CN112140038A - Equipment centering method, system and device and electronic equipment - Google Patents
Equipment centering method, system and device and electronic equipment Download PDFInfo
- Publication number
- CN112140038A CN112140038A CN202011045618.1A CN202011045618A CN112140038A CN 112140038 A CN112140038 A CN 112140038A CN 202011045618 A CN202011045618 A CN 202011045618A CN 112140038 A CN112140038 A CN 112140038A
- Authority
- CN
- China
- Prior art keywords
- equipment
- displacement
- sensor group
- displacement sensor
- position data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention provides a device centering method, a system, a device and electronic equipment. Wherein, the method comprises the following steps: receiving first axis position data sent by a first displacement sensor group and second axis position data sent by a second displacement sensor group; determining displacement data of the first device and/or the second device based on the first axis position data and the second axis position data; the displacement data is indicative of a distance moved by the first device and/or the second device pair; generating a control instruction based on the displacement data; sending a control command to the control motor to cause the control motor to adjust the position of the first device and/or the second device. The mode can realize automatic centering assembly of the first equipment and the second equipment, manual fine adjustment is not needed in the centering process, human resources and time resources can be saved, the accuracy and the efficiency of centering operation are improved, and parts of the equipment cannot be damaged.
Description
Technical Field
The invention relates to the technical field of vehicle assembly, in particular to a device centering method, a system, a device and electronic equipment.
Background
At present, the volume and the weight of an engine and a gearbox body used by a commercial automobile, particularly a heavy truck are large, when the engine and the gearbox are assembled, the engine is generally fixed on a basic platform, the gearbox is hoisted by a crane, and an input shaft of the gearbox and an output shaft hole of the engine are centered, inserted and assembled by operating the crane by workers.
In the centering process, due to factors such as the hoisting position and the gravity center position of the gearbox, the horizontal in the vertical direction, the horizontal direction and the horizontal direction of the gearbox are difficult to guarantee, when the engine and the gearbox are centered, the input shaft of the gearbox and the output shaft hole of the engine are not on the same axis, a worker is required to finely adjust the position of the input shaft of the gearbox, the gearbox is inserted for multiple times, the input shaft of the gearbox collides with the shaft hole of the engine, the precision of the shaft and the hole and the surface quality are affected, key parts are damaged, centering operation is carried out through the worker, and more human resources and time resources are needed to be spent.
Disclosure of Invention
In view of this, the present invention provides a device centering method, system, apparatus and electronic device, so as to save human resources and time resources, improve the accuracy and efficiency of centering operation, and avoid damaging device components.
In a first aspect, an embodiment of the present invention provides an apparatus centering method, which is applied to a controller in an apparatus centering system, where the apparatus centering system further includes a first apparatus, a second apparatus, a first displacement sensor group and a second displacement sensor group, where the first displacement sensor group and the second displacement sensor group are both in communication connection with the controller, a first auxiliary shaft is disposed in a shaft hole of the first apparatus, a second auxiliary shaft is disposed in a shaft hole of the second apparatus, the first displacement sensor group is configured to detect first shaft position data of the first auxiliary shaft, and the second displacement sensor group is configured to detect second shaft position data of the second auxiliary shaft; the method comprises the following steps: receiving first axis position data sent by a first displacement sensor group and second axis position data sent by a second displacement sensor group; determining displacement data of the first device and/or the second device based on the first axis position data and the second axis position data; the displacement data is indicative of a distance moved by the first device and/or the second device pair; generating a control instruction based on the displacement data; sending a control command to the control motor to cause the control motor to adjust the position of the first device and/or the second device.
In a preferred embodiment of the present invention, the first auxiliary shaft and the second auxiliary shaft are hollow step shafts.
In a preferred embodiment of the present invention, the first displacement sensor group comprises at least two displacement sensors; detecting first axis position data of a first auxiliary shaft by at least two displacement sensors; the second displacement sensor group at least comprises two displacement sensors; second axis position data of the second auxiliary shaft is detected by at least two displacement sensors.
In a preferred embodiment of the present invention, the first device and the second device are respectively disposed on a base platform, and a horizontal transmission platform and a vertical transmission platform are disposed between the second device and the base platform; the horizontal transmission platform is used for horizontally moving the second equipment, and the vertical transmission platform is used for vertically moving the second equipment.
In a preferred embodiment of the present invention, the step of determining displacement data of the first device and/or the second device based on the first axis position data and the second axis position data includes: determining displacement data for the second device based on the first and second axis position data; wherein the displacement data of the second device comprises horizontal displacement data and vertical displacement data; the step of generating a control command based on the displacement data includes: generating a horizontal control instruction based on the horizontal displacement data; generating a vertical control instruction based on the vertical displacement data; combining the horizontal control command and the vertical control command into a control command; the step of sending a control command to the control motor to cause the control motor to adjust the position of the first device and/or the second device comprises: and sending the control command to the control motor so that the control motor adjusts the horizontal position of the second equipment through the horizontal transmission platform and the horizontal control command, and the control motor adjusts the vertical position of the second equipment through the vertical transmission platform and the vertical control command.
In a second aspect, an embodiment of the present invention further provides an apparatus centering system, including: the device comprises a controller, a first device, a second device, a first auxiliary shaft, a second auxiliary shaft, a first displacement sensor group, a second displacement sensor group and a control motor; the first auxiliary shaft is arranged in a shaft hole of the first equipment, the second auxiliary shaft is arranged in a shaft hole of the second equipment, and the first displacement sensor group and the second displacement sensor group are both in communication connection with the controller; the controller is used for executing the equipment centering method; the first displacement sensor group is used for detecting first axis position data of the first auxiliary shaft; the second displacement sensor group is used for detecting second axis position data of the second auxiliary shaft; the control motor is used to adjust the position of the first device and/or the second device.
In a preferred embodiment of the present invention, the system further includes: the device comprises a base platform, a horizontal transmission platform and a vertical transmission platform; the first equipment and the second equipment are respectively arranged on the base platform, and a horizontal transmission platform and a vertical transmission platform are arranged between the second equipment and the base platform; the horizontal transmission platform is used for horizontally moving the second equipment, and the vertical transmission platform is used for vertically moving the second equipment.
In a third aspect, an embodiment of the present invention further provides an apparatus centering device, which is applied to a controller in an apparatus centering system, where the apparatus centering system further includes a first apparatus, a second apparatus, a first displacement sensor group and a second displacement sensor group, the first displacement sensor group and the second displacement sensor group are both in communication connection with the controller, a first auxiliary shaft is disposed in a shaft hole of the first apparatus, a second auxiliary shaft is disposed in a shaft hole of the second apparatus, the first displacement sensor group is configured to detect first shaft position data of the first auxiliary shaft, and the second displacement sensor group is configured to detect second shaft position data of the second auxiliary shaft; the device comprises: the axis position data receiving module is used for receiving first axis position data sent by the first displacement sensor group and second axis position data sent by the second displacement sensor group; a displacement data determination module to determine displacement data of the first device and/or the second device based on the first axis position data and the second axis position data; the displacement data is indicative of a distance moved by the first device and/or the second device pair; the control instruction generating module is used for generating a control instruction based on the displacement data; and the control instruction sending module is used for sending the control instruction to the control motor so as to enable the control motor to adjust the position of the first equipment and/or the second equipment.
In a fourth aspect, an embodiment of the present invention further provides an electronic device, which includes a processor and a memory, where the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the device centering method described above.
In a fifth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the steps of the device centering method described above.
The embodiment of the invention has the following beneficial effects:
according to the equipment centering method, the system and the device as well as the electronic equipment provided by the embodiment of the invention, the first axis position data of the first auxiliary axis and the second axis position data of the second auxiliary axis are respectively detected through the first displacement sensor group and the second displacement sensor group; the controller receives the first axis position data and the second axis position data, calculates displacement data of the first equipment and/or the second equipment, and generates a control instruction; and controlling the motor to adjust the position of the first equipment and/or the second equipment according to the control instruction. The mode can realize automatic centering assembly of the first equipment and the second equipment, manual fine adjustment is not needed in the centering process, human resources and time resources can be saved, the accuracy and the efficiency of centering operation are improved, and parts of the equipment cannot be damaged.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an apparatus centering method according to an embodiment of the present invention;
fig. 2 is a flowchart of another apparatus centering method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an apparatus centering system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus centering system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a centering device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, when an engine and a gearbox of a commercial vehicle are assembled, centering assembly needs manual operation, however, the manual operation has the problems of high difficulty, low efficiency and easy damage to parts.
For the convenience of understanding the embodiment, a detailed description will be given to an apparatus centering method disclosed in the embodiment of the present invention.
Example 1
The embodiment of the invention provides an equipment centering method, which is applied to a controller in an equipment centering system, wherein the equipment centering system further comprises first equipment, second equipment, a first displacement sensor group and a second displacement sensor group, the first displacement sensor group and the second displacement sensor group are in communication connection with the controller, a first auxiliary shaft is arranged in a shaft hole of the first equipment, a second auxiliary shaft is arranged in a shaft hole of the second equipment, the first displacement sensor group is used for detecting first shaft position data of the first auxiliary shaft, and the second displacement sensor group is used for detecting second shaft position data of the second auxiliary shaft.
The first device and the second device may be two devices that need to be aligned, the first device in this embodiment may be an engine, and the second device may be a transmission. The first device and the second device are respectively provided with at least one shaft hole, a first auxiliary shaft and a second auxiliary shaft can be respectively arranged in the shaft holes of the first device and the second device in decibels, and the first displacement sensor group and the second displacement sensor group are used for detecting the axial position data of the first auxiliary shaft and the second auxiliary shaft, which are respectively called as first axial position data and second axial position data.
Based on the above description, referring to the flowchart of an apparatus centering method shown in fig. 1, the apparatus centering method includes the following steps:
step S102, receiving first axis position data sent by a first displacement sensor group and second axis position data sent by a second displacement sensor group.
The method provided by the embodiment can be used in a commercial vehicle production line, and the first displacement sensor group and the second displacement sensor group can transmit the detected first axis position data and second axis position data to the controller in real time or in a timing mode. For example: the first displacement sensor group can acquire the first axis position data every 10 seconds and send the first axis position data to the controller in real time after acquiring the first axis position data.
Step S104, determining displacement data of the first device and/or the second device based on the first axis position data and the second axis position data; the displacement data is indicative of a distance moved by the first device and/or the second device pair.
After the controller receives the first axis position data and the second axis position data, the controller may perform data analysis on the first axis position data and the second axis position data, determine positions of the first auxiliary axis and the second auxiliary axis, and determine positions of the first device and the second device and a distance, i.e., displacement data, to be moved in the pair of the first device and the second device according to the positions of the first auxiliary axis and the second auxiliary axis.
The centering scheme may be that the first device and the second device move simultaneously, the first device is fixed to the second device to move, or the first device is fixed to the second device to move, which is not limited herein. Thus, the displacement data may be different according to different pairs of protocols.
Step S106, generating a control command based on the displacement data.
The controller may generate control instructions from the displacement data, and the control instructions may include instructions to control movement of the first device and instructions to control movement of the second device.
And S108, sending a control command to the control motor so that the control motor adjusts the position of the first equipment and/or the second equipment.
The controller may send control instructions to the control motor to move the first device and the second device. The number of the control motors can be one, and the first equipment and the second equipment are moved through one control motor; the number of the control motors can also be multiple, and the first device and the second device are respectively moved through the multiple control motors.
In addition, since the displacement data of the first device or the second device may be 0, the control command may not include the command of the device whose displacement data is 0, and thus, the control motor may not control the device whose displacement data is 0.
For different cases, the displacement data may have the following three cases: including the movement distance of only the first device, the movement distance of only the second device, and the movement distances of both the first device and the second device. Therefore, the control commands corresponding to the displacement data of the three conditions can be generated, and the control motor can respectively control the first equipment and/or the second equipment to move after receiving the control commands.
For example, if the displacement data only contains the moving distance a of the first device, the control motor may only control the moving distance a of the first device; if the displacement data only contains the moving distance B of the second equipment, the control motor can only control the moving distance B of the second equipment; if the displacement data comprises the moving distance C of the first device and the moving distance D of the second device, the motor can be controlled to control the moving distance C of the first device and the moving distance D of the second device.
According to the equipment centering method provided by the embodiment of the invention, the first axis position data of the first auxiliary shaft and the second axis position data of the second auxiliary shaft are respectively detected through the first displacement sensor group and the second displacement sensor group; the controller receives the first axis position data and the second axis position data, calculates displacement data of the first equipment and/or the second equipment, and generates a control instruction; and controlling the motor to adjust the position of the first equipment and/or the second equipment according to the control instruction. The mode can realize automatic centering assembly of the first equipment and the second equipment, manual fine adjustment is not needed in the centering process, human resources and time resources can be saved, the accuracy and the efficiency of centering operation are improved, and parts of the equipment cannot be damaged.
Example 2
The embodiment of the invention also provides another equipment centering method; the method is realized on the basis of the method of the embodiment; the method mainly describes a specific implementation mode of the equipment centering method in which the first equipment is fixed and the second equipment can move.
Another apparatus centering method, as shown in fig. 2, includes the following steps:
step S202, receiving first axis position data sent by the first displacement sensor group and second axis position data sent by the second displacement sensor group.
In this embodiment, mainly describing a situation that the first device is fixed and cannot move and the second device can move, referring to a schematic diagram of an apparatus centering system shown in fig. 3, an engine is the first device, a gearbox is the second device, the first device and the second device are respectively disposed on a base platform, the first device is fixed on the base platform through a support 7, a horizontal transmission platform 5 and a vertical transmission platform 6 are disposed between the second device and the base platform, and the horizontal transmission platform 5 and the vertical transmission platform 6 are respectively used for horizontally and vertically moving the second device.
The displacement sensor 1 detects the position data of the auxiliary shaft 2 and sends the detected position data to the controller 3, the controller can send a control instruction to the control motor 4, and the controller can control the horizontal transmission platform 5 and the vertical transmission platform 6 according to the control instruction, so that the second device is moved.
Specifically, the engine can be arranged on the support in a hoisting mode, and the gearbox can be arranged on the vertical transmission platform in a hoisting mode. The vertical transmission platform can be divided into two parts which respectively support the front end and the rear end of the gearbox. The detection auxiliary shafts (i.e., the first auxiliary shaft and the second auxiliary shaft) may be hollow step shafts. The inner and outer surfaces of the engine and the transmission have high quality and are respectively arranged in an engine output shaft hole (namely a first auxiliary shaft) and a transmission output shaft (namely a second auxiliary shaft). The auxiliary shaft and the shaft hole are in high-precision clearance fit and are used as auxiliary shafts for measuring the central axes of the engine and the gearbox by using sensors.
The vertical transmission platform can move in the vertical direction (Z direction), the vertical transmission platform can be fixed on the horizontal transmission platform, the horizontal transmission platform can be fixed on the base platform, and the horizontal transmission platform can move in the horizontal direction (X, Y direction). The transmission mode in each direction is not limited to the form of a rack and pinion, a worm gear, a linear guide rail, and the like.
For the case where the engine is the first device and the gearbox is the second device, the first auxiliary shaft may be disposed in the engine output shaft bore and the second auxiliary shaft may be disposed in the gearbox output shaft bore. The first displacement sensor group and the second displacement sensor group respectively comprise at least two displacement sensors; the displacement monitoring can be respectively carried out on the auxiliary shafts on the engine and the gearbox, the positions and the orientations of the central axes of the engine and the gearbox are determined by utilizing a mode of determining straight lines at two points, and the detection results are used as first axis position data and second axis position data. The mutual position relation of at least four displacement sensors is fixed, and the displacement sensors can be rigidly fixed on the base platform through the support.
Step S204, determining displacement data of the second device based on the first axis position data and the second axis position data; wherein the displacement data of the second device comprises horizontal displacement data and vertical displacement data.
The controller in this embodiment may be a computer carrying an integrated analysis program, and after receiving the first axis position data and the second axis position data, the computer may perform analysis and calculation through the integrated program to determine a direction difference between a center line of an output shaft of the engine and a center line of an input shaft of the transmission, and decompose the direction difference into up, down, left, and right displacement amounts, i.e., horizontal displacement data and vertical displacement data, to be adjusted at front and rear portions of the transmission.
Step S206, generating a horizontal control instruction based on the horizontal displacement data; generating a vertical control instruction based on the vertical displacement data; the horizontal control command and the vertical control command are combined into a control command.
After determining the horizontal displacement data and the vertical displacement data, the controller may generate a corresponding horizontal control command and a corresponding vertical control command according to the horizontal displacement data and the vertical displacement data, and combine the horizontal control command and the vertical control command into a control command, where the control command is used to control the movement of the second device.
And S208, sending a control command to the control motor, so that the control motor adjusts the horizontal position of the second equipment through the horizontal transmission platform and the horizontal control command, and the control motor adjusts the vertical position of the second equipment through the vertical transmission platform and the vertical control command.
After receiving the control instruction, the control motor can drive the horizontal transmission platform and the vertical transmission platform to perform transmission, that is, the horizontal transmission platform is driven to perform transmission in the X, Y direction, and the vertical transmission platform is driven to perform transmission in the Z direction. The horizontal, vertical and inclined adjustment of the central axis is adjusted to achieve the consistency of the central lines of the output shaft of the engine and the input shaft of the gear box.
It should be noted that the adjustment of the centering position of the gearbox is closed-loop control, i.e. sensor measurement, computer analysis, movement of the drive platform, adjustment of the gearbox position, sensor measurement. After the central lines of the output shaft of the engine and the output shaft of the gearbox are consistent, the whole system can send out prompt tones to prompt that the position state of the gearbox is adjusted; at the moment, an operator can manually take down the auxiliary shafts (namely the first auxiliary shaft and the second auxiliary shaft) on the engine and the gearbox and carry out button operation on the movement of the horizontal transmission platform; at the moment, the horizontal transmission platform moves along the negative X direction to drive the gearbox and the engine to be assembled.
According to the method provided by the embodiment of the invention, the axial position of the output shaft of the engine and the axial position data of the input shaft of the gearbox in the initial state are obtained through the displacement sensor and are provided for the computer; the computer calculates the difference between the position of the axis of the input shaft of the gearbox and the position of the axis of the output shaft of the engine through an integrated program, analyzes the data information of the gearbox needing to move in each direction and provides the data information to a control motor of a moving platform (guide rail) of a base of the gearbox; and the control motor receives the relevant displacement data, and drives the gear, the rack, the screw, the linear guide rail and the like to move the local position of the gearbox.
The gearbox placing base platform is divided into two parts which respectively support the front end and the rear end of the gearbox; each part can move left and right and up and down respectively; the whole gearbox placing platform is located on the guide rail platform capable of moving back and forth, and forward-moving assembling action of the gearbox after the engine and the gearbox are centered is achieved. All the up-down, left-right and back-and-forth movement actions are carried out by a computer control motor.
The mode can realize the spatial position adjustment, particularly the inclination adjustment of the gearbox; meanwhile, the position adjustment of the gearbox is automatically controlled, and the precision is high. This mode can replace current manual work through the driving hoist and mount, can come automatic control centering adjustment through sensor measurement, computer analysis calculation to realize the automatic control centering assembly of commercial car engine gearbox, promote assembly efficiency and accuracy, because the damage of colliding with of assembly difficulty lead to the input shaft when reducing the manual assembly centering.
Example 3
An embodiment of the present invention provides an apparatus centering system, which is shown in fig. 4 and includes: the device comprises a controller, a first device, a second device, a first auxiliary shaft, a second auxiliary shaft, a first displacement sensor group, a second displacement sensor group and a control motor; the first auxiliary shaft is arranged in a shaft hole of the first equipment, the second auxiliary shaft is arranged in a shaft hole of the second equipment, and the first displacement sensor group and the second displacement sensor group are both in communication connection with the controller;
the controller is used for the equipment centering method; the first displacement sensor group is used for detecting first axis position data of the first auxiliary shaft; the second displacement sensor group is used for detecting second axis position data of the second auxiliary shaft; the control motor is used to adjust the position of the first device and/or the second device.
Wherein, above-mentioned centering system still includes: the device comprises a base platform, a horizontal transmission platform and a vertical transmission platform; the first equipment and the second equipment are respectively arranged on the base platform, and a horizontal transmission platform and a vertical transmission platform are arranged between the second equipment and the base platform; the horizontal transmission platform is used for horizontally moving the second equipment, and the vertical transmission platform is used for vertically moving the second equipment.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the device centering system described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Example 4
Corresponding to the method embodiment, an embodiment of the present invention provides a centering device, which is applied to a controller in an equipment centering system, where the equipment centering system further includes a first equipment, a second equipment, a first displacement sensor group and a second displacement sensor group, the first displacement sensor group and the second displacement sensor group are both in communication connection with the controller, a first auxiliary shaft is disposed in a shaft hole of the first equipment, a second auxiliary shaft is disposed in a shaft hole of the second equipment, the first displacement sensor group is used for detecting first shaft position data of the first auxiliary shaft, and the second displacement sensor group is used for detecting second shaft position data of the second auxiliary shaft; fig. 5 shows a schematic structural diagram of a centering device, which includes:
an axis position data receiving module 51, configured to receive first axis position data sent by the first displacement sensor group and second axis position data sent by the second displacement sensor group;
a displacement data determination module 52 to determine displacement data of the first device and/or the second device based on the first axis position data and the second axis position data; the displacement data is indicative of a distance moved by the first device and/or the second device pair;
a control instruction generation module 53, configured to generate a control instruction based on the displacement data;
and a control command sending module 54, configured to send a control command to the control motor, so that the control motor adjusts the position of the first device and/or the second device.
According to the equipment centering device provided by the embodiment of the invention, the first axis position data of the first auxiliary shaft and the second axis position data of the second auxiliary shaft are respectively detected through the first displacement sensor group and the second displacement sensor group; the controller receives the first axis position data and the second axis position data, calculates displacement data of the first equipment and/or the second equipment, and generates a control instruction; and controlling the motor to adjust the position of the first equipment and/or the second equipment according to the control instruction. The mode can realize automatic centering assembly of the first equipment and the second equipment, manual fine adjustment is not needed in the centering process, human resources and time resources can be saved, the accuracy and the efficiency of centering operation are improved, and parts of the equipment cannot be damaged.
The first auxiliary shaft and the second auxiliary shaft are both hollow step shafts.
The first displacement sensor group at least comprises two displacement sensors; detecting first axis position data of a first auxiliary shaft by at least two displacement sensors; the second displacement sensor group at least comprises two displacement sensors; second axis position data of the second auxiliary shaft is detected by at least two displacement sensors.
The first equipment and the second equipment are respectively arranged on the base platform, and a horizontal transmission platform and a vertical transmission platform are arranged between the second equipment and the base platform; the horizontal transmission platform is used for horizontally moving the second equipment, and the vertical transmission platform is used for vertically moving the second equipment.
The displacement data determination module is configured to determine displacement data of the second device based on the first axis position data and the second axis position data; wherein the displacement data of the second device comprises horizontal displacement data and vertical displacement data; the control instruction generating module is used for generating a horizontal control instruction based on the horizontal displacement data; generating a vertical control instruction based on the vertical displacement data; combining the horizontal control command and the vertical control command into a control command; the control instruction sending module is used for sending the control instruction to the control motor so that the control motor can adjust the horizontal position of the second equipment through the horizontal transmission platform and the horizontal control instruction, and the control motor can adjust the vertical position of the second equipment through the vertical transmission platform and the vertical control instruction.
The equipment centering device provided by the embodiment of the invention has the same technical characteristics as the equipment centering method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
Example 5
The embodiment of the invention also provides the electronic equipment, which is used for operating the equipment centering method; referring to fig. 6, a schematic structural diagram of an electronic device includes a memory 100 and a processor 101, where the memory 100 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the device centering method.
Further, the electronic device shown in fig. 6 further includes a bus 102 and a communication interface 103, and the processor 101, the communication interface 103, and the memory 100 are connected through the bus 102.
The Memory 100 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 103 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used. The bus 102 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but that does not indicate only one bus or one type of bus.
The processor 101 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 101. The Processor 101 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 100, and the processor 101 reads the information in the memory 100, and completes the steps of the method of the foregoing embodiment in combination with the hardware thereof.
The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the device centering method, and specific implementation may refer to method embodiments, and is not described herein again.
The device centering method, the apparatus, and the computer program product of the electronic device provided in the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method in the foregoing method embodiments, and specific implementations may refer to the method embodiments and are not described herein again.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and/or the electronic device described above may refer to corresponding processes in the foregoing method embodiments, and are not described herein again.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The equipment centering method is applied to a controller in an equipment centering system, the equipment centering system further comprises first equipment, second equipment, a first displacement sensor group and a second displacement sensor group, the first displacement sensor group and the second displacement sensor group are both in communication connection with the controller, a first auxiliary shaft is arranged in a shaft hole of the first equipment, a second auxiliary shaft is arranged in a shaft hole of the second equipment, the first displacement sensor group is used for detecting first shaft position data of the first auxiliary shaft, and the second displacement sensor group is used for detecting second shaft position data of the second auxiliary shaft; the method comprises the following steps:
receiving the first axis position data sent by the first displacement sensor group and the second axis position data sent by the second displacement sensor group;
determining displacement data of the first device and/or the second device based on the first axis position data and the second axis position data; the displacement data is indicative of a distance moved by the first device and/or the second device pair;
generating a control instruction based on the displacement data;
and sending the control instruction to a control motor so that the control motor adjusts the position of the first equipment and/or the second equipment.
2. The method of claim 1, wherein the first auxiliary shaft and the second auxiliary shaft are both hollow step shafts.
3. The method of claim 1, wherein the first set of displacement sensors comprises at least two displacement sensors; detecting first axis position data of the first auxiliary shaft by at least two displacement sensors;
and the second displacement sensor group at least comprises two displacement sensors; second axis position data of the second auxiliary shaft is detected by at least two displacement sensors.
4. The method of claim 1, wherein the first equipment and the second equipment are respectively disposed on a base platform, and a horizontal transmission platform and a vertical transmission platform are disposed between the second equipment and the base platform; the horizontal transmission platform is used for horizontally moving the second equipment, and the vertical transmission platform is used for vertically moving the second equipment.
5. The method of claim 4, wherein the step of determining displacement data of the first device and/or the second device based on the first axis position data and the second axis position data comprises:
determining displacement data for the second device based on the first and second axis position data; wherein the displacement data of the second device comprises horizontal displacement data and vertical displacement data;
generating a control command based on the displacement data, comprising:
generating a horizontal control instruction based on the horizontal displacement data; generating a vertical control instruction based on the vertical displacement data; combining the horizontal control command and the vertical control command into a control command;
the step of sending the control command to a control motor to enable the control motor to adjust the position of the first device and/or the second device includes:
and sending the control command to a control motor so that the control motor adjusts the horizontal position of the second equipment through the horizontal transmission platform and the horizontal control command, and the control motor adjusts the vertical position of the second equipment through the vertical transmission platform and the vertical control command.
6. An equipment centering system, comprising: the device comprises a controller, a first device, a second device, a first auxiliary shaft, a second auxiliary shaft, a first displacement sensor group, a second displacement sensor group and a control motor; the first auxiliary shaft is arranged in a shaft hole of first equipment, the second auxiliary shaft is arranged in a shaft hole of second equipment, and the first displacement sensor group and the second displacement sensor group are both in communication connection with the controller;
the controller is configured to perform the device centering method of any of claims 1-5;
the first displacement sensor group is used for detecting first axis position data of the first auxiliary shaft;
the second displacement sensor group is used for detecting second axis position data of the second auxiliary shaft;
the control motor is used for adjusting the position of the first device and/or the second device.
7. The system of claim 6, further comprising: the device comprises a base platform, a horizontal transmission platform and a vertical transmission platform; the first equipment and the second equipment are arranged on the base platform respectively, and the horizontal transmission platform and the vertical transmission platform are arranged between the second equipment and the base platform;
the horizontal transmission platform is used for horizontally moving the second equipment, and the vertical transmission platform is used for vertically moving the second equipment.
8. The equipment centering device is applied to a controller in an equipment centering system, the equipment centering system further comprises first equipment, second equipment, a first displacement sensor group and a second displacement sensor group, the first displacement sensor group and the second displacement sensor group are both in communication connection with the controller, a first auxiliary shaft is arranged in a shaft hole of the first equipment, a second auxiliary shaft is arranged in a shaft hole of the second equipment, the first displacement sensor group is used for detecting first shaft position data of the first auxiliary shaft, and the second displacement sensor group is used for detecting second shaft position data of the second auxiliary shaft; the device comprises:
the axis position data receiving module is used for receiving the first axis position data sent by the first displacement sensor group and the second axis position data sent by the second displacement sensor group;
a displacement data determination module to determine displacement data of the first device and/or the second device based on the first axis position data and the second axis position data; the displacement data is indicative of a distance moved by the first device and/or the second device pair;
the control instruction generating module is used for generating a control instruction based on the displacement data;
and the control instruction sending module is used for sending the control instruction to a control motor so that the control motor can adjust the position of the first equipment and/or the second equipment.
9. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor to perform the steps of the device centering method of any one of claims 1-5.
10. A computer-readable storage medium having stored thereon computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the steps of the device centering method of any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011045618.1A CN112140038A (en) | 2020-09-28 | 2020-09-28 | Equipment centering method, system and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011045618.1A CN112140038A (en) | 2020-09-28 | 2020-09-28 | Equipment centering method, system and device and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112140038A true CN112140038A (en) | 2020-12-29 |
Family
ID=73896020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011045618.1A Pending CN112140038A (en) | 2020-09-28 | 2020-09-28 | Equipment centering method, system and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112140038A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115355868A (en) * | 2022-07-27 | 2022-11-18 | 成都飞机工业（集团）有限责任公司 | Device for testing axial alignment of aircraft engine and mounting and testing method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57187610A (en) * | 1981-05-14 | 1982-11-18 | Mitsubishi Electric Corp | Measuring device for coaxial degree of tubular and cylindrical objects |
| CN202994070U (en) * | 2012-12-26 | 2013-06-12 | 神华集团有限责任公司 | Centering detection mechanism for rotor in motor transmission assembly |
| CN203572431U (en) * | 2013-12-10 | 2014-04-30 | 成都海光核电技术服务有限公司 | Vibration-proof shaft coupling centering device |
| CN203798304U (en) * | 2014-03-31 | 2014-08-27 | 重庆小康工业集团股份有限公司 | Tool used for centering and aligning engine and dynamometer |
| CN204346716U (en) * | 2014-12-19 | 2015-05-20 | 北汽福田汽车股份有限公司 | Engine centralising device |
| CN109238111A (en) * | 2018-10-17 | 2019-01-18 | 广东盛邦机电工程有限公司 | It is a kind of intelligently to rotate mechanical centering instrument and its operating method |
| CN110186400A (en) * | 2019-06-28 | 2019-08-30 | 哈尔滨焊接研究院有限公司 | Friction welding coaxial accuracy detection device and its detection method |
| CN110553571A (en) * | 2019-09-10 | 2019-12-10 | 哈尔滨工程大学 | Shafting centering parameter measuring method |
| CN210524962U (en) * | 2019-09-16 | 2020-05-15 | 苏州拉克精密机械有限公司 | Hair-transformer connecting platform |
-
2020
- 2020-09-28 CN CN202011045618.1A patent/CN112140038A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57187610A (en) * | 1981-05-14 | 1982-11-18 | Mitsubishi Electric Corp | Measuring device for coaxial degree of tubular and cylindrical objects |
| CN202994070U (en) * | 2012-12-26 | 2013-06-12 | 神华集团有限责任公司 | Centering detection mechanism for rotor in motor transmission assembly |
| CN203572431U (en) * | 2013-12-10 | 2014-04-30 | 成都海光核电技术服务有限公司 | Vibration-proof shaft coupling centering device |
| CN203798304U (en) * | 2014-03-31 | 2014-08-27 | 重庆小康工业集团股份有限公司 | Tool used for centering and aligning engine and dynamometer |
| CN204346716U (en) * | 2014-12-19 | 2015-05-20 | 北汽福田汽车股份有限公司 | Engine centralising device |
| CN109238111A (en) * | 2018-10-17 | 2019-01-18 | 广东盛邦机电工程有限公司 | It is a kind of intelligently to rotate mechanical centering instrument and its operating method |
| CN110186400A (en) * | 2019-06-28 | 2019-08-30 | 哈尔滨焊接研究院有限公司 | Friction welding coaxial accuracy detection device and its detection method |
| CN110553571A (en) * | 2019-09-10 | 2019-12-10 | 哈尔滨工程大学 | Shafting centering parameter measuring method |
| CN210524962U (en) * | 2019-09-16 | 2020-05-15 | 苏州拉克精密机械有限公司 | Hair-transformer connecting platform |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115355868A (en) * | 2022-07-27 | 2022-11-18 | 成都飞机工业（集团）有限责任公司 | Device for testing axial alignment of aircraft engine and mounting and testing method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10300600B2 (en) | Control system having learning control function and control method | |
| US20130071198A1 (en) | Numerically-controlled machine tool | |
| CN108628258A (en) | Scanner control device, robot controller and remote laser welding robot system | |
| CN112140038A (en) | Equipment centering method, system and device and electronic equipment | |
| JP2007136975A (en) | Chuck vibration damping method of molded object unloading machine | |
| JP2009113160A (en) | Detection device and plate machining method | |
| TW201740232A (en) | Machine tool collision detecting apparatus equipped with collision stress releasing device | |
| CN101923336B (en) | System for controlling motion of machine platform and method thereof | |
| JP5226843B2 (en) | Origin position adjustment method in machine and machine having origin position adjustment function | |
| JP6440984B2 (en) | Numerical control device that performs acceleration / deceleration control by stopping distance | |
| CN111907368A (en) | Battery replacement equipment of electric vehicle and positioning method of battery replacement equipment | |
| CN108693838A (en) | Numerical control device and control method | |
| KR101209779B1 (en) | Method for estimating load of robot | |
| CN115826437A (en) | Automatic vehicle parking simulation method, system, device and electronic equipment | |
| CN212873274U (en) | Five-axis high-precision positioning control system based on PMAC | |
| JP2006033929A (en) | Motor drive controller | |
| CN117425541A (en) | Oscillation detecting device | |
| CN111536995A (en) | Gyroscope testing system and method | |
| CN102195546B (en) | Motor driving device | |
| JP6396389B2 (en) | Servo control device | |
| CN105905724B (en) | The detection method and its detection means of a kind of balance coefficient of elevator | |
| CN215618100U (en) | Robot | |
| CN214772044U (en) | Measurement and automatic compensation device of truss manipulator | |
| TWI464589B (en) | System and method for controlling motion of a measuring machine | |
| CN211042102U (en) | Ball screw pair stroke error detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201229 |
|
| RJ01 | Rejection of invention patent application after publication |