CN109262660A - Cylinder section shifting apparatus and method - Google Patents
Cylinder section shifting apparatus and method Download PDFInfo
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- CN109262660A CN109262660A CN201811173610.6A CN201811173610A CN109262660A CN 109262660 A CN109262660 A CN 109262660A CN 201811173610 A CN201811173610 A CN 201811173610A CN 109262660 A CN109262660 A CN 109262660A
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- clamping jaw
- cylinder section
- servo motor
- hold assembly
- end hold
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000006073 displacement reaction Methods 0.000 claims abstract description 15
- 210000000078 claw Anatomy 0.000 claims description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 12
- 238000007664 blowing Methods 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000012546 transfer Methods 0.000 abstract description 25
- 238000012360 testing method Methods 0.000 abstract description 9
- 230000003044 adaptive effect Effects 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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 present invention provides a kind of section shifting apparatus, adjust component and end hold assembly (5) comprising displacement；The end hold assembly (5) is detachably installed or is fixedly mounted on displacement and adjusts on component；Displacement is adjusted to be moved on any one axis direction or multiple axis directions of Component driver end hold assembly (5) in a space rectangular coordinate system；The end hold assembly (5) includes hanging beam (7) and grasping structures, and one or more grasping structures are mounted on hanging beam (7)；The grasping structures include to execute clamping jaw (12) and clamping jaw driving structure.Correspondingly, the present invention also provides a kind of section method for shifting.The invention enables the transfers of cylinder section to realize automatically, realizes transfer quickly, accurate, automatic, safe, adaptive to adjust product centroid position, shortens the time of cylinder section test, reduces the workload and number of operator.
Description
Technical field
The present invention relates to hanging devices, test accessory field, and in particular, to a kind of section shifting apparatus and side
Method.
Background technique
Unbalance dynamic test process is done for the assembly of cylinder section, is general trend using automation and intelligentification.The test of cylinder section
It needs to carry out in the dynamic balancing measurement equipment of customization, so automatic test needs automatic moving loader to realize above and below automatic
Material.Two tooling rings are installed in cylinder section, automatic moving loader end pneumatic clamper clamping tooling ring passes through tri- directions X, Y, Z
The automatic loading/unloading of cylinder section is realized in movement.The transfer mode that many enterprises use at present is manually removed using traveling crane band
Fortune, very inconvenient, dangerous, the consistency of transfer not can guarantee yet, and influence measuring accuracy.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of section shifting apparatus and methods.
The cylinder section shifting apparatus provided according to the present invention adjusts component and end hold assembly comprising displacement；The end
Hold assembly is detachably installed or is fixedly mounted on displacement and adjusts on component；Displacement adjusts Component driver end hold assembly in sky
Between any one axis direction in rectangular coordinate system or appoint moved on multiple axis directions；
The end hold assembly includes hanging beam and grasping structures, and one or more grasping structures are mounted on hanging beam；Institute
Stating grasping structures includes to execute clamping jaw and clamping jaw driving structure, and the driving of clamping jaw driving structure executes clamping jaw in opening state and collapses
It is converted between both states of state；
The clamping jaw driving structure includes pneumatic clamper, executes the pawl unit that clamping jaw includes and is mounted on the movable part of pneumatic clamper.
Preferably, the hanging beam tightens Guan County equipped with transition plates, and transition plates is equipped with claw linear guide；Pneumatic clamper drives institute
Pawl unit is stated to move along claw linear guide.
The pneumatic clamper includes wide type pneumatic clamper, is equipped with first sensor on wide type pneumatic clamper and/or execution clamping jaw.
Preferably, under rounding state, the free end of multiple pawl units mutually closes up；
Clamping jaw cushion block is provided on the free end of the pawl unit, clamping jaw cushion block includes back-off structure.
Preferably, it executes between clamping jaw and clamping jaw cushion block and force sensor is installed；
It executes clamping jaw and tightens Guan County equipped with inner thread piece, execute clamping jaw and be equipped with claw servo motor and claw lead screw, pawl
Portion's servo motor, claw lead screw, inner thread piece are sequentially connected.
Preferably, it includes sequentially connected base member, beam part, slide saddle member, ram that the displacement, which adjusts component,
Component；
Ram component includes ram main body, and end hold assembly is securedly mounted in ram main body.
Preferably, base member includes column, pedestal, first straight line guide rail, the first guide rail slide block, the first rack gear and the
One limiting device；Column is fastenedly connected with pedestal, and first straight line guide rail, the first rack gear and the first limiting device are installed in bottom
On seat, the first guide rail slide block is slidably mounted on first straight line guide rail；
The crossbeam pedestal that beam part includes is mounted on the first guide rail slide block, the first servo motor that beam part includes
Speed reducer passes through the first gear of setting and the first rack gear engaged transmission.
Preferably, beam part also includes main body of cross-beam, the second servo motor, transmission case, second straight line guide rail, the second rolling
Ballscrew and the second limiting device；
Main body of cross-beam is fastenedly connected with crossbeam pedestal；Second servo motor, transmission case, second straight line guide rail, the second ball
Lead screw and the second limiting device are installed on main body of cross-beam, the second servo motor, transmission case, the second ball-screw successively phase
Even.
Preferably, the slide saddle member includes saddle main body, the second feed screw nut seat and third feed screw nut seat；Saddle
Main body is slidably mounted on second straight line guide rail, and the second feed screw nut seat matches with the second ball-screw；
Ram component includes ram main body, third servo motor, third linear guide, third ball-screw, third servo
Motor, third linear guide, third ball-screw are installed in ram main body；
Third servo motor, third ball-screw, third feed screw nut seat are sequentially connected, third linear guide and saddle master
Body is slidably connected.
It preferably, also include camera and controller；The camera, first servo motor speed reducer, the second servo electricity
Machine, third servo motor, claw servo motor are connected to controller；
The controller includes with lower module:
Handling module: obtaining fetching instruction, and end hold assembly is enabled to move to the first position of setting, and execution clamping jaw is enabled to grab
Take the tooling ring in cylinder section；
Blowing module: enabling end hold assembly move to the second position of setting, enables the work executed in clamping jaw relieving cylinder section
Fill ring；
The controller also includes with lower module:
Tooling ring position obtains module: according to the image information from camera, judging tooling ring actual position information；
Position correction module: according to tooling ring actual position information setting value corresponding with first position, calibration command is generated；
Anti- to fall module: according to the first monitoring signals from the first sensor being mounted in pneumatic clamper, judgement is closed up in generation
Signal；
Anticollision module: it according to from the second monitoring signals for executing the first sensor on clamping jaw are mounted on, generate and hits
Pre-tighten signal；
Unbalanced-loading preventing adjusts module: the gravity value information obtained according to force snesor generates jaw position adjustment instruction.
The present invention also provides a kind of section method for shifting comprising the steps of:
Crawl step: obtaining fetching instruction, and end hold assembly is enabled to move to the first position of setting, and execution clamping jaw is enabled to grab
Take the tooling ring in cylinder section；
Blowing step: enabling end hold assembly move to the second position of setting, enables the work executed in clamping jaw relieving cylinder section
Fill ring；
Cylinder section method for shifting also comprises the steps of:
Tooling ring position obtaining step: according to the image information from camera, judge tooling ring actual position information；
Position correction step: according to tooling ring actual position information setting value corresponding with first position, calibration command is generated；
Anti- to fall step: according to the first monitoring signals from the first sensor being mounted in pneumatic clamper, judgement is closed up in generation
Signal；
Anticollision step: it according to from the second monitoring signals for executing the first sensor on clamping jaw are mounted on, generate and hits
Pre-tighten signal；
Unbalanced-loading preventing set-up procedure: the gravity value information obtained according to force snesor (17) generates jaw position adjustment instruction.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the invention enables the transfers of cylinder section to realize automatically, realizes transfer quickly, accurate, automatic, safe, shortens
The time of cylinder section test, reduce the workload and number of operator.
2, it present invention can be suitably applied to the cylinder section of different size model, the cylinder section of different size model only needs replacing different works
Ring is filled, retains identical tooling ring interface, other specifications and models cylinder sections can be realized in the corresponding coordinate position of commissioning device
Automatic transferring.
3, the present invention enables confirmation that whether device grabs tooling ring by the setting of various sensors, prevents from accidentally grasping
Make；The obstacle avoidance sensor of clamping jaw two sides installation may insure that people, object and other equipment will not be hit during transfer.
4, the present invention combines visual identity and processing software that the location information of tooling ring is transmitted to controller, controller fine tuning
The triaxial coordinate of automatic transferring equipment forms a closed-loop control system in this way, guarantees the smooth shifting of cylinder section automatic moving loader
It carries.
5, the back-off design on clamping jaw cushion block can make clamping jaw that can not open even if after dying suddenly, prevent transfer process
Falling for middle cylinder section, improves safety.
6, the force snesor being mounted on clamping jaw obtains the lifting power of two clamping jaws, calculates product mass center position by algorithm
It sets, adjusts jaw position, realization needs transfer product consistent with hanging beam center, topples and falls during preventing product unbalance loading from leading to transfer
It falls, improves safety.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is cylinder section shifting apparatus perspective view provided by the invention；
Fig. 2 is end hold assembly main view；
Fig. 3 is end hold assembly schematic perspective view.
It is shown in figure:
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
As shown in Figure 1 and Figure 2, cylinder section shifting apparatus provided by the invention adjusts component and end hold assembly comprising displacement
5；The end hold assembly 5 is detachably installed or is fixedly mounted on displacement and adjusts on component；Displacement adjusts Component driver end
It is moved on any one axis direction or multiple axis directions of hold assembly 5 in a space rectangular coordinate system；The end folder
Holding component 5 includes hanging beam 7 and grasping structures, and one or more grasping structures are mounted on hanging beam 7；The grasping structures include to hold
Row clamping jaw 12 and clamping jaw driving structure, the driving of clamping jaw driving structure execute clamping jaw 12 in opening state and both shapes of rounding state
It is converted between state.The clamping jaw driving structure includes pneumatic clamper, executes the movable part that the pawl unit that clamping jaw 12 includes is mounted on pneumatic clamper
On part.In embodiment, the pneumatic clamper includes wide type pneumatic clamper 10.
As shown in Figure 1, it includes sequentially connected base member 1, beam part 2, slide saddle member that the displacement, which adjusts component,
3, ram component 4；Ram component 4 includes ram main body 6, and end hold assembly 5 is securedly mounted in ram main body 6.Base portion
Part 1 includes column, pedestal, first straight line guide rail 9, the first guide rail slide block, the first rack gear and the first limiting device；Column and bottom
Seat is fastenedly connected, and first straight line guide rail 9, the first rack gear and the first limiting device are installed on pedestal, the first guide rail slide block
It is slidably mounted on first straight line guide rail 9；The crossbeam pedestal that beam part 2 includes is mounted on the first guide rail slide block, crossbeam portion
The first servo motor speed reducer that part 2 includes passes through the first gear of setting and the first rack gear engaged transmission.Beam part 2 also wraps
Containing main body of cross-beam, the second servo motor, transmission case, second straight line guide rail 9, the second ball-screw and the second limiting device；It is horizontal
Beam body is fastenedly connected with crossbeam pedestal；Second servo motor, transmission case, second straight line guide rail 9, the second ball-screw and
Two limiting devices are installed on main body of cross-beam, and the second servo motor, transmission case, the second ball-screw are sequentially connected.The cunning
Saddle part 3 includes saddle main body, the second feed screw nut seat and third feed screw nut seat；It is straight that saddle main body is slidably mounted on second
On line guide rail 9, the second feed screw nut seat matches with the second ball-screw；Ram component 4 includes ram main body 6, third servo
Motor, third linear guide 9, third ball-screw, third servo motor, third linear guide 9, third ball-screw are respectively mounted
In ram main body 6；Third servo motor, third ball-screw, third feed screw nut seat are sequentially connected, third linear guide 9
It is slidably connected with saddle main body.That is, beam part 2 constitutes X in rectangular coordinate system in space in the movement on base member 1
The movement of axis direction；Movement of the slide saddle member 3 on beam part 2 constitutes the movement of Y direction in rectangular coordinate system in space；It is sliding
Movement of the occipitalia part 4 on slide saddle member 3 constitutes the movement of Z-direction in rectangular coordinate system in space.
As shown in Figure 2 and Figure 3, hanging beam 7 is mounted on the lower end of ram main body 6, and the hanging beam 7 tightens Guan County and was equipped with
Cab apron 8, transition plates 8 are equipped with claw linear guide 9；Pneumatic clamper drives the pawl unit to move along claw linear guide 9.Wide type gas
First sensor is installed on pawl 10 and/or execution clamping jaw 12.Under rounding state, the free end of multiple pawl units mutually closes up；
Clamping jaw cushion block 11 is provided on the free end of the pawl unit, clamping jaw cushion block 11 includes back-off structure.Due to the spy of transfer product
Different property, safety are particularly critical.Back-off design on clamping jaw cushion block 11 can make to execute nothing after unexpected die of clamping jaw 12
Method is opened, and falling for cylinder section during transfer is prevented.The induction of signal in place that opening and gathering are integrated in wide type pneumatic clamper 10 is opened
It closes, it is ensured that whether grab tooling ring, prevent maloperation.It may insure executing 12 two sides of clamping jaw installation obstacle avoidance sensor 13
People, object and other equipment will not be hit during transfer.That is, the first sensing in preference, in wide type pneumatic clamper 10
Device is applied to be switched for induction of signal, and executing the first sensor on clamping jaw 12 and applying is obstacle avoidance sensor 13.
Product is caused to slide phenomenon, this section transfer dress in order to avoid being occurred unbalance loading during transfer by transfer product 19
The end set also is integrated with a set of unbalance loading adjustment mechanism.Cylinder section shifting apparatus is realized by executing 12 hoisting fixture ring 18 of clamping jaw
By the transfer of transfer product 19.Executing force snesor 17, the claw servo of arranging are installed between clamping jaw 12 and clamping jaw cushion block 11
Motor 14 is driven by claw lead screw 15, drives the inner thread piece 16 being fastenedly connected on execution clamping jaw 12, and then make two to hold
Row clamping jaw 12 is mobile in linear guide 9, realizes consistent with 7 center of hanging beam by transfer product 19.The claw servo motor 14 is pacified
In transition plates 8 or hanging beam 7.Specifically, as shown in Fig. 2, between two execution clamping jaw 12 and clamping jaw cushion blocks 11 installing force
Sensor 17 can measure two weight datas G1 and G2 in real time.Known two toolings ring, 18 spacing is X, left side tooling ring to equipment
Hanging beam center initial range is X3.G1* (X1+X2)=(G1+G2) * X2 can be obtained according to principle of moment balance, by transfer product 19
Mass center to left side tooling ring distance X1=G2*X2/G1, while known X2=X-X1 can obtain X1=G2*X/ (G1+G2) from above.
The amount of movement Δ X=X1-X3 for needing to adjust.
As frequency of use is promoted, due to various reasons, in-orbit delivery platform positioning accuracy is reduced, it may appear that deviation is led
It causes execution clamping jaw 12 that can not automatically grab tooling ring, machine vision alignment system can be integrated in end hold assembly 5, can passed through
Camera goes the physical location of identification tooling ring, and the location information of tooling ring is transmitted to control by visual identity and processing software
Device, controller finely tune the triaxial coordinate of transfer equipment, form a closed-loop control system in this way, guarantee cylinder section automatic moving loader
Smooth transfer.In addition, it is also necessary to topple and fall during preventing product unbalance loading from leading to transfer.Specifically, cylinder section shifting apparatus
It also include camera and controller；The camera, first servo motor speed reducer, the second servo motor, third servo motor,
Claw servo motor 14 is connected to controller.
Preferably, the controller includes with lower module: handling module: obtaining fetching instruction, and end hold assembly 5 is enabled to transport
It moves to the first position of setting, enables the tooling ring executed in the crawl cylinder section of clamping jaw 12；Blowing module: end hold assembly 5 is enabled to transport
It moves to the second position of setting, enables the tooling ring executed in the relieving cylinder section of clamping jaw 12.The controller also includes with lower module: work
Dress ring position obtains module: according to the image information from camera, judging tooling ring actual position information；Position correction mould
Block: according to tooling ring actual position information setting value corresponding with first position, calibration command is generated；It is anti-to fall module: according to coming from
The first monitoring signals of the first sensor in pneumatic clamper are mounted on, judgement signal is closed up in generation；Anticollision module: according to carrying out self installation
In the second monitoring signals for executing the first sensor on clamping jaw 12, generates and hit preload signal；Unbalanced-loading preventing adjusts module: according to
The gravity value information that force snesor 17 obtains generates jaw position adjustment instruction.
The present invention also provides a kind of section method for shifting comprising the steps of: crawl step: obtaining fetching instruction, enables
End hold assembly 5 moves to the first position of setting, enables the tooling ring executed in the crawl cylinder section of clamping jaw 12；Blowing step: it enables
End hold assembly 5 moves to the second position of setting, enables the tooling ring executed in the relieving cylinder section of clamping jaw 12.Preferably, cylinder section
Method for shifting also comprises the steps of: tooling ring position obtaining step: according to the image information from camera, judging tooling ring
Actual position information；Position correction step: according to tooling ring actual position information setting value corresponding with first position, calibration is generated
Instruction；Anti- to fall step: according to the first monitoring signals from the first sensor being mounted in pneumatic clamper, judgement letter is closed up in generation
Number；Anticollision step: it is pre-tightened according to generating to hit from the second monitoring signals for executing the first sensor on clamping jaw 12 are mounted on
Signal；Unbalanced-loading preventing set-up procedure: the gravity value information obtained according to force snesor 17 generates jaw position adjustment instruction.
The preferred embodiment of cylinder section method for shifting: in-orbit delivery platform transport cylinder section is to test station, in designated position
After accurate stopping, station signal in place is triggered.Press automatic running button, program of the cylinder section shifting apparatus by setting, X, Y, Z
Three axis are mobile in place, execute pneumatic clamper and open, and ram main body 6 declines, the tooling ring being inserted in cylinder section, execute pneumatic clamper and collapse, ram
Main body 6 rises, and grabs the tooling ring in cylinder section；X, tri- axis of Y, Z is moved to test equipment, executes pneumatic clamper and opens, in ram main body 6
It rises, is moved to zero-bit, transfer finishes.Need to only repeat the above steps from the in-orbit delivery platform of test equipment transfer time can be realized.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of section shifting apparatus, which is characterized in that adjust component and end hold assembly (5) comprising displacement；The end
Hold assembly (5) is detachably installed or is fixedly mounted on displacement and adjusts on component；Displacement adjusts Component driver end hold assembly
(5) in a space rectangular coordinate system it is moved on any one axis direction or multiple axis directions；
The end hold assembly (5) includes hanging beam (7) and grasping structures, and one or more grasping structures are mounted on hanging beam (7)
On；The grasping structures include to execute clamping jaw (12) and clamping jaw driving structure, and the driving of clamping jaw driving structure executes clamping jaw (12) and exists
It is converted between opening state and rounding state both states；
The clamping jaw driving structure includes pneumatic clamper, executes the pawl unit that clamping jaw (12) include and is mounted on the movable part of pneumatic clamper.
2. cylinder section shifting apparatus according to claim 1, which is characterized in that the hanging beam (7) tightens Guan County and transition is housed
Plate (8), transition plates (8) are equipped with claw linear guide (9)；Pneumatic clamper drives the pawl unit to move along claw linear guide (9)；
The pneumatic clamper includes wide type pneumatic clamper (10), is equipped with first sensor in wide type pneumatic clamper (10) and/or execution clamping jaw (12).
3. cylinder section shifting apparatus according to claim 2, which is characterized in that under rounding state, the freedom of multiple pawl units
End mutually closes up；
It is provided on the free end of the pawl unit clamping jaw cushion block (11), clamping jaw cushion block (11) includes back-off structure.
4. cylinder section shifting apparatus according to claim 3, which is characterized in that execute clamping jaw (12) and clamping jaw cushion block (11) it
Between install force sensor (17)；
Execute clamping jaw (12) tighten Guan County be equipped with inner thread piece (16), execute clamping jaw (12) be equipped with claw servo motor (14) with
Claw lead screw (15), claw servo motor (14), claw lead screw (15), inner thread piece (16) are sequentially connected.
5. cylinder section shifting apparatus according to claim 4, which is characterized in that it includes to be sequentially connected that the displacement, which adjusts component,
Base member (1), beam part (2), slide saddle member (3), ram component (4)；
Ram component (4) includes ram main body (6), and end hold assembly (5) is securedly mounted on ram main body (6).
6. cylinder section shifting apparatus according to claim 5, which is characterized in that base member (1) includes column, pedestal, the
One linear guide (9), the first guide rail slide block, the first rack gear and the first limiting device；Column is fastenedly connected with pedestal, and first is straight
Line guide rail (9), the first rack gear and the first limiting device are installed on pedestal, and it is straight that the first guide rail slide block is slidably mounted on first
On line guide rail (9)；
The crossbeam pedestal that beam part (2) includes is mounted on the first guide rail slide block, the first servo electricity that beam part (2) includes
Machine speed reducer passes through the first gear of setting and the first rack gear engaged transmission.
7. cylinder section shifting apparatus according to claim 6, which is characterized in that beam part (2) is also comprising main body of cross-beam, the
Two servo motors, transmission case, second straight line guide rail (9), the second ball-screw and the second limiting device；
Main body of cross-beam is fastenedly connected with crossbeam pedestal；Second servo motor, transmission case, second straight line guide rail (9), the second ball wire
Thick stick and the second limiting device are installed on main body of cross-beam, the second servo motor, transmission case, the second ball-screw successively phase
Even.
8. cylinder section shifting apparatus according to claim 7, which is characterized in that the slide saddle member (3) include saddle main body,
Second feed screw nut seat and third feed screw nut seat；Saddle main body is slidably mounted on second straight line guide rail (9), the second lead screw
Nut seat matches with the second ball-screw；
Ram component (4) includes ram main body (6), third servo motor, third linear guide (9), third ball-screw, third
Servo motor, third linear guide (9), third ball-screw are installed on ram main body (6)；
Third servo motor, third ball-screw, third feed screw nut seat are sequentially connected, third linear guide (9) and saddle master
Body is slidably connected.
9. cylinder section shifting apparatus according to claim 8, which is characterized in that also include camera and controller；It is described to take the photograph
As head, first servo motor speed reducer, the second servo motor, third servo motor, claw servo motor (14) are connected to control
Device processed；
The controller includes with lower module:
Handling module: obtaining fetching instruction, and end hold assembly (5) is enabled to move to the first position of setting, enables and executes clamping jaw
(12) the tooling ring in cylinder section is grabbed；
Blowing module: enabling end hold assembly (5) move to the second position of setting, enables and executing in clamping jaw (12) relieving cylinder section
Tooling ring；
The controller also includes with lower module:
Tooling ring position obtains module: according to the image information from camera, judging tooling ring actual position information；
Position correction module: according to tooling ring actual position information setting value corresponding with first position, calibration command is generated；
Anti- to fall module: according to the first monitoring signals from the first sensor being mounted in pneumatic clamper, judgement signal is closed up in generation；
Anticollision module: it according to from the second monitoring signals for executing the first sensor on clamping jaw (12) are mounted on, generate and hits
Pre-tighten signal；
Unbalanced-loading preventing adjusts module: the gravity value information obtained according to force snesor (17) generates jaw position adjustment instruction.
10. a kind of section method for shifting, which is characterized in that comprise the steps of:
Crawl step: obtaining fetching instruction, and end hold assembly (5) is enabled to move to the first position of setting, enables and executes clamping jaw
(12) the tooling ring in cylinder section is grabbed；
Blowing step: enabling end hold assembly (5) move to the second position of setting, enables and executing in clamping jaw (12) relieving cylinder section
Tooling ring；
Cylinder section method for shifting also comprises the steps of:
Tooling ring position obtaining step: according to the image information from camera, judge tooling ring actual position information；
Position correction step: according to tooling ring actual position information setting value corresponding with first position, calibration command is generated；
Anti- to fall step: according to the first monitoring signals from the first sensor being mounted in pneumatic clamper, judgement signal is closed up in generation；
Anticollision step: it according to from the second monitoring signals for executing the first sensor on clamping jaw (12) are mounted on, generate and hits
Pre-tighten signal；
Unbalanced-loading preventing set-up procedure: the gravity value information obtained according to force snesor (17) generates jaw position adjustment instruction.
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| CN111674944A (en) * | 2020-06-05 | 2020-09-18 | 江苏科技大学 | Plastic barrel stacking machine and stacking method |
| CN112518980A (en) * | 2020-11-27 | 2021-03-19 | 湖南华好智能装备有限责任公司 | Assembling equipment for concrete prefabricated member |
| 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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