CN111283405B - Frame type detection mechanism and cabin body precise butt joint device and method - Google Patents
Frame type detection mechanism and cabin body precise butt joint device and method Download PDFInfo
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- CN111283405B CN111283405B CN202010209029.6A CN202010209029A CN111283405B CN 111283405 B CN111283405 B CN 111283405B CN 202010209029 A CN202010209029 A CN 202010209029A CN 111283405 B CN111283405 B CN 111283405B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
- B23P19/069—Multi-spindle machines
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Abstract
The invention discloses a frame-type detection mechanism and cabin body precise butt joint device and a method, wherein the device comprises the following components: the device comprises a butt joint motion system, an automatic tightening system, a visual detection system and an attitude adjustment system; the docking motion system includes: the device comprises a workbench, a rotary main shaft, a transfer mechanism and a transfer clamp; the rotary main shaft is used for clamping the cabin body and can drive the cabin body to rotate; the transfer mechanism drives the frame type detection mechanism to move through the transfer clamp; the automatic tightening system is used for tightening and fixing the frame type detection mechanism after the frame type detection mechanism is in butt joint with the cabin body; the vision detection system is used for detecting the mounting surface so as to determine the rotation angle of the rotary main shaft and the movement amount of the transfer mechanism; the posture adjusting system is used for adjusting the posture of the frame type detection mechanism. The invention can realize the accurate butt joint of the frame type detection mechanism with complex special shape, small clamping surface and high reliability requirement, and has the advantages of flexible and simple operation, safe and reliable butt joint process and good flexibility of the butt joint device.
Description
Technical Field
The invention relates to the field of assembly of frame type detection mechanisms, in particular to a device and a method for butt joint assembly of a frame type detection mechanism and a cabin body.
Background
The frame type detection mechanism is a complex electromechanical composite component, has the remarkable characteristics of miniaturization, modularization, integration and the like, and has high performance index requirement and large assembly difficulty. At present, a frame type detection mechanism is composed of a front end cover, a rear end cover and a side plate to form a frame, various microwave components are assembled in the frame type detection mechanism, and components such as a movement mechanism, an antenna and the like are installed on the front end cover.
The frame type detection mechanism needs to be positioned through a front end cover mounting surface and two axial pin holes, carries out precise adjustment on 6 degrees of freedom, and packs the whole frame part into the cabin body, and is fastened to the cabin body through an axial threaded hole in the front end cover and a radial threaded hole in the rear end cover. The cabin body is butted through visual and manual adjustment of the posture of the detection mechanism in the traditional assembling process, the detection mechanism is heavy by tens of kilograms, the manual butt joint assembling difficulty is high, various circuit boards, cables and the like are densely distributed on the surface of the frame type detection mechanism, and the components are easily damaged due to improper butt joint.
The adoption of an automatic precise butt joint device and method is an important way for solving the assembly problem of complex components such as a detection mechanism and the like. Patent CN105627824B "a composite seeker complete machine assembly calibration device" provides a device for adjusting the coincidence of the optical axis of an infrared target simulator and the center of a reflector in a zero position state by adopting a two-dimensional swinging machine, and the device has less adjustable freedom degree and is only suitable for zero position adjustment. Patent CN208818089U "a laser target simulator capable of fast docking a seeker" introduces a method of docking a target simulator and a seeker by using a lifting mechanism, and the adjustable degree of freedom is less; patent CN103286557A "fast docking mechanism of target simulator hood and seeker" introduces a docking mechanism for target simulator hood and seeker using three-dimensional moving platform, the adjustable degree of freedom cannot meet the docking requirement of frame-type detection mechanism and cabin, and when the frame-type detection mechanism docks the cabin, the frame part needs to be integrally installed in the cabin and cannot be supported, and the front end part of the detection mechanism is complex in structure and cannot be clamped, so that the docking of the frame-type detection mechanism and the cabin can only clamp the middle front end cover, and the realization difficulty is high.
The multi-degree-of-freedom docking mechanism is widely applied to docking of the capsule bodies. Patent CN105371711A "multi-degree-of-freedom missile cabin docking device" introduces a 6-degree-of-freedom cabin docking device, which adopts a spherical hinge assembly to adjust the attitude of 3 rotational degrees of freedom, and the device has a simpler structure, but has greater technical difficulty in adjusting 3 rotational degrees of freedom simultaneously; the arc centering device is adopted to position the rotary cabin body, 2 degrees of freedom control along a Z axis (horizontal plane) and a Y axis (vertical plane) is realized, the adjustment of the other 4 degrees of freedom is realized by an XYZ three-axis moving platform and 1 rotating device around an X axis (axial direction), which is a main method for realizing the butt joint of the missile body, for example, documents such as patent CN108275424A ' a special-shaped cabin high-precision butt joint transfer car ', thesis ' small missile cabin horizontal butt joint device research ', aerospace vehicle cabin automatic butt joint research progress and key technology analysis ', etc. all introduce the method for cabin product automatic butt joint by using the method, mainly the difference lies in that the structural forms of the device are different, for example, the cabin has no axial pin positioning requirement, the docking can be simplified into the adjustment of three degrees of freedom of XYZ, for example, such methods are introduced in patents CN107953106A < docking tooling for small missile cabins >, CN108225126A < integrated platform for missile docking detection >, and the like.
The butt joint of the detection mechanism and the cabin body is obviously different from the butt joint of the missile cabin body, the detection mechanism is complex in structural shape and small in clamping surface, and the clamping and 6-degree-of-freedom adjustment difficulty in butt joint assembly is large, particularly the adjustment of 3 rotational degrees of freedom. If the arc-shaped device of the missile cabin body is adopted to firstly limit 2 rotational degrees of freedom along the Z axis and the Y axis and then the rotating device is adopted to adjust along the X axis, the following difficulties exist: firstly, the missile cabin body is mostly a cylinder body with equal diameter, the clamping and the positioning are convenient, the framework part of the detection mechanism needs to be arranged in the cabin body, and the diameter of the front end cover is larger than that of the rear end cover, so that the front end cover and the rear end cover need to be centered by adopting a variable diameter positioning device; secondly, the cabin body can be clamped by a plurality of parts, the cabin body can be easily adjusted by fixing the barrel body part and rotating along the X axis, the frame type detection mechanism can only clamp the front end cover, the clamping surface is small, the detection mechanism is densely distributed with printed boards and cables, the rotation around the X axis is difficult and high in risk, the detection mechanism frame part needs to be installed in the cabin body after positioning and adjustment, the rotating mechanism needs to be dismantled again, and the operation is complex.
The butt joint of the detection mechanism and the cabin body can also be subjected to plane positioning through the frame side plate so as to limit the rotational freedom degrees of the detection mechanism along the X axis and the Y axis, the rotary table is arranged to adjust the rotational freedom degree along the Z axis, the surface of the front end cover or the rear end cover of the detection mechanism is subjected to adjustment by methods such as surface marking and the like, but the front end cover of the detection mechanism is provided with the movement mechanism and the antenna, the rear end cover is provided with the microwave device, and the surface is densely distributed with cables, so that a proper reference surface is difficult to find for adjustment.
Disclosure of Invention
The invention aims to provide a device and a method for precisely butting a frame type detection mechanism and a cabin body, which are used for conveniently realizing high-precision butting of a complex special-shaped frame type detection mechanism, meeting the butting of frame type detection mechanisms with different specifications and solving the problems of high labor intensity, easy damage to products and the like in manual butting assembly of the traditional frame type detection mechanism.
In order to achieve the above object, the present invention provides a frame type detection mechanism and cabin body precise docking device, which comprises: the device comprises a butt joint motion system, an automatic tightening system, a visual detection system and an attitude adjustment system; the docking motion system includes: the device comprises a workbench, a rotary main shaft, a transfer mechanism and a transfer clamp; the rotary main shaft is arranged on the workbench and used for clamping the cabin body and driving the cabin body to rotate; the transfer clamp is arranged on the transfer mechanism and is fixed with the frame type detection mechanism after the posture is adjusted; the transfer mechanism drives the frame type detection mechanism to move through the transfer clamp so as to complete butt joint with the cabin body; the automatic tightening system is used for tightening and fixing a fixing screw after the frame type detection mechanism is in butt joint with the cabin body; the visual detection system is used for detecting the frame type detection mechanism and the mounting surface of the cabin body so as to determine the rotation angle of the rotary main shaft and the movement amount of the transfer mechanism; the posture adjusting system is used for adjusting the posture of the frame type detection mechanism.
The frame-type detection mechanism and the cabin body precision butt joint device are characterized in that the transplanting mechanism comprises: the robot comprises a frame, an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm; the frame is arranged on the workbench; the X-axis mechanical arm is arranged on the frame; the Z-axis mechanical arm is arranged on a moving slide block of the X-axis mechanical arm and can move back and forth along the X-axis mechanical arm; the Y-axis mechanical arm is arranged on a moving slide block of the Z-axis mechanical arm and can perform lifting motion along the Z-axis mechanical arm; the transfer clamp is arranged on a moving slide block of the Y-axis mechanical arm and can move left and right along the Y-axis mechanical arm.
The frame-type detection mechanism and the cabin body precision butt joint device, wherein, the automatic tightening system includes: an axial screw tightening tool and a radial screw tightening tool; the axial screw tightening tool is used for fastening the frame type detection mechanism and the axial screw after the cabin body is in butt joint; the radial screw tightening tool is used for fastening the radial screw after the frame type detection mechanism is in butt joint with the cabin body.
The frame-type detection mechanism and the cabin body precision butt joint device, wherein the vision detection system comprises: a fixed vision detector and a mobile vision detector; the fixed visual detector is arranged on the workbench and used for detecting the mounting surface of the frame type detection mechanism; the mobile vision detector is arranged on the transfer clamp and used for detecting the mounting surface of the cabin body.
The frame-type detection mechanism and the cabin body precision butt joint device, wherein the posture adjustment system comprises:
the front centering mechanism is used for positioning and supporting the front end cover of the frame type detection mechanism;
the rotating table is arranged on the workbench and used for carrying out plane positioning and supporting on the frame type detection mechanism and realizing rotation in a horizontal plane;
the rear centering mechanism is used for positioning and supporting the rear end cover of the frame type detection mechanism;
and the guide rail mechanism comprises two guide rails which are arranged on the workbench and are parallel to the central axis of the rotary main shaft, and the guide rail mechanism is used for realizing the horizontal movement of the front centering mechanism and the rear centering mechanism.
The frame-type detection mechanism and the cabin body precision butt joint device are characterized in that the rotating platform comprises: the rotary table comprises a workpiece supporting plate, a fixed supporting plate, a rotating shaft, a bearing and a rotary table support; one end of the rotating shaft is sleeved with the bearing and then is arranged in the rotary table support, and the other end of the rotating shaft is connected with the fixed supporting plate; the rotary table support is arranged on the workbench; the rotating shaft drives the fixed supporting plate to rotate in a horizontal plane under the support of the bearing; the workpiece supporting plate is arranged on the fixed supporting plate.
The frame-type detection mechanism and the cabin body precision butt joint device are characterized in that the front centering mechanism and the rear centering mechanism respectively comprise: the device comprises a V-shaped frame, a lifting handle, a supporting seat, a ball guide column and guide sleeve combination and a screw mechanism; the V-shaped frame is used for centering and supporting the arc surface of the end cover at one side of the frame type detector; the lifting handle is arranged on the V-shaped frame and used for realizing the lifting of the V-shaped frame through grasping; the supporting seat is arranged above the guide rail mechanism and can slide along the guide rail mechanism; a group of ball guide pillar and guide sleeve combination is respectively arranged on two sides of the bottom of the V-shaped frame, and the ball guide pillar and guide sleeve combination comprises a guide sleeve and a guide pillar; the guide sleeve is arranged on the V-shaped frame, the guide pillar is fixed in the supporting seat, and the guide sleeve moves up and down along the guide pillar; the screw mechanism comprises a screw rod and a nut 11 h; the screw rod is fixed in the supporting seat and penetrates out of the V-shaped frame; the nut 11h is installed on the screw and contacts with the bottom surface of the V-shaped frame to lift the V-shaped frame by rotating the nut 11 h.
According to the frame type detection mechanism and cabin body precise butt joint device, the moving distance of the front centering mechanism and the rear centering mechanism along the guide rail is larger than 300 mm.
In the frame type precise butt joint device for the detection mechanism and the cabin, the opening angle of the V-shaped frame is 55-65 degrees, and the lifting adjustment height of the screw mechanism is more than 70 mm.
The invention also provides a precise butt joint method of the frame type detection mechanism and the cabin body, which is realized based on the butt joint device and comprises the following steps:
step 1: mounting the cabin body on a rotary main shaft, and adjusting the central axis of the cabin body to be horizontal;
step 2: taking a lower side plate of the frame type detection mechanism as a support, and horizontally placing the frame type detection mechanism on a workpiece support plate of the rotating table;
and step 3: moving the front centering mechanism to a supporting position, grasping a lifting handle to lift the V-shaped frame, adjusting the angle of the rotating table to ensure that the arc surface of the front end cover of the frame type detection mechanism is tangent to the V-shaped surface of the V-shaped frame, and rotating the nut 11h to tightly push the bottom surface of the V-shaped frame;
and 4, step 4: adjusting the height of the V-shaped frame of the rear centering mechanism to ensure that the arc surface of the rear end cover of the frame type detection mechanism is tangent to the V-shaped surface of the rear centering mechanism;
and 5: the nuts of the front centering mechanism and the rear centering mechanism are rotated for 11h to realize that the whole V-shaped frame rises by 0.5-3 mm, the frame type detection mechanism is separated from the rotating table to realize accurate centering, the height of the V-shaped frame is adjusted, and the upper side plate of the frame type detection mechanism is ensured to be horizontal;
step 6: detecting the mounting surface of the frame type detection mechanism by using a fixed vision detector to determine a mounting hole position;
and 7: moving the transfer mechanism to enable the mounting surface of the transfer clamp to be in contact with the mounting surface of the frame type detection mechanism, and fastening the frame type detection mechanism through a hoisting threaded hole in the front end cover of the frame type detection mechanism;
and 8: detecting the installation surface of the cabin body by adopting a mobile vision detector, comparing the detection data with the detection data of the installation surface of the frame type detection mechanism, and determining the rotation angle of the rotary main shaft and the movement amount of the transfer mechanism;
and step 9: the cabin body is rotated to a butt joint angle through the movement of the rotary main shaft, and the moving mechanism moves to enable the frame type detection mechanism to gradually reach a butt joint position, so that pins on the cabin body are matched with pin holes in a front end cover of the frame type detection mechanism;
step 10: fastening axial mounting holes of a front end cover of the frame type detection mechanism one by adopting an axial screw tool;
step 11: and detaching the hoisting screws of the frame type detection mechanism, moving away the transfer fixture, rotating the rotary main shaft, screwing the screws into the radial screw tools, and fastening the radial mounting holes of the rear end cover of the frame type detection mechanism one by one.
Compared with the prior art, the invention has the following beneficial effects:
1. the accurate position and posture adjustment of the frame type detection mechanism with complex structure, small positioning clamping surface, non-equal diameters in front and back can be met, and the butt joint difficulty of the frame type detection mechanism and the cabin body is greatly reduced;
2. the problems that the posture of the frame type detection mechanism needs to be adjusted repeatedly in manual butt joint assembly, the period is long, and products are easy to be damaged are solved, and the labor intensity of operators is greatly reduced;
3. the butt joint device and the butt joint method have good flexibility and can meet the requirement of universal butt joint assembly of frame type detection mechanisms with various specifications;
4. the butt joint operation is convenient, the precision is high, and the butt joint process is safe and reliable.
Drawings
FIG. 1 is a front view of a frame-type probe mechanism and a precise docking assembly for a cabin according to the present invention;
FIG. 2 is a top view of a structure of a precise docking assembly for a frame-type detection mechanism and a cabin according to the present invention;
FIG. 3 is a schematic structural view of a posture adjustment system of the frame-type detection mechanism of the present invention;
fig. 4 is a sectional view of a frame type detection mechanism attitude adjustment system of the present invention.
Detailed Description
The invention will be further described by the following specific examples in conjunction with the drawings, which are provided for illustration only and are not intended to limit the scope of the invention.
The invention mainly solves the butt joint problem of a frame type detection mechanism and a cabin body, the frame type detection mechanism is a frame consisting of a front end cover, a rear end cover and 2-4 side plates, various microwave box bodies are arranged in the frame type detection mechanism, and a servo mechanism and an antenna are arranged on the front end cover. When the frame type detection mechanism is in butt joint with the cabin body, the whole frame part is required to be installed in the cabin body, the pin holes in the front end cover are aligned with the pins in the cabin body, the front end cover is in contact with the installation surface of the cabin body to realize positioning, and a plurality of axial installation holes in the front end cover and a plurality of radial installation holes in the rear end cover are fastened by screws to realize the fastening of the frame type detection mechanism and the cabin body. The frame structure frame type detection mechanism is mainly characterized in that: (1) the diameter of the front end cover is larger than that of the rear end cover, and the front end cover is of a non-equal-diameter structure; (2) only the front end cover can be clamped and positioned in the butt joint process, and the clamping surface is small; (3) the surface of the frame type detection mechanism is distributed with a large number of key devices such as cables, printed boards and the like, and the requirement on the assembly safety is high.
As shown in fig. 1 and fig. 2, the present invention provides a precision docking device for a frame-type detecting mechanism 4 and a cabin 3, which comprises: the device comprises a butt joint motion system, an automatic tightening system, a visual detection system and an attitude adjustment system; the docking motion system includes: the device comprises a workbench 1, a rotary main shaft 2, a transfer mechanism 7 and a transfer clamp 8.
The rotary main shaft 2 is arranged on the workbench 1 and is used for clamping the cabin body 3 and driving the cabin body 3 to rotate, so that the cabin body 3 rotates along the central axis to adjust the axial rotation angle of the cabin body 3 and ensure that the pins of the cabin body 3 are aligned with the pin holes 4a1 on the frame-type detection mechanism 4; the transfer clamp 8 is arranged on the transfer mechanism 7 and is fixed with the frame type detection mechanism 4 after posture adjustment through a hoisting screw; a notch is formed in the position, which is used for shielding the assembly hole of the frame type detection mechanism 4, on the transfer clamp 8, so that the butt joint assembly of the frame type detection mechanism 4 is prevented from being influenced.
The transfer mechanism 7 drives the frame type detection mechanism 4 to move through a transfer clamp 8 so as to complete butt joint with the cabin 3; the automatic tightening system is used for tightening and fixing a fixing screw after the frame type detection mechanism 4 is in butt joint with the cabin 3; the vision detection system is used for detecting the mounting surfaces of the frame type detection mechanism 4 and the cabin body 3 so as to determine the rotation angle of the rotary main shaft 2 and the movement amount of the transfer mechanism 7; the posture adjustment system is used for carrying out posture adjustment on the frame type detection mechanism 4.
Preferably, the transplanting mechanism can realize translation in three directions of XYZ, including: a frame 7a, an X-axis robot 7b, a Y-axis robot 7c, and a Z-axis robot 7 d; the frame 7a is arranged on the workbench 1; the X-axis robot arm 7b is disposed on the frame 7 a; the Z-axis mechanical arm 7d is mounted on a moving slide block of the X-axis mechanical arm 7b and can move back and forth along the X-axis mechanical arm 7 b; the Y-axis mechanical arm 7c is mounted on a moving slide block of the Z-axis mechanical arm 7d and can perform lifting motion along the Z-axis mechanical arm 7 d; the transfer jig 8 is attached to a moving slider of the Y-axis robot arm 7c and can move left and right along the Y-axis robot arm 7 c.
The automatic tightening system includes: an axial screw tightening tool 5 and a radial screw tightening tool 6; the axial screw tightening tool 5 is used for fastening the axial screw after the frame type detection mechanism 4 is in butt joint with the cabin 3; the radial screw tightening tool 6 is used for fastening the radial screw after the frame type detection mechanism 4 is in butt joint with the cabin 3.
The visual inspection system includes: a fixed vision detector 10 and a mobile vision detector 9; the fixed visual detector 10 is arranged on the workbench 1 and used for detecting the mounting surface of the frame type detection mechanism 4; the mobile vision detector 9 is mounted on the transfer jig 8 and detects the mounting surface of the cabin 3. The distance and the angle of the positioning and mounting hole positions of the frame type detection mechanism 4 and the cabin body 3 are determined by identifying the shot images.
As shown in fig. 3 and 4, the posture adjustment system is used for adjusting 3 rotational degrees of freedom of the frame-type detection mechanism 4, and meets the posture requirements of clamping and butt joint, and includes: the front centering mechanism 11 is used for positioning and supporting the front end cover 4a of the frame type detection mechanism 4; the rotating platform 12 is arranged on the workbench 1 and used for carrying out plane positioning and supporting on the frame type detection mechanism 4 and realizing rotation in a horizontal plane; the rear centering mechanism 13 is used for positioning and supporting the rear end cover 4c of the frame type detection mechanism 4; and the guide rail mechanism comprises two guide rails 14 which are arranged on the workbench 1 and are parallel to the central axis of the rotary main shaft 2, and the guide rails are used for realizing the horizontal movement of the front centering mechanism 11 and the rear centering mechanism 13.
The rotary table 12 includes: a workpiece support plate 12a, a fixed support plate 12b, a rotating shaft 12c, a bearing 12d and a turntable support 12 e; one end of the rotating shaft 12c is sleeved with the bearing 12d and then is installed in the turntable support 12e, and the other end of the rotating shaft is connected with the fixed support plate 12 b; the turntable support 12e is arranged on the workbench 1; the rotating shaft 12c drives the fixed support plate 12b to rotate in a horizontal plane under the support of the bearing 12 d; the workpiece support plate 12a is mounted on a fixed support plate 12 b. The workpiece support plate 12a can be replaced to meet the support requirements of frame-type detection mechanisms 4 of different specifications.
The front centering mechanism 11 and the rear centering mechanism 13 each include: the device comprises a V-shaped frame 11a, a lifting handle 11b, a supporting seat 11e, a ball guide post and guide sleeve combination and a screw mechanism; the V-shaped frame 11a is used for centering and supporting the arc surface of the end cover at one side of the frame 7a type detector; the lifting handle 11b is arranged on the V-shaped frame 11a and is used for realizing the lifting of the V-shaped frame 11a through grasping; 2 groups of guide rail seats 11f are arranged on the bottom surface of the support seat 11e, and the guide rail seats 11f are arranged above the guide rail mechanism and can slide along the guide rail mechanism; two sides of the bottom of the V-shaped frame 11a are respectively provided with a group of ball guide post and guide sleeve combinations, and each ball guide post and guide sleeve combination comprises a guide sleeve 11c and a guide post 11 d; the guide sleeve 11c is arranged on the V-shaped frame 11a, the guide post 11d is fixed in the support seat 11e, and the guide sleeve 11c moves up and down along the guide post 11 d; the screw mechanism comprises a screw rod 11g and a nut 11 h; the screw rod 11g is fixed in the supporting seat 11e and penetrates out of the V-shaped frame 11 a; the nut 11h is installed on the screw 11g and contacts the bottom surface of the V-shaped frame 11a to lift the V-shaped frame 11a by rotating the nut 11 h.
The front centering mechanism 11 and the rear centering mechanism 13 have basically the same structure, and because the diameter of the front end cover 4a of the frame type detection mechanism 4 is larger than that of the rear end cover 4c, the opening size of the V-shaped frame 11a of the front centering mechanism 11 is larger than that of the rear centering mechanism 13; the front centering mechanism 11 and the rear centering mechanism 13 can move along the guide rail 14, the moving distance is more than 300mm, the angle of the V-shaped frame 11a is 55-65 degrees, the lifting adjustment height of the screw mechanism is more than 70mm, the positioning requirements of various frame type detection mechanisms 4 with the length change of not more than 600mm and the diameter change of not more than 140mm can be met, and the universality is good; by changing the sizes of the V-shaped frames 11a of the front centering mechanism 11 and the rear centering mechanism 13, the positioning requirements of more size frame type detection mechanisms 4 can be met.
The invention also provides a precise butt joint method of the frame type detection mechanism 4 and the cabin body 3, which is realized based on the butt joint device and comprises the following steps:
step 1: mounting the cabin 3 on the rotary main shaft 2, and adjusting the central axis of the cabin 3 to be horizontal;
step 2: the lower side plate 4d of the frame-type detection mechanism 4 is taken as a support, and the frame-type detection mechanism 4 is horizontally placed on the workpiece support plate 12a of the rotating table 12;
and step 3: moving the front centering mechanism 11 to a supporting position, grasping the lifting handle 11b to lift the V-shaped frame 11a, adjusting the angle of the rotating table 12 to ensure that the arc surface of the front end cover 4a of the frame type detection mechanism 4 is tangent to the V-shaped surface of the V-shaped frame 11a, and rotating the nut 11h to tightly push the bottom surface of the V-shaped frame 11 a;
and 4, step 4: adjusting the height of a V-shaped frame 11a of the rear centering mechanism 13 to ensure that the arc surface of a rear end cover 4c of the frame type detection mechanism 4 is tangent to the V-shaped surface of the rear centering mechanism 13;
and 5: the nuts 11h of the front centering mechanism 11 and the rear centering mechanism 13 are rotated to realize that the V-shaped frame 11a integrally rises by 0.5 mm-3 mm, the frame type detection mechanism 4 is separated from the rotating table 12 to realize accurate centering, the height of the V-shaped frame 11a is adjusted, and the upper side plate 4b of the frame type detection mechanism 4 is ensured to be horizontal;
step 6: detecting the mounting surface of the frame type detection mechanism 4 by using a fixed visual detector 10 to determine the mounting hole position;
and 7: moving the transfer mechanism 7 to enable the mounting surface of the transfer clamp 8 to be in contact with the mounting surface of the frame type detection mechanism 4, and fastening the frame type detection mechanism 4 through a hoisting threaded hole 4a2 on the front end cover 4a of the frame type detection mechanism 4;
and 8: detecting the installation surface of the cabin body 3 by adopting a mobile vision detector 9, comparing the detection data with the detection data of the installation surface of the frame type detection mechanism 4, and determining the rotation angle of the rotary main shaft 2 and the movement amount of the transfer mechanism 7;
and step 9: the cabin body 3 rotates to a butt joint angle through the movement of the rotary main shaft 2, and the transfer mechanism 7 moves to enable the frame type detection mechanism 4 to gradually reach a butt joint position, so that pins on the cabin body 3 are matched with pin holes 4a1 on a front end cover 4a of the frame type detection mechanism 4;
step 10: fastening the axial mounting holes 4a3 of the front end cover 4a of the frame type detection mechanism 4 one by adopting an axial screw tool;
step 11: and (3) detaching the hoisting screws of the frame type detection mechanism 4, removing the transfer clamp 8, rotating the rotary main shaft 2, screwing the screws by adopting a radial screw tool, and fastening the radial mounting holes 4c1 of the rear end cover 4c of the frame type detection mechanism 4 one by one.
In conclusion, the invention can realize the accurate butt joint of the frame type detection mechanism with complicated and special shape, small clamping surface and high reliability requirement, has flexible and simple operation, safe and reliable butt joint process and good flexibility of the butt joint device, and can meet the butt joint requirements of various frame type detection mechanisms with the length change within 600mm and the diameter change within 140 mm.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. The utility model provides a frame-type detection mechanism and accurate interfacing apparatus of cabin body which characterized in that includes: the device comprises a butt joint motion system, an automatic tightening system, a visual detection system and an attitude adjustment system; the docking motion system includes: the device comprises a workbench, a rotary main shaft, a transfer mechanism and a transfer clamp; the rotary main shaft is arranged on the workbench and used for clamping the cabin body and driving the cabin body to rotate; the transfer clamp is arranged on the transfer mechanism and is fixed with the frame type detection mechanism after the posture is adjusted; the transfer mechanism drives the frame type detection mechanism to move through the transfer clamp so as to complete butt joint with the cabin body; the automatic tightening system is used for tightening and fixing a fixing screw after the frame type detection mechanism is in butt joint with the cabin body; the visual detection system is used for detecting the frame type detection mechanism and the mounting surface of the cabin body so as to determine the rotation angle of the rotary main shaft and the movement amount of the transfer mechanism; the posture adjusting system is used for adjusting the posture of the frame type detection mechanism;
the attitude adjustment system includes:
the front centering mechanism is used for positioning and supporting the front end cover of the frame type detection mechanism;
the rotating table is arranged on the workbench and used for carrying out plane positioning and supporting on the frame type detection mechanism and realizing rotation in a horizontal plane;
the rear centering mechanism is used for positioning and supporting the rear end cover of the frame type detection mechanism;
and the guide rail mechanism comprises two guide rails which are arranged on the workbench and are parallel to the central axis of the rotary main shaft, and the guide rail mechanism is used for realizing the horizontal movement of the front centering mechanism and the rear centering mechanism.
2. The apparatus for precisely docking a frame-type probe mechanism with a cabin according to claim 1, wherein the transfer mechanism comprises: the robot comprises a frame, an X-axis mechanical arm, a Y-axis mechanical arm and a Z-axis mechanical arm; the frame is arranged on the workbench; the X-axis mechanical arm is arranged on the frame; the Z-axis mechanical arm is arranged on a moving slide block of the X-axis mechanical arm and can move back and forth along the X-axis mechanical arm; the Y-axis mechanical arm is arranged on a moving slide block of the Z-axis mechanical arm and can perform lifting motion along the Z-axis mechanical arm; the transfer clamp is arranged on a moving slide block of the Y-axis mechanical arm and can move left and right along the Y-axis mechanical arm.
3. The apparatus for precisely docking a frame-type probe mechanism to a cabin according to claim 1, wherein the automated tightening system comprises: an axial screw tightening tool and a radial screw tightening tool; the axial screw tightening tool is used for fastening the frame type detection mechanism and the axial screw after the cabin body is in butt joint; the radial screw tightening tool is used for fastening the radial screw after the frame type detection mechanism is in butt joint with the cabin body.
4. A frame-type probe mechanism and cabin precise docking apparatus as claimed in claim 3, wherein the vision inspection system comprises: a fixed vision detector and a mobile vision detector; the fixed visual detector is arranged on the workbench and used for detecting the mounting surface of the frame type detection mechanism; the mobile vision detector is arranged on the transfer clamp and used for detecting the mounting surface of the cabin body.
5. The apparatus for precisely docking a frame-type probe mechanism to a chamber as claimed in claim 1, wherein the turntable comprises: the rotary table comprises a workpiece supporting plate, a fixed supporting plate, a rotating shaft, a bearing and a rotary table support; one end of the rotating shaft is sleeved with the bearing and then is arranged in the rotary table support, and the other end of the rotating shaft is connected with the fixed supporting plate; the rotary table support is arranged on the workbench; the rotating shaft drives the fixed supporting plate to rotate in a horizontal plane under the support of the bearing; the workpiece supporting plate is arranged on the fixed supporting plate.
6. The apparatus for precisely docking a frame-type probe to a cabin according to claim 5, wherein the front and rear centering mechanisms each comprise: the device comprises a V-shaped frame, a lifting handle, a supporting seat, a ball guide column and guide sleeve combination and a screw mechanism; the V-shaped frame is used for centering and supporting the arc surface of the end cover at one side of the frame type detector; the lifting handle is arranged on the V-shaped frame and used for realizing the lifting of the V-shaped frame through grasping; the supporting seat is arranged above the guide rail mechanism and can slide along the guide rail mechanism; a group of ball guide pillar and guide sleeve combination is respectively arranged on two sides of the bottom of the V-shaped frame, and the ball guide pillar and guide sleeve combination comprises a guide sleeve and a guide pillar; the guide sleeve is arranged on the V-shaped frame, the guide pillar is fixed in the supporting seat, and the guide sleeve moves up and down along the guide pillar; the screw mechanism comprises a screw rod and a nut 11 h; the screw rod is fixed in the supporting seat and penetrates out of the V-shaped frame; the nut 11h is installed on the screw and contacts with the bottom surface of the V-shaped frame to lift the V-shaped frame by rotating the nut 11 h.
7. The apparatus for precisely docking a frame-type probe mechanism to a cabin according to claim 6, wherein the front and rear centering mechanisms move along the rail over a distance greater than 300 mm.
8. The apparatus for precisely docking a frame-type probe mechanism with a cabin as claimed in claim 6, wherein the opening angle of the V-shaped frame is 55-65 °, and the height of the screw mechanism is adjusted to be greater than 70 mm.
9. A precise butt joint method for a frame type detection mechanism and a cabin is characterized in that the butt joint method is realized based on the butt joint device as claimed in claim 6, and the butt joint method comprises the following steps:
step 1: mounting the cabin body on a rotary main shaft, and adjusting the central axis of the cabin body to be horizontal;
step 2: taking a lower side plate of the frame type detection mechanism as a support, and horizontally placing the frame type detection mechanism on a workpiece support plate of the rotating table;
and step 3: moving the front centering mechanism to a supporting position, grasping a lifting handle to lift the V-shaped frame, adjusting the angle of the rotating table to ensure that the arc surface of the front end cover of the frame type detection mechanism is tangent to the V-shaped surface of the V-shaped frame, and rotating the nut 11h to tightly push the bottom surface of the V-shaped frame;
and 4, step 4: adjusting the height of the V-shaped frame of the rear centering mechanism to ensure that the arc surface of the rear end cover of the frame type detection mechanism is tangent to the V-shaped surface of the rear centering mechanism;
and 5: the nuts of the front centering mechanism and the rear centering mechanism are rotated for 11h to realize that the whole V-shaped frame rises by 0.5-3 mm, the frame type detection mechanism is separated from the rotating table to realize accurate centering, the height of the V-shaped frame is adjusted, and the upper side plate of the frame type detection mechanism is ensured to be horizontal;
step 6: detecting the mounting surface of the frame type detection mechanism by using a fixed vision detector to determine a mounting hole position;
and 7: moving the transfer mechanism to enable the mounting surface of the transfer clamp to be in contact with the mounting surface of the frame type detection mechanism, and fastening the frame type detection mechanism through a hoisting threaded hole in the front end cover of the frame type detection mechanism;
and 8: detecting the installation surface of the cabin body by adopting a mobile vision detector, comparing the detection data with the detection data of the installation surface of the frame type detection mechanism, and determining the rotation angle of the rotary main shaft and the movement amount of the transfer mechanism;
and step 9: the cabin body is rotated to a butt joint angle through the movement of the rotary main shaft, and the moving mechanism moves to enable the frame type detection mechanism to gradually reach a butt joint position, so that pins on the cabin body are matched with pin holes in a front end cover of the frame type detection mechanism;
step 10: fastening axial mounting holes of a front end cover of the frame type detection mechanism one by adopting an axial screw tool;
step 11: and detaching the hoisting screws of the frame type detection mechanism, moving away the transfer fixture, rotating the rotary main shaft, screwing the screws into the radial screw tools, and fastening the radial mounting holes of the rear end cover of the frame type detection mechanism one by one.
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| CN202010209029.6A CN111283405B (en) | 2020-03-23 | 2020-03-23 | Frame type detection mechanism and cabin body precise butt joint device and method |
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| CN202010209029.6A CN111283405B (en) | 2020-03-23 | 2020-03-23 | Frame type detection mechanism and cabin body precise butt joint device and method |
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| CN112959046B (en) * | 2021-02-24 | 2022-02-25 | 嘉善乐枫生物科技有限公司 | Automatic screw locking device and method for assembling purification column |
| CN113275862B (en) * | 2021-04-29 | 2022-06-10 | 佛山市肯富来工业泵有限公司 | High-precision centering assembly device for impeller of water pump |
| CN114082999B (en) * | 2021-12-24 | 2023-06-09 | 伯朗特机器人股份有限公司 | Positioning structure and feeding and discharging device |
| CN115365813B (en) * | 2022-09-05 | 2023-08-18 | 衡阳泰豪通信车辆有限公司 | Special-shaped cabin body and assembly method thereof |
| CN116652929A (en) * | 2023-01-30 | 2023-08-29 | 北京思灵机器人科技有限责任公司 | Missile cabin assembly system |
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| CN107322276B (en) * | 2016-04-29 | 2023-09-08 | 上海坤孚企业(集团)有限公司 | Lower body assembler of carburetor |
| CN107953106A (en) * | 2017-11-20 | 2018-04-24 | 西安航天动力测控技术研究所 | Miniature missile bay section butting tooling |
| CN209035928U (en) * | 2018-08-09 | 2019-06-28 | 山西亚华制盖有限公司 | A kind of stubborn cap assembly of assembling machine for bottle cap |
| CN109114054B (en) * | 2018-09-06 | 2020-01-03 | 山西大学 | Self-adaptive flexible assembling equipment for hydraulic cylinder head body and hydraulic control system |
| CN109807613A (en) * | 2019-03-13 | 2019-05-28 | 中国铁建重工集团有限公司 | A kind of mobile positioning tightening device |
| CN110666493A (en) * | 2019-09-05 | 2020-01-10 | 上海交通大学 | Automatic installation device for temporary composite fasteners |
| CN110695909B (en) * | 2019-10-12 | 2021-10-22 | 北京特种机械研究所 | Transferring, posture adjusting and butting device for cabin section |
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