechanism comprises an aligning cylinder support, an aligning cylinder mounting plate, an aligning cylinder, a cylinder joint, a cylinder guide rod and an aligning joint, wherein the two ends of the aligning cylinder support are respectively connected with the output end of the rotating main shaft and the serialized product adjusting seat, the aligning cylinder is mounted on the aligning cylinder support through the aligning cylinder mounting plate, the output end of the aligning cylinder support is connected with one end of the cylinder guide rod in a clearance fit mode through the cylinder joint, the other end of the cylinder guide rod penetrates through a guide bearing and the aligning joint, the guide bearing and the aligning joint are arranged on the adjusting platen, and the aligning joint is connected with the aligning disk in a conical surface fit mode.
The lower rotary aligning unit further comprises an anti-torsion mechanism, the anti-torsion mechanism comprises a torsion limiting cylinder, an anti-torsion cylinder mounting plate, an anti-torsion guide copper sleeve and an anti-torsion pin shaft, the torsion limiting cylinder is arranged on the lower end face of the adjusting bedplate through the anti-torsion cylinder mounting plate, the output end of the torsion limiting cylinder is provided with the anti-torsion pin shaft, the anti-torsion pin shaft is guided through the anti-torsion guide copper sleeve arranged on the adjusting bedplate, and the anti-torsion pin shaft is used for limiting the phase angle of the aligning plate.
The lower rotary aligning unit further comprises an aligning disc rotary limiting mechanism, the aligning disc rotary limiting mechanism comprises a limiting guide sleeve, an elastic limiting seat, a limiting guide shaft, a limiting spring and a limiting support plate, the elastic limiting seat is mounted at the upper end face of the adjusting platen, the limiting guide sleeve is arranged on the elastic limiting seat, the limiting guide shaft is in sliding fit with the limiting guide sleeve, the limiting support plate is arranged at the end part of the limiting guide shaft, and the limiting support plate is abutted to the limiting sleeve; the limiting spring is sleeved on the limiting guide shaft, two ends of the limiting spring are respectively abutted against the limiting guide sleeve and the limiting support plate, and the limiting support plate is used for elastically limiting the limiting sleeve in the horizontal direction, so that the rotation degree of freedom of the elastic limiting adjusting plate is limited.
The lower sliding block positioning unit comprises a lower positioning key stop block, a stop block base, a base mounting seat, a lower sliding block sliding plate, a positioning air cylinder and an air cylinder support seat, wherein the air cylinder support seat is mounted on the butt joint frame body, the positioning air cylinder is arranged on the air cylinder support seat along the vertical direction, the lower sliding block sliding plate is arranged at the output end of the positioning air cylinder and is connected with a vertical sliding rail arranged on the butt joint frame body in a sliding mode, one end of the base mounting seat is mounted on the end face of the lower sliding block sliding plate, the other end of the base mounting seat is provided with the stop block base, and the lower positioning key stop block is arranged on two sides of the end portion of.
The tightening unit comprises a tightening tool, a gear, a crossed roller bearing, a bearing seat and an electric wrench, wherein the bearing seat is connected with a vertical sliding rail arranged on the butt joint frame body in a sliding mode, and the bearing seat is driven by a lifting driving mechanism I arranged on the butt joint frame body; the cross roller bearing is arranged in the inner hole of the bearing seat, the tightening tool and the gear are respectively arranged at two ends of the cross roller bearing, and the electric wrench drives the gear pair to operate to realize the tightening action of the tightening tool.
Visual detection unit is including location base, horizontal slide rail, horizontal drive actuating cylinder, light source, prism, telecentric camera, location slip table and upper portion cabin section frock seat, wherein fix a position the pedestal mounting in the butt joint frame, be equipped with horizontal slide rail on the location base, location slip table and horizontal slide rail sliding connection, the level drives actuating cylinder and sets up on the base of fixing a position and the output is connected with the slip table of fixing a position, light source, prism and telecentric camera are total two sets ofly, distribute about being and install respectively on the slip table of fixing a position for on the upper and lower cabin section terminal surface the characteristic identification in round pin and hole calculates respective adjustment value, upper portion cabin section frock seat sets up in location slip table up end, is used for the coarse location of upper portion cabin section.
The upper rotating clamping and positioning unit comprises an upper sliding plate, a clamping bearing seat, a speed reducing motor, a lower clamping hand tooth-shaped mounting plate, a lower clamping hand, an upper clamping hand mounting plate, a clamping rotating shaft, a crossed roller bearing, an upper clamping hand and an axial compensation vertical sliding rail, wherein the upper sliding plate is connected with the vertical sliding rail arranged on the butt joint frame body in a sliding manner and is driven by a lifting driving mechanism II arranged on the butt joint frame body; the clamping bearing seat is in sliding connection with an axial compensation vertical sliding rail arranged on the upper sliding plate; the crossed roller bearing is arranged in an inner hole of the clamping bearing seat, the upper clamping hand mounting plate and the lower clamping hand tooth-shaped mounting plate are respectively arranged at two ends of the crossed roller bearing through a clamping rotating shaft, and the gear pair is driven by the speed reducing motor to operate to realize circumferential rotation; the upper tong and the lower tong are respectively arranged on the upper tong mounting plate and the lower tong tooth-shaped mounting plate and are used for clamping, positioning and phase angle adjustment of the upper cabin section.
The upper portion rotating clamping and positioning unit further comprises an upper sliding block positioning unit, the upper sliding block positioning unit comprises an upper sliding block limiting block, a lifting air cylinder and an air cylinder mounting seat, the lifting air cylinder is mounted on the upper sliding block through the air cylinder mounting seat, the output end of the upper sliding block is connected with the upper sliding block limiting block, and the upper sliding block limiting block is used for positioning and preventing torsion of an upper cabin section.
The invention has the advantages and positive effects that:
1. according to the lower rotating and aligning unit, the aligning disc is placed above the adjusting bedplate in a floating mode, has X, Y adjustment amount in a certain range, and is suitable for the placement center of a lower cabin section; the lower cabin section is adjusted to the center of the equipment through the profile connection between the aligning joint and the aligning disc, so that the automatic positioning of the cabin section is realized.
2. The visual detection unit turns the light rays by 90 degrees through the prism, so that the idea of detecting the upper end face and the lower end face by horizontally arranging the visual camera is realized; the detection method not only enables the whole structure to be more compact, but also is convenient for adjusting the position of the camera for the fixed-focus industrial camera.
Drawings
Fig. 1 is an isometric view of an automatic docking device of the present invention;
FIG. 2 is a schematic structural view of a lower rotation center-adjusting unit according to the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a schematic structural diagram of a lower slider positioning unit according to the present invention;
FIG. 5 is a schematic view showing a structure of a tightening unit according to the present invention;
FIG. 6 is a schematic view of a visual inspection unit according to the present invention;
FIG. 7 is a schematic structural diagram of an upper rotary clamping positioning unit according to the present invention.
Wherein: 1 is a butt joint frame body, 2 is a lower rotating and aligning unit, 3 is a lower cabin section, 4 is a lower sliding block positioning unit, 5 is a screwing unit, 6 is a visual detection unit, 7 is an upper rotating and clamping positioning unit, 8 is an upper cabin section, 9 is a vertical sliding rail, 10 is a driving motor I, 11 is a driving motor II, 12 is a bearing seat, 13 is a rotating support, 14 is an aligning cylinder support, 15 is a twisting limiting cylinder, 16 is an anti-twisting cylinder mounting plate, 17 is an anti-twisting guide copper sleeve, 18 is an anti-twisting pin shaft, 19 is a lower cabin section tool seat, 20 is an aligning disc, 21 is an adjusting platen, 22 is a serialized product adjusting seat, 23 is a rotating driving speed reduction motor, 24 is a rotating main shaft, 25 is an aligning cylinder mounting plate, 26 is an aligning cylinder, 27 is a cylinder joint, 28 is a connecting pin, 29 is a cylinder guide rod, 30 is a universal ball, 31 is a limiting sleeve, 32 is a self-aligning joint, 33 is a guide bearing, 34 is a limit guide sleeve, 35 is an elastic limit seat, 36 is a limit guide shaft, 37 is a limit spring, 38 is a limit support plate, 39 is a lower positioning key stop, 40 is a stop base, 41 is a base mounting seat, 42 is a lower slide block sliding plate, 43 is a positioning air cylinder, 44 is an air cylinder support, 45 is a tightening tool, 46 is a gear, 47 is a crossed roller bearing, 48 is a bearing seat, 49 is an electric wrench, 50 is a positioning base, 51 is a horizontal sliding rail, 52 is a horizontal driving air cylinder, 53 is a light source, 54 is a prism, 55 is a telecentric camera, 56 is a positioning sliding table, 57 is an upper section tool seat, 58 is an upper sliding plate, 59 is a clamping bearing seat, 60 is a speed reducing motor, 61 is a lower clamping handle tooth-shaped mounting plate, 62 is a lower clamping handle, 63 is an upper clamping handle mounting plate, 64 is a clamping rotating shaft, 65 is a crossed roller bearing, and 66 is an upper, 67 is the upper sliding block stopper, 68 is the lift cylinder, 69 is the cylinder mount pad, and 70 is the vertical slide rail of axial compensation.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the automatic docking device provided by the present invention comprises a docking frame 1, and a lower rotation aligning unit 2, a lower slider positioning unit 4, a tightening unit 5, a visual detection unit 6 and an upper rotation clamping positioning unit 7 which are sequentially arranged on the docking frame 1 from bottom to top; the lower sliding block positioning unit 4, the screwing unit 5 and the upper rotating clamping positioning unit 7 are respectively connected with a vertical sliding rail 9 arranged on the butt joint frame body 1 in a sliding manner; the lower rotating and aligning unit 2 is used for automatic aligning and phase angle adjusting of the lower cabin section 3; the lower sliding block positioning unit 4 is used for positioning the phase angle of the lower cabin section 3; the tightening unit 5 is used for automatically tightening the upper cabin section 8 and the lower cabin section 3 at a certain moment; the upper rotary clamping and positioning unit 7 is used for clamping, phase angle adjusting and positioning the upper cabin section 8; the visual detection unit 6 is used for identifying the characteristics of the pins and the holes on the end surfaces of the upper cabin section and the lower cabin section and calculating respective adjustment values.
As shown in fig. 2 and 3, the lower rotating and aligning unit 2 includes a bearing seat 12, a rotating support 13, a lower cabin fixture seat 19, an aligning mechanism, an aligning disk 20, an adjusting platen 21, a serialized product adjusting seat 22, a rotating drive speed reduction motor 23 and a rotating spindle 24, wherein the rotating support 13 is connected with the docking frame body 1 and ensures that the rotating center thereof is concentric with the clamping center of the upper rotating clamping and positioning unit 7, the bearing seat 12 is installed inside the rotating support 13 and is concentric therewith, the rotating spindle 24 is arranged at the rotating center of the bearing seat 12 and has an input end connected with the rotating drive speed reduction motor 23, and an output end of the rotating spindle 24 is connected with the aligning mechanism; the aligning mechanism is connected with a serialized product adjusting seat 22, the serialized product adjusting seat 22 is connected with an adjusting bedplate 21, and the serialized product adjusting seat 22 is used for adjusting the installation height of the lower cabin section of the serialized product; the aligning disc 20 is placed on the adjusting bedplate 21 in a floating mode through a plurality of universal balls 30, the aligning disc 20 is connected with the conical surface of the aligning mechanism, and the universal balls 30 are contained in a limiting sleeve 31 arranged below the aligning disc 20; the lower cabin section tooling seat 19 is arranged on the aligning disc 20, the lower cabin section tooling seat 19 is concentrically connected with the aligning disc 20, and an inner hole of the lower cabin section tooling seat is in small clearance fit with the outer diameter of the lower cabin section and is used for fine positioning of a product.
In the embodiment of the invention, the aligning mechanism comprises an aligning cylinder support 14, an aligning cylinder mounting plate 25, an aligning cylinder 26, a cylinder joint 27, a cylinder guide bar 29 and an aligning joint 32, wherein two ends of the aligning cylinder support 14 are respectively connected with the output end of the rotating main shaft 24 and the serialized product adjusting seat 22, the aligning cylinder 26 is mounted on the aligning cylinder support 14 through the aligning cylinder mounting plate 25, the output end is in clearance fit connection with one end of the cylinder guide bar 29 through the cylinder joint 27 and the connecting pin 28, the other end of the cylinder guide bar 29 passes through a guide bearing 33 arranged on the adjusting bedplate 21 to be connected with the aligning joint 32, and the aligning joint 32 is in fit connection with the conical surface of the aligning disc 20 for center adjustment.
As shown in fig. 2, in the embodiment of the present invention, the lower rotation center adjusting unit 2 further includes an anti-twist mechanism, the anti-twist mechanism includes a twist limiting cylinder 15, an anti-twist cylinder mounting plate 16, an anti-twist guide copper bush 17 and an anti-twist pin 18, wherein the twist limiting cylinder 15 is disposed on the lower end surface of the adjusting platen 21 through the anti-twist cylinder mounting plate 16, the output end of the anti-twist limiting cylinder is provided with the anti-twist pin 18, the anti-twist pin 18 guides the copper bush 17 through the anti-twist guide disposed on the adjusting platen 21, and the anti-twist pin 18 is used for phase angle position limitation of the center adjusting plate 20.
As shown in fig. 3, in the embodiment of the present invention, the lower rotation center-adjusting unit 2 further includes a center plate rotation limiting mechanism, the center plate rotation limiting mechanism includes a limiting guide sleeve 34, an elastic limiting seat 35, a limiting guide shaft 36, a limiting spring 37 and a limiting support plate 38, wherein the elastic limiting seat 35 is installed at the upper end surface of the adjustment platen 21, the limiting guide sleeve 34 is arranged on the elastic limiting seat 35, the limiting guide shaft 36 is in sliding fit with the limiting guide sleeve 34, the end portion of the limiting guide shaft is provided with the limiting support plate 38, and the limiting support plate 38 is abutted to the limiting sleeve 31; the limit spring 37 is sleeved on the limit guide shaft 36, and two ends of the limit spring abut against the limit guide sleeve 34 and the limit support plate 38 respectively, and the limit support plate 38 is used for elastically limiting the limit of the limit sleeve 31 in the horizontal direction, so that the rotation degree of freedom of the center adjusting plate 20 is elastically limited.
As shown in fig. 4, in the embodiment of the present invention, the lower slider positioning unit 4 includes a lower positioning key stopper 39, a stopper base 40, a base mounting seat 41, a lower slider sliding plate 42, a positioning cylinder 43 and a cylinder support 44, wherein the cylinder support 44 is mounted on the docking frame 1, the positioning cylinder 43 is disposed on the cylinder support 44 along the vertical direction, the lower slider sliding plate 42 is disposed at the output end of the positioning cylinder 43 and is slidably connected to the vertical slide rail 9 disposed on the docking frame 1, one end of the base mounting seat 41 is mounted on the end surface of the lower slider sliding plate 42, the other end is disposed with the stopper base 40, and the lower positioning key stoppers 39 are disposed on both sides of the end of the stopper base 40 and are used for positioning and preventing torsion of the lower cabin 3.
As shown in fig. 5, in the embodiment of the present invention, the tightening unit 5 includes a tightening tool 45, a gear 46, a crossed roller bearing 47, a bearing seat 48 and an electric wrench 49, wherein the bearing seat 48 is slidably connected to the vertical slide rail 9 provided on the docking frame body 1, and the bearing seat 48 is driven by a lifting driving mechanism i installed on the docking frame body 1; the crossed roller bearing 47 is installed in an inner hole of the bearing seat 48, the tightening tool 45 and the gear 46 are respectively arranged at two ends of the crossed roller bearing 47, and the electric wrench 49 drives the gear pair to operate so as to realize the tightening action of the tightening tool 45.
As shown in fig. 1, in the embodiment of the present invention, the lifting driving mechanism i includes a driving motor i 10 and a lead screw nut mechanism i, which are disposed on the docking frame body 1, an output end of the driving motor i 10 is connected to a lead screw in the lead screw nut mechanism i, and a nut in the lead screw nut mechanism i is connected to a bearing seat 48.
As shown in fig. 6, the visual inspection unit 6 includes a positioning base 50, a horizontal slide rail 51, a horizontal driving cylinder 52, a light source 53, a prism 54, a telecentric camera 55, a positioning slide table 56 and an upper cabin fixture seat 57, wherein the positioning base 50 is installed in the docking frame body 1, the positioning base 50 is provided with the horizontal slide rail 51, the positioning slide table 56 is slidably connected with the horizontal slide rail 51, the horizontal driving cylinder 52 is disposed on the positioning base 50, and an output end of the horizontal driving cylinder is connected with the positioning slide table 56, the light source 53, the prism 54 and the telecentric camera 55 are divided into two groups, which are respectively installed on the positioning slide table 56 in an up-down distribution manner, and are used for identifying characteristics of pins and holes on end surfaces of the upper and lower cabin sections and calculating respective adjustment values, and the upper cabin fixture seat 57 is disposed on an upper end.
As shown in fig. 7, the upper rotating clamping and positioning unit 7 includes an upper sliding plate 58, a clamping bearing seat 59, a speed reduction motor 60, a lower clamping hand tooth-shaped mounting plate 61, a lower clamping hand 62, an upper clamping hand mounting plate 63, a clamping rotating shaft 64, a cross roller bearing 65, an upper clamping hand 66 and an axial compensation vertical slide rail 70, wherein the upper sliding plate 58 is slidably connected with a vertical slide rail 9 arranged on the docking frame body 1, and the upper sliding plate 58 is driven by a lifting driving mechanism ii arranged on the docking frame body 1; the clamping bearing seat 59 is slidably connected with an axial compensation vertical sliding rail 70 arranged on the upper sliding plate 58 and used for compensating axial movement in the screwing process; the crossed roller bearing 65 is arranged in an inner hole of the clamping bearing seat 59, the upper clamping hand mounting plate 63 and the lower clamping hand tooth-shaped mounting plate 61 are respectively arranged at two ends of the crossed roller bearing 65 through the clamping rotating shaft 64, and the gear pair is driven by the speed reducing motor 60 to operate to realize circumferential rotation; the upper gripper 66 and the lower gripper 62 are respectively mounted on the upper gripper mounting plate 63 and the lower gripper tooth-shaped mounting plate 61, and are used for clamping and positioning the upper cabin section 8 and adjusting the phase angle.
In the embodiment of the invention, the lifting driving mechanism II comprises a driving motor II and a lead screw nut mechanism II which are arranged on the butt joint frame body 1, the output end of the driving motor II is connected with a lead screw of the lead screw nut mechanism II, and a nut of the lead screw nut mechanism II is connected with the upper sliding plate 58.
The upper rotating clamping and positioning unit 7 further comprises an upper sliding block positioning unit, the upper sliding block positioning unit comprises an upper sliding block limiting block 67, a lifting air cylinder 68 and an air cylinder mounting seat 69, the lifting air cylinder 68 is mounted on the upper portion of the upper sliding plate 58 through the air cylinder mounting seat 69, the output end of the lifting air cylinder is connected with the upper sliding block limiting block 67, and the upper sliding block limiting block 67 is used for positioning and torsion prevention of the upper cabin section.
The working principle of the invention is as follows:
the lower rotary aligning unit 2 of the present invention has the aligning disk 20 which is placed above the adjusting platen 21 in a floating manner, has an adjustment amount of X, Y within a certain range, and is suitable for a frame manipulator to grab a placement center of the lower cabin section 3. The lower cabin section 3 is adjusted to the center of the equipment through the profiling connection between the aligning joint 32 and the aligning disc 20, so that the automatic positioning of the cabin section is realized.
The visual inspection unit 6 of the present invention turns the light rays by 90 degrees by the prism 54, thereby achieving the purpose of inspecting the upper and lower end faces by the horizontal arrangement of the visual camera. The frame manipulator grabs the upper cabin section 8 and places the upper cabin section on the upper cabin section tooling seat 57, the upper cabin section 8 is adjusted to the center of the equipment through the double grippers of the upper rotary clamping and positioning unit 7, and the two vision cameras respectively perform characteristic recognition on the upper pin and the hole on the end faces of the upper cabin section and the lower cabin section and calculate respective adjustment values.
The upper rotary clamping and positioning unit 7 is connected with a vertical slide rail 9 arranged on the butt joint frame body 1 in a sliding mode, the clamping center of the double clamping hands of the butt joint frame is concentric with the center of the lower rotary aligning unit 2, and the double clamping hands have the function of rotating around the clamping center through tooth-shaped transmission. The phase angles of the upper cabin section and the lower cabin section can be respectively adjusted in a rotating mode through the lower rotating and aligning unit 2 according to the adjusting value calculated by the visual detection unit 6, and the upper cabin section and the lower cabin section are respectively positioned and prevented from twisting through the upper sliding block limiting block and the lower sliding block positioning unit 4. In addition, the double gripper has axial direction freedom, which can be used to compensate for axial feed during tightening.
The tightening unit 5 is connected with the vertical slide rail 9 arranged on the butt joint frame body 1 in a sliding mode, and the tightening torque is transmitted through the gear to automatically tighten the screw sleeve tool arranged on the lower cabin section 3, so that the automation of the tightening process after the upper cabin section and the lower cabin section are in butt joint is realized.
The automatic butt joint device provided by the invention can automatically complete the functions of adjusting and positioning the phase angle of the upper cabin section and the lower cabin section, butt joint and screwing.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. An automatic butt joint device is characterized by comprising a butt joint frame body (1), and a lower rotary centering unit (2), a lower sliding block positioning unit (4), a screwing unit (5), a visual detection unit (6) and an upper rotary clamping positioning unit (7) which are sequentially arranged on the butt joint frame body (1) from bottom to top;
the lower sliding block positioning unit (4), the screwing unit (5) and the upper rotating clamping positioning unit (7) are respectively in sliding connection with a vertical sliding rail (9) arranged on the butt joint frame body (1);
the lower rotating and aligning unit (2) is used for automatically aligning the lower cabin section (3) and adjusting the phase angle; the lower sliding block positioning unit (4) is used for positioning the phase angle of the lower cabin section (3); the tightening unit (5) is used for automatically tightening the upper cabin section (8) and the lower cabin section (3) at a fixed moment; the upper rotating clamping and positioning unit (7) is used for clamping, phase angle adjusting and positioning the upper cabin section (8); the visual detection unit (6) is used for identifying the characteristics of the pins and the holes on the end surfaces of the upper cabin section and the lower cabin section and calculating respective adjustment values.
2. The automatic butt joint device according to claim 1, wherein the lower rotation aligning unit (2) comprises a bearing seat (12), a rotation support (13), a lower cabin section tooling seat (19), an aligning mechanism, an aligning disc (20), an adjusting platen (21), a serialized product adjusting seat (22), a rotation driving speed reducing motor (23) and a rotation spindle (24), wherein the rotation support (13) is connected with the butt joint frame body (1) and ensures that the rotation center thereof is concentric with the clamping center of the upper rotation clamping and positioning unit (7), the bearing seat (12) is installed inside the rotation support (13) and is concentric therewith, the rotation spindle (24) is arranged at the rotation center of the bearing seat (12) and has an input end connected with the rotation driving speed reducing motor (23), and an output end of the rotation spindle (24) is connected with the aligning mechanism, the aligning mechanism is connected with the serialized product adjusting seat (22), and the serialized product adjusting seat (22) is connected with the adjusting bedplate (21); the centering disc (20) is placed on the adjusting bedplate (21) in a floating mode through a plurality of universal balls (30), the centering disc (20) is connected with the conical surface of the centering mechanism, and the universal balls (30) are contained in a limiting sleeve (31) arranged below the centering disc (20); the lower cabin section tooling seat (19) is arranged on the aligning disc (20).
3. The automatic docking device according to claim 2, wherein the aligning mechanism comprises an aligning cylinder support (14), an aligning cylinder mounting plate (25), an aligning cylinder (26), a cylinder joint (27), a cylinder guide bar (29) and an aligning joint (32), wherein two ends of the self-aligning cylinder support (14) are respectively connected with the output end of the rotating main shaft (24) and the serialized product adjusting seat (22), the aligning cylinder (26) is arranged on the aligning cylinder support (14) through an aligning cylinder mounting plate (25), and the output end is in clearance fit connection with one end of a cylinder guide rod (29) through a cylinder joint (27), the other end of the cylinder guide rod (29) passes through a guide bearing (33) arranged on the adjusting bedplate (21) and is connected with a self-aligning joint (32), the aligning joint (32) is in conical surface fit connection with the aligning disc (20).
4. The automatic butt joint device according to claim 2, wherein the lower rotation aligning unit (2) further comprises an anti-twist mechanism, the anti-twist mechanism comprises a twist limiting cylinder (15), an anti-twist cylinder mounting plate (16), an anti-twist guide copper sleeve (17) and an anti-twist pin shaft (18), the twist limiting cylinder (15) is arranged on the lower end face of the adjusting bedplate (21) through the anti-twist cylinder mounting plate (16), the output end of the anti-twist guide copper sleeve is provided with the anti-twist pin shaft (18), the anti-twist pin shaft (18) guides the copper sleeve (17) through the anti-twist guide arranged on the adjusting bedplate (21), and the anti-twist pin shaft (18) is used for limiting the phase angle of the aligning disc (20).
5. The automatic docking device according to claim 2, wherein the lower rotary aligning unit (2) further comprises an aligning disc rotary limiting mechanism, the aligning disc rotary limiting mechanism comprises a limiting guide sleeve (34), an elastic limiting seat (35), a limiting guide shaft (36), a limiting spring (37) and a limiting support plate (38), wherein the elastic limiting seat (35) is installed at the upper end face of the adjusting platen (21), the limiting guide sleeve (34) is arranged on the elastic limiting seat (35), the limiting guide shaft (36) is in sliding fit with the limiting guide sleeve (34), the limiting support plate (38) is arranged at the end part of the limiting guide shaft, and the limiting support plate (38) is abutted to the limiting sleeve (31); the limiting spring (37) is sleeved on the limiting guide shaft (36), two ends of the limiting spring are respectively abutted against the limiting guide sleeve (34) and the limiting support plate (38), and the limiting support plate (38) is used for elastically limiting the limiting sleeve (31) in the horizontal direction, so that the rotation degree of freedom of the centering disc (20) is elastically limited.
6. The automatic butt joint device according to claim 1, wherein the lower slide block positioning unit (4) comprises a lower positioning key stop (39), a stop base (40), a base mounting seat (41), a lower slide block sliding plate (42), a positioning cylinder (43) and a cylinder support (44), wherein the cylinder support (44) is mounted on the butt joint frame body (1), the positioning cylinder (43) is vertically arranged on the cylinder support (44), the lower slide block sliding plate (42) is arranged at an output end of the positioning cylinder (43) and is in sliding connection with a vertical slide rail (9) arranged on the butt joint frame body (1), one end of the base mounting seat (41) is mounted on an end surface of the lower slide block sliding plate (42), the other end of the base mounting seat (40) is provided with the stop base (40), and the lower positioning key stop (39) is arranged on two sides of an end of the stop base (40), For positioning and torsion-proof of the lower deck section (3).
7. The automatic docking device according to claim 1, wherein the tightening unit (5) comprises a tightening tool (45), a gear (46), a crossed roller bearing (47), a bearing seat (48) and an electric wrench (49), wherein the bearing seat (48) is slidably connected with a vertical slide rail (9) arranged on the docking frame body (1), and the bearing seat (48) is driven by a lifting driving mechanism I arranged on the docking frame body (1); the crossed roller bearing (47) is installed in an inner hole of the bearing seat (48), the tightening tool (45) and the gear (46) are respectively arranged at two ends of the crossed roller bearing (47), and the electric wrench (49) drives the gear pair to operate to realize tightening action of the tightening tool (45).
8. The automatic butt joint device according to claim 1, wherein the visual detection unit (6) comprises a positioning base (50), a horizontal sliding rail (51), a horizontal driving cylinder (52), a light source (53), a prism (54), a telecentric camera (55), a positioning sliding table (56) and an upper cabin section tooling seat (57), wherein the positioning base (50) is installed in the butt joint frame body (1), the positioning base (50) is provided with the horizontal sliding rail (51), the positioning sliding table (56) is in sliding connection with the horizontal sliding rail (51), the horizontal driving cylinder (52) is arranged on the positioning base (50), the output end of the horizontal driving cylinder is connected with the positioning sliding table (56), the light source (53), the prism (54) and the telecentric camera (55) are divided into two groups, and are vertically distributed and installed on the positioning sliding table (56) respectively for upward, downward, upward and downward distribution, And the characteristics of the pins and the holes on the end surface of the lower cabin section are identified and respective adjusting values are calculated, and the upper cabin section tooling seat (57) is arranged on the upper end surface of the positioning sliding table (56) and is used for coarse positioning of the upper cabin section.
9. The automatic butt-joint device according to claim 1, wherein the upper rotary clamping and positioning unit (7) comprises an upper sliding plate (58), a clamping bearing seat (59), a speed reducing motor (60), a lower clamping hand tooth-shaped mounting plate (61), a lower clamping hand (62), an upper clamping hand mounting plate (63), a clamping rotating shaft (64), a crossed roller bearing (65), an upper clamping hand (66) and an axial compensation vertical sliding rail (70), wherein the upper sliding plate (58) is slidably connected with a vertical sliding rail (9) arranged on the butt-joint frame body (1), and the upper sliding plate (58) is driven by a lifting driving mechanism II arranged on the butt-joint frame body (1); the clamping bearing seat (59) is in sliding connection with an axial compensation vertical sliding rail (70) arranged on the upper sliding plate (58); the crossed roller bearing (65) is arranged in an inner hole of the clamping bearing seat (59), the upper clamping hand mounting plate (63) and the lower clamping hand tooth-shaped mounting plate (61) are respectively arranged at two ends of the crossed roller bearing (65) through a clamping rotating shaft (64), and the gear pair is driven by the speed reducing motor (60) to operate to realize circumferential rotation; the upper clamping hand (66) and the lower clamping hand (62) are respectively arranged on the upper clamping hand mounting plate (63) and the lower clamping hand tooth-shaped mounting plate (61) and are used for clamping, positioning and phase angle adjustment of the upper cabin section (8).
10. The automatic docking device according to claim 9, wherein the upper rotary clamping positioning unit (7) further comprises an upper slide positioning unit, the upper slide positioning unit comprises an upper slide limiting block (67), a lifting cylinder (68) and a cylinder mounting seat (69), the lifting cylinder (68) is mounted on the upper portion of the upper slide (58) through the cylinder mounting seat (69), the output end of the lifting cylinder is connected with the upper slide limiting block (67), and the upper slide limiting block (67) is used for positioning and preventing the upper cabin section from twisting.
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| CN202010241376.7A CN111442699B (en) | 2020-03-31 | 2020-03-31 | Automatic butt joint device |
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| CN202010241376.7A CN111442699B (en) | 2020-03-31 | 2020-03-31 | Automatic butt joint device |
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| CN111442699B CN111442699B (en) | 2021-06-08 |
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| CN111442699B (en) | 2021-06-08 |
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