CN113305794A - Flexible sleeved cabin-penetrating assembly device and assembly method based on air floatation - Google Patents
Flexible sleeved cabin-penetrating assembly device and assembly method based on air floatation Download PDFInfo
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- CN113305794A CN113305794A CN202110673442.2A CN202110673442A CN113305794A CN 113305794 A CN113305794 A CN 113305794A CN 202110673442 A CN202110673442 A CN 202110673442A CN 113305794 A CN113305794 A CN 113305794A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
Abstract
A flexible sleeving cabin-penetrating assembling device and method based on air floatation solve the problems of low efficiency and poor flexibility of the existing sleeving cabin-penetrating assembling and belong to the field of sleeving cabin-penetrating assembling. The invention comprises a bottom vehicle, an air floating platform, a yawing translation adjusting device, a pitching adjusting device, an upper platform, an adjusting bracket and two rolling adjusting devices; the two rolling adjusting devices and the air floating platform are arranged on the bottom car; the yaw translation adjusting device, the pitching adjusting device and the adjusting bracket are arranged on the air floatation platform, and the pitching adjusting device is used for adjusting the pitching angle of the air floatation platform; the upper platform is arranged above the air floatation platform, the upper platform is fixed on the yaw translation adjusting device, and the yaw translation adjusting device adjusts the yaw angle of the upper platform; the adjusting bracket is used for placing the cabin section to be penetrated; the two rolling adjusting devices are respectively arranged on two sides of the air floating platform, the rolling adjusting devices are provided with supporting portions used for placing the sleeved cabin sections, and the rolling adjusting devices are used for adjusting the overturning of the sleeved cabin sections.
Description
Technical Field
The invention relates to an air floatation-based flexible sleeving cabin-penetrating assembling device and method, and belongs to the field of sleeving cabin-penetrating assembling.
Background
Along with the improvement of the flight speed of tactical missiles, the missile body structure has increasingly complex appearance and gradually increased size, the service environment condition of the missiles is more rigorous, and the missile body structure is changed from a single revolving body structure to a complex profile structure and from split small part assembly to integrated large parts. The coordination relation of the assembly of large-scale complex parts is complex, and the requirement on the matching precision of the hole shaft of the butt joint surface is high; meanwhile, in order to meet the complex thermal load requirement under the flight condition, the main structure of the elastomer mainly adopts high-temperature resistant materials such as titanium alloy and the like, the integral structure is designed and manufactured, and the abnormal shape is complex; the heat insulation material is filled in the interior, so that the filling density is high, and the assembly space is narrow; the air inlet channel of the scramjet is of a slender irregular structure, and high-precision positioning cannot be realized in the assembling process.
The more conventional product of supersonic velocity guided missile exists aerodynamic configuration irregularity, the big characteristics of size, if certain type product diameter exceeds 1m, one-level overall length exceeds 15m, adopt big stroke in the assembling process, the plug-in installation of little clearance, the assembling process need be to the angle, the measurement is implemented to direction etc., the artifical observation analysis degree of difficulty is big, cause the interference of under-deck equipment easily, need high accuracy mechanical equipment cooperation in the assembling process, the assembly flexibility is poor, manual assembly has seriously restricted the assembly efficiency of product simultaneously, wait for new technique urgently, the introduction of new method, reduce operation strength, promote assembly efficiency.
Disclosure of Invention
Aiming at the problems of low efficiency and poor flexibility of the existing sleeved cabin-penetrating assembly, the invention provides a flexible sleeved cabin-penetrating assembly device and an assembly method based on air floatation.
The invention relates to a flexible sleeved cabin-penetrating assembly device based on air floatation, which comprises a bottom vehicle 1, an air floatation platform 2, a yawing translation adjusting device, a pitching adjusting device 5, an upper platform 6, an adjusting bracket 7 and two rolling adjusting devices 4, wherein the bottom vehicle is provided with a plurality of air floatation adjusting devices;
the two rolling adjusting devices 4 and the air floating platform 2 are both arranged on the bottom vehicle 1;
the yaw translation adjusting device and the pitching adjusting device 5 are arranged on the air floating platform 2, and the pitching adjusting device 5 is used for adjusting the pitching angle of the air floating platform 2;
the upper platform 6 is arranged above the air floatation platform 2, the upper platform 6 is fixed on a yaw translation adjusting device, and the yaw translation adjusting device is used for adjusting the yaw angle of the upper platform 6; the adjusting bracket 7 is arranged on the upper platform 6 and used for placing a cabin section 8 to be penetrated;
the two rolling adjusting devices 4 are respectively arranged on two sides of the air floating platform 2, the rolling adjusting devices 4 are provided with supporting parts used for placing the sleeved cabin sections in the assembling process, and the rolling adjusting devices 4 are used for adjusting the overturning of the sleeved cabin sections.
Preferably, the adjusting bracket 7 comprises 7 supports, namely a front support 7-1 of the section of the socketed cabin 2, a front support 7-2 of the section of the cabin to be penetrated, a middle support 7-3 of the section of the cabin to be penetrated, a rear support 7-4 of the section of the cabin to be penetrated, a front support 7-5 of the section of the socketed cabin 1, a rear support 7-6 of the section of the socketed cabin 2 and a rear support 7-7 of the section of the socketed cabin 1 which are sequentially arranged on the upper surface of the upper platform 6.
Preferably, the 7 supports each comprise a lifting device and a corresponding support mechanism, and the support mechanisms are arranged at the top ends of the lifting devices.
Preferably, each roll adjustment device 4 comprises a support base 4-1, a lifting mechanism 4-2, 1 rolling ring base 4-3 and 1 rolling ring 4-4;
the support base 4-1 is arranged on the bottom vehicle 1, the lifting mechanism 4-2 is arranged on the support base 4-1, the rolling ring base 4-3 is arranged at the top end of the lifting mechanism 4-2, the rolling ring 4-4 is borne by the top end of the rolling ring base 4-3, and the rolling ring 4-4 is in non-fixed connection with the top end of the rolling ring base 4-3.
Preferably, the air floating platform 2 comprises an air floating support 2-1 and an air foot 2-2, wherein the air foot 2-2 is positioned above the air floating support 2-1 and is connected with the air floating support through an air floating plane.
Preferably, the yaw translation adjusting device comprises four sliding assemblies 3, one long guide rail 3-6 and two short guide rails 3-7;
the long guide rails 3-6 cross the air supporting supports 2-1, two ends of the long guide rails 3-6 are fixed on two sides of the air supporting supports 2-1, and the other two sides of the air supporting supports 2-1 are respectively fixed with a short guide rail 3-7;
the four sliding assemblies are distributed on four side surfaces of the air foot 2-2 and are fixedly connected with the side surfaces of the air foot 2-2, two sliding assemblies are simultaneously in sliding connection with one long guide rail 3-6, and the other two sliding assemblies are respectively in sliding connection with two short guide rails 3-7.
Preferably, each sliding assembly 3 comprises a driving motor 3-1, a module 3-2, a coupling 3-3, a connecting plate 3-4 and a spring roller 3-5;
the module 3-2 is connected with the driving motor 3-1 through the coupler 3-3, one side of the module 3-2 is fixed on the side surface of the air foot 2-2, and the spring roller 3-5 is connected with the module 3-2 through the connecting plate 3-4; the spring rollers 3-5 are used for being connected with the long guide rails 3-6 and the short guide rails 3-7 in a sliding mode.
Preferably, the pitch adjustment device 5 comprises a lifting structure 5-1 and a rotating mechanism 5-2; the lifting structure 5-1 and the rotating mechanism 5-2 are both fixed on the air foot 2-2;
the lifting support end of the lifting structure 5-1 and the rotating part of the rotating mechanism 5-2 are both fixedly connected with the bottom of the upper platform 6.
Preferably, the base car is an AGV car.
The invention also provides an assembly method of the flexible sleeved cabin-penetrating assembly device based on air floatation, which comprises the following steps:
s1, moving the 1 section 9 of the sleeving cabin to the front support 7-1 of the 2 section of the sleeving cabin, moving the 8 section of the cabin to be penetrated to the front support 7-2 of the cabin section to be penetrated, the support 7-3 in the cabin section to be penetrated and the back support 7-4 of the cabin section to be penetrated, adjusting the position and the attitude of the 8 section to be penetrated through the cabin through a yaw translation adjusting device 3 and a pitch adjusting device 5 and adapting to the 9 section of the sleeving cabin 1, descending the front support 7-2 of the cabin section to be penetrated after the adjustment is finished, and supporting the 8 section to be penetrated through by the support 7-3 in the cabin section to be penetrated and the back support 7-4 of the cabin section to be penetrated;
s2, enabling the bottom car 1 to move linearly to penetrate a cabin, enabling a section 9 of the sleeved cabin 1 to penetrate through a front support 7-2 of a cabin section to be penetrated, lifting the front support 7-2 of the cabin section to be penetrated, enabling a support 7-3 in the cabin section to be penetrated to descend, and supporting a cabin section 8 to be penetrated through by the front support 7-2 of the cabin section to be penetrated and a rear support 7-4 of the cabin section to be penetrated;
s3, carrying out cabin penetration by the linear motion of the bottom vehicle 1, after the section 9 of the sleeved cabin 1 penetrates through the support 7-3 in the cabin section to be penetrated, lifting the support 7-3 in the cabin section to be penetrated, and communicating with an air source of an air foot 2-2 to realize frictionless motion of the air foot on the air floatation support 2-1;
s4, descending a rear support 7-4 of the cabin section to be penetrated, controlling the rolling adjusting and connecting devices 4 on the left side and the right side of the air floating platform 2 to move in the same direction, enabling the air foot 2-2 to bear the cabin section 8 to be penetrated to move linearly, lifting the rear support 7-4 of the cabin section to be penetrated after cabin penetration is completed, and lifting a front support 7-5 of the cabin 1 section of the sleeving cabin and a rear support 7-7 of the cabin 1 section of the sleeving cabin;
s5, after the cabin penetrating of the section 1 of the sleeving cabin 9 is finished, adjusting the pose of the combination of the section 8 of the cabin to be penetrated and the section 1 of the sleeving cabin to be matched with the section 10 of the sleeving cabin, descending the section 2 of the sleeving cabin 10 after the adjustment is finished, and respectively connecting the section 8 of the cabin to be penetrated and the section 1 of the sleeving cabin 9 after the descending meets the requirement;
s6, respectively connecting rolling rings 4-4 of 2 rolling adjusting devices 4 with a socket cabin 1 section 9 and a socket cabin 2 section 10, raising a rolling ring base 4-3 to a specified height, descending a cabin section to be penetrated front support 7-2, a cabin section to be penetrated middle support 7-3, a cabin section to be penetrated rear support 7-4, a socket cabin section 1 front support 7-5 and a socket cabin 1 section rear support 7-7 until 3 cabin sections are completely supported by the rolling adjusting and connecting devices 4;
s7, overturning the combination of the socket cabin 2 section 10, the socket cabin 1 section 9 and the cabin section 8 to be penetrated by 180 degrees, correspondingly operating the socket cabin 2 section 10, overturning the combination of the socket cabin 2 section 10, the socket cabin 1 section 9 and the cabin section 8 to be penetrated by 180 degrees, lifting the front support 7-1 of the socket cabin 2 section and the rear support 7-6 of the socket cabin 2 section until the rolling rings 4-4 are separated from the rolling ring base 4-3, disassembling the 2 rolling rings 4-4, and completing assembly.
The invention has the advantages that the precision-matched non-contact deep cabin-penetrating assembly can be realized, the air floating structure realizes plane friction-free movement, the flexibility in the assembly process is greatly improved, the assembly control precision is effectively improved, and the assembly quality and efficiency are improved. The supporting problem of the large-diameter cabin section with the complicated appearance can be effectively solved by the aid of the multiple supporting structures.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a slide assembly of the yaw translation adjustment apparatus;
FIG. 3 is a schematic view of a yaw translation adjustment apparatus;
FIG. 4 is a schematic diagram of a roll adjustment device;
FIG. 5 is a schematic view of the pitch adjustment mechanism;
FIG. 6 is a schematic view of the structure of the adjustment bracket;
fig. 7 is an assembly flow diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The flexible sleeved cabin-penetrating assembly device based on air floatation comprises a bottom vehicle 1, an air floatation platform 2, a yawing translation adjusting device, a pitching adjusting device 5, an upper platform 6, an adjusting bracket 7 and two rolling adjusting devices 4;
the two rolling adjusting devices 4 and the air floating platform 2 are both arranged on the bottom vehicle 1;
the yaw translation adjusting device and the pitching adjusting device 5 are arranged on the air floating platform 2, and the pitching adjusting device 5 is used for adjusting the pitching angle of the air floating platform 2;
the upper platform 6 is arranged above the air floatation platform 2, the upper platform 6 is fixed on a yaw translation adjusting device, and the yaw translation adjusting device is used for adjusting the yaw angle of the upper platform 6;
the adjusting bracket 7 is arranged on the upper platform 6 and used for placing a cabin section 8 to be penetrated;
the two rolling adjusting devices 4 are respectively arranged on two sides of the air floating platform 2, the rolling adjusting devices 4 are provided with supporting parts used for placing the sleeved cabin sections in the assembling process, and the rolling adjusting devices 4 are used for adjusting the overturning of the sleeved cabin sections.
In the assembly process, the yaw angle and the pitch angle of the upper platform 6 are adjusted through the yaw translation adjusting device and the pitch adjusting device 5, the angle of the adjusting support 7 is determined, the cabin section 8 to be penetrated on the adjusting support 7 is matched with the sleeved cabin section, then the cabin is penetrated through the bottom car 1 and the air floatation platform 2, the sleeved cabin section is sleeved on the cabin section 8 to be penetrated, the assembly is completed, the air floatation platform is adopted in the embodiment, the flexibility is realized in the assembly process, the plane frictionless motion is realized, meanwhile, the 6-degree-of-freedom adjusting capacity can be realized, the non-contact depth cabin penetrating assembly of precise fit can be realized, the assembly control precision is effectively improved, and the assembly quality and efficiency are improved.
The adjusting bracket 7 of the embodiment comprises 7 supports, namely a front support 7-1 of a section of a sleeving cabin 2, a front support 7-2 of a cabin section to be penetrated, a middle support 7-3 of the cabin section to be penetrated, a rear support 7-4 of the cabin section to be penetrated, a front support 7-5 of a section of the sleeving cabin 1, a rear support 7-6 of a section of the sleeving cabin 2 and a rear support 7-7 of a section of the sleeving cabin 1 which are sequentially arranged on the upper surface of an upper platform 6; the 7 supports all include elevating gear and corresponding supporting mechanism, and supporting mechanism sets up the top at elevating gear.
In the assembly process, a 1 section 9 of a sleeving cabin is moved to a front support 7-1 of a 2 section of the sleeving cabin, a cabin section 8 to be penetrated is moved to a front support 7-2 of the cabin section to be penetrated, a middle support 7-3 of the cabin section to be penetrated and a rear support 7-4 of the cabin section to be penetrated, the pose of the cabin section 8 to be penetrated is adjusted through a yaw translation adjusting device 3 and a pitching adjusting device 5 and is matched with the section 9 of the sleeving cabin 1, after the adjustment is finished, the front support 7-2 of the cabin section to be penetrated descends, and the cabin section 8 to be penetrated is supported by the middle support 7-3 of the cabin section to be penetrated and the rear support 7-4 of the cabin section to be penetrated; the method comprises the following steps that a bottom vehicle 1 linearly moves to penetrate a cabin, after a sleeved cabin 1 section 9 penetrates through a front support 7-2 of a cabin section to be penetrated, the front support 7-2 of the cabin section to be penetrated is lifted, a support 7-3 in the cabin section to be penetrated is descended, and a cabin section 8 to be penetrated is supported by the front support 7-2 of the cabin section to be penetrated and a rear support 7-4 of the cabin section to be penetrated; the bottom vehicle 1 linearly moves to penetrate the cabin, after the sleeved cabin 1 section 9 penetrates through the support 7-3 in the cabin section to be penetrated, the support 7-3 in the cabin section to be penetrated rises, and the air source of the air floating platform is communicated, so that the friction-free movement of the air floating platform is realized; then descending a rear support 7-4 of the cabin penetrating section, controlling a yaw translation adjusting device 2 on the left side and the right side of the air floating platform 2 to move in the same direction, enabling an air foot 2-2 to bear a cabin section 8 to be penetrated to move linearly, lifting the rear support 7-4 of the cabin penetrating section after cabin penetrating is completed, and lifting a front support 7-5 of a sleeve cabin 1 section and a rear support 7-7 of the sleeve cabin 1 section; after the cabin penetrating of the section 1 of the socketed cabin 9 is finished, the pose of the combination body of the cabin section 8 to be penetrated and the section 9 of the socketed cabin 1 is adjusted again and is matched with the section 10 of the socketed cabin 2, the section 10 of the socketed cabin 2 descends after the adjustment is finished, and the section 10 of the socketed cabin is connected with the cabin section 8 to be penetrated and the section 9 of the socketed cabin 1 respectively after the descending meets the requirement; respectively connecting the supporting parts of 2 rolling devices 4 with a sleeve cabin 1 section 9 and a sleeve cabin 2 section 10, raising the rolling devices 4 to reach a specified height, and descending a cabin section front support 7-2 to be penetrated, a cabin section middle support 7-3 to be penetrated, a cabin section rear support 7-4 to be penetrated, a sleeve cabin section 1 front support 7-5 and a sleeve cabin 1 section rear support 7-7 until 3 cabin sections are completely supported by the rolling adjusting devices 4; and the combined body of the section 2 of the sleeving cabin 10, the section 1 of the sleeving cabin 9 and the section 8 of the cabin to be penetrated is turned over by 180 degrees, the section 2 of the sleeving cabin 10 is correspondingly operated, after the operation is finished, the combined body of the section 2 of the sleeving cabin 10, the section 1 of the sleeving cabin 9 and the section 8 of the cabin to be penetrated is turned over by 180 degrees, the front support 7-1 of the section 2 of the sleeving cabin and the rear support 7-6 of the section 2 of the sleeving cabin are lifted until the combined body is separated from the rolling adjusting device 4, and the assembly is finished.
As shown in fig. 4, each rolling device 4 of the present embodiment includes a support base 4-1, a lifting mechanism 4-2, 1 rolling ring base 4-3, and 1 rolling ring 4-4;
the support base 4-1 is arranged on the bottom vehicle 1, the lifting mechanism 4-2 is arranged on the support base 4-1, the rolling ring base 4-3 is arranged at the top end of the lifting mechanism 4-2, the rolling ring 4-4 is borne by the top end of the rolling ring base 4-3, and the rolling ring 4-4 is in non-fixed connection with the top end of the rolling ring base 4-3.
The elevating mechanism 4-2 of the rolling device 4 of the present embodiment includes two elevating mechanisms, as shown in fig. 4, and the rolling ring 4-4 is detachable from the rolling ring base 4-3.
The air floating platform 2 of the embodiment comprises an air floating support 2-1 and an air foot 2-2, wherein the air foot 2-2 is positioned above the air floating support 2-1 and is connected with the air floating support through an air floating plane.
The yaw translation adjusting device of the embodiment comprises four sliding assemblies 3, a long guide rail 3-6 and two short guide rails 3-7; the long guide rails 3-6 cross the air supporting supports 2-1, two ends of the long guide rails 3-6 are fixed on two sides of the air supporting supports 2-1, and the other two sides of the air supporting supports 2-1 are respectively fixed with a short guide rail 3-7;
the four sliding assemblies are distributed on four side surfaces of the air foot 2-2 and are fixedly connected with the side surfaces of the air foot 2-2, two sliding assemblies are simultaneously in sliding connection with one long guide rail 3-6, and the other two sliding assemblies are respectively in sliding connection with two short guide rails 3-7. Each sliding assembly 3 comprises a driving motor 3-1, a module 3-2, a coupler 3-3, a connecting plate 3-4 and a spring roller 3-5;
the module 3-2 is connected with the driving motor 3-1 through the coupler 3-3, one side of the module 3-2 is fixed on the side surface of the air foot 2-2, and the spring roller 3-5 is connected with the module 3-2 through the connecting plate 3-4; the spring rollers 3-5 are used for being in rolling connection with the long guide rails 3-6 and the short guide rails 3-7.
Yaw translation adjusting device all has two operating condition: 1. when the device plays a role in guiding and adjusting the posture, nuts on two sides of the spring roller 3-5 are locked, the spring is compressed, the roller is further pressed against the guide rail, and the yaw translation adjusting device is in a locking state; 2. when the cabin is penetrated, nuts on two sides of the spring rollers 3-5 are loosened, the compression springs are in an uncompressed state, the rollers are enabled not to contact the guide rail, and at the moment, the yawing translation adjusting device is in a self-adaptive state.
The pitch adjusting device 5 of the present embodiment includes a lifting structure 5-1 and a rotating mechanism 5-2; the lifting structure 5-1 and the rotating mechanism 5-2 are both fixed on the air foot 2-2; the lifting support end of the lifting structure 5-1 and the rotating part of the rotating mechanism 5-2 are both fixedly connected with the bottom of the upper platform 6.
The bottom car of this embodiment is an AGV car.
As shown in fig. 7, the assembly method of the flexible sleeved cabin-penetrating assembly device based on air flotation according to the present embodiment includes:
firstly, moving a section 9 of a sleeving cabin 1 to a front support 7-1 of a section 2 of the sleeving cabin, moving a cabin section 8 to be penetrated to a front support 7-2 of the cabin section to be penetrated, a support 7-3 in the cabin section to be penetrated and a rear support 7-4 of the cabin section to be penetrated, adjusting the pose of the cabin section 8 to be penetrated through a yaw translation adjusting device 3 and a pitch adjusting device 5 and adapting to the section 9 of the sleeving cabin 1, descending the front support 7-2 of the cabin section to be penetrated after the adjustment is finished, and supporting the cabin section 8 to be penetrated through the support 7-3 in the cabin section to be penetrated and the rear support 7-4 of the cabin section to be penetrated;
step two, the bottom vehicle 1 linearly moves to penetrate a cabin, after a section 9 of the sleeved cabin 1 penetrates through a front support 7-2 of a cabin section to be penetrated, the front support 7-2 of the cabin section to be penetrated is lifted, a support 7-3 in the cabin section to be penetrated descends, and a cabin section 8 to be penetrated is supported by the front support 7-2 of the cabin section to be penetrated and a rear support 7-4 of the cabin section to be penetrated;
step three, carrying out cabin penetration by the linear motion of the bottom vehicle 1, after the section 9 of the sleeved cabin 1 penetrates through the support 7-3 in the cabin section to be penetrated, lifting the support 7-3 in the cabin section to be penetrated, and communicating with an air source of an air foot 2-2 to realize frictionless motion of the air foot on the air floatation support 2-1;
step four, descending a rear support 7-4 of the cabin-crossing cabin section, controlling yaw translation adjusting devices 2 on the left side and the right side of the air floatation platform 2, enabling the modules 3-2 to move in the same direction through opposite rotation of motors 3-1 on the left side and the right side, and further driving the air feet 2-2 and the air floatation support 2-1 to generate a relative motion effect: namely, the air foot 2-2 and the air floatation support 2-1 generate relative motion to realize the linear forward movement of the cabin section to be penetrated. At the moment, the cabin section 9 to be sleeved in the fourth step is not moved, the part of the air foot which can bear enough air moves in the same direction, so that the air foot 2-2 can bear the cabin section 8 to be penetrated and linearly move, after the cabin penetration is finished, the cabin section to be penetrated is lifted, the rear support 7-4 is supported, and the front support 7-5 of the cabin section 1 to be sleeved and the rear support 7-7 of the cabin section 1 to be sleeved are lifted; step five, after the cabin penetration of the section 9 of the sleeving cabin 1 is finished, the pose of the combination body of the cabin section 8 to be penetrated and the section 9 of the sleeving cabin 1 is adjusted again and is matched with the section 10 of the sleeving cabin 2, the section 10 of the sleeving cabin 2 descends after the adjustment is finished, and the descending is connected with the cabin section 8 to be penetrated and the section 9 of the sleeving cabin 1 respectively after the descending meets the requirement;
step six, respectively connecting rolling rings 4-4 of 2 rolling devices 4 with a sleeving cabin 1 section 9 and a sleeving cabin 2 section 10, raising a rolling ring base 4-3 to reach a specified height, descending a front support 7-2 of a cabin section to be penetrated, a middle support 7-3 of the cabin section to be penetrated, a rear support 7-4 of the cabin section to be penetrated, a front support 7-5 of the sleeving cabin section 1 and a rear support 7-7 of the sleeving cabin 1 section until 3 cabin sections are completely supported by the rolling adjusting device 4;
and seventhly, turning over the combination of the section 2 of the socketing cabin 10, the section 1 of the socketing cabin 9 and the section 8 of the cabin to be penetrated by 180 degrees, correspondingly operating the section 2 of the socketing cabin 10, turning over the combination of the section 2 of the socketing cabin 10, the section 1 of the socketing cabin 9 and the section 8 of the cabin to be penetrated by 180 degrees after the corresponding operation is finished, lifting the front support 7-1 of the section 2 of the socketing cabin and the rear support 7-6 of the section 2 of the socketing cabin until the rolling rings 4-4 are separated from the rolling ring bases 4-3, removing the 2 rolling rings 4-4, and finishing the assembly.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A flexible sleeved cabin-penetrating assembly device based on air floatation is characterized by comprising a bottom vehicle (1), an air floatation platform (2), a yaw translation adjusting device, a pitching adjusting device (5), an upper platform (6), an adjusting bracket (7) and two rolling adjusting devices (4);
the two rolling adjusting devices (4) and the air floating platform (2) are arranged on the bottom vehicle (1);
the yaw translation adjusting device and the pitching adjusting device (5) are arranged on the air floatation platform (2), and the pitching adjusting device (5) is used for adjusting the pitching angle of the air floatation platform (2);
the upper platform (6) is arranged above the air floatation platform (2), the upper platform (6) is fixed on the yaw translation adjusting device, and the yaw translation adjusting device is used for adjusting the yaw angle of the upper platform (6); the adjusting bracket (7) is arranged on the upper platform (6) and is used for placing a cabin section (8) to be penetrated;
the two rolling adjusting devices (4) are respectively arranged on two sides of the air floating platform (2), the rolling adjusting devices (4) are provided with supporting portions used for placing the sleeved cabin sections in the assembling process, and the rolling adjusting devices (4) are used for adjusting the overturning of the sleeved cabin sections.
2. The air-flotation-based flexible sleeved cabin-penetrating assembling device is characterized in that the adjusting support (7) comprises 7 supports, namely a sleeved cabin 2 section front support (7-1), a cabin section front support (7-2) to be penetrated, a cabin section middle support (7-3) to be penetrated, a cabin section rear support (7-4) to be penetrated, a sleeved cabin 1 section front support (7-5), a sleeved cabin 2 section rear support (7-6) and a sleeved cabin 1 section rear support (7-7) which are sequentially arranged on the upper surface of the upper platform (6).
3. The air-floatation-based flexible sleeved cabin-penetrating assembling device of claim 2, wherein each of the 7 supports comprises a lifting device and a corresponding support mechanism, and the support mechanisms are arranged at the top ends of the lifting devices.
4. The flexible sleeved cross-hatch assembly device based on air flotation of claim 3, characterized in that each rolling adjustment device (4) comprises a support base (4-1), a lifting mechanism (4-2), 1 rolling ring base (4-3) and 1 rolling ring (4-4);
the supporting base (4-1) is arranged on the bottom car (1), the lifting mechanism (4-2) is arranged on the supporting base (4-1), the rolling ring base (4-3) is installed at the top end of the lifting mechanism (4-2), the top end of the rolling ring base (4-3) bears one rolling ring (4-4), and the rolling ring (4-4) is in non-fixed connection with the top end of the rolling ring base (4-3).
5. The air-floatation-based flexible sleeved cabin-penetrating assembly device according to claim 4, wherein the air-floatation platform (2) comprises an air-floatation support (2-1) and an air foot (2-2), and the air foot (2-2) is located above the air-floatation support (2-1) and connected through an air-floatation plane.
6. The flexible sleeved cross-hatch assembly device based on air flotation according to claim 5, characterized in that the yaw translation adjusting device comprises four sliding assemblies (3), one long guide rail (3-6) and two short guide rails (3-7);
the long guide rails (3-6) cross the air floatation support (2-1), two ends of the long guide rails (3-6) are fixed on two sides of the air floatation support (2-1), and the other two sides of the air floatation support (2-1) are respectively fixed with one short guide rail (3-7);
the four sliding assemblies are distributed on four side surfaces of the air foot (2-2) and fixedly connected with the side surfaces of the air foot (2-2), wherein two sliding assemblies are simultaneously in sliding connection with one long guide rail (3-6), and the other two sliding assemblies are respectively in sliding connection with two short guide rails (3-7).
7. The air floatation-based flexible sleeve cabin-penetrating assembling device according to claim 6, wherein each sliding assembly (3) comprises a driving motor (3-1), a module (3-2), a coupler (3-3), a connecting plate (3-4) and a spring roller (3-5);
the module (3-2) is connected with the driving motor (3-1) through the coupler (3-3), one side of the module (3-2) is fixed on the side face of the air foot (2-2), and the spring roller (3-5) is connected with the module (3-2) through the connecting plate (3-4); the spring rollers (3-5) are used for being connected with the long guide rails (3-6) and the short guide rails (3-7) in a sliding mode.
8. The flexible sleeved cross-hatch assembly device based on air flotation according to claim 1, characterized in that the pitch adjusting device (5) comprises a lifting structure (5-1) and a rotating mechanism (5-2); the lifting structure (5-1) and the rotating mechanism (5-2) are both fixed on the air foot (2-2);
the lifting support end of the lifting structure (5-1) and the rotating part of the rotating mechanism (5-2) are fixedly connected with the bottom of the upper platform (6).
9. The air-float-based flexible sleeved cabin-penetrating assembling device according to claim 1, wherein the bottom vehicle is an AGV vehicle.
10. The method of assembling the air-float-based flexible sleeved cross-hatch assembly device of claim 5, wherein the method comprises:
s1, moving a socket cabin 1 section (9) to a socket cabin 2 section front support (7-1), moving a cabin section (8) to be penetrated to a cabin section front support (7-2), a cabin section middle support (7-3) and a cabin section rear support (7-4), adjusting the pose of the cabin section (8) to be penetrated through a yaw translation adjusting device (3) and a pitch adjusting device (5) and adapting to the socket cabin 1 section (9), after the adjustment is completed, descending the cabin section front support (7-2) to be penetrated, and supporting the cabin section (8) to be penetrated through the cabin section middle support (7-3) and the cabin section rear support (7-4) to be penetrated through;
s2, enabling the bottom car (1) to move linearly to penetrate a cabin, enabling a sleeving cabin 1 section (9) to penetrate through a front support (7-2) of a cabin section to be penetrated, lifting the front support (7-2) of the cabin section to be penetrated, descending a support (7-3) in the cabin section to be penetrated, and supporting the cabin section to be penetrated (8) by the front support (7-2) of the cabin section to be penetrated and a rear support (7-4) of the cabin section to be penetrated;
s3, carrying out cabin penetration by the linear motion of the bottom vehicle (1), after the section (9) of the sleeved cabin 1 penetrates through the support (7-3) in the cabin section to be penetrated, lifting the support (7-3) in the cabin section to be penetrated, and communicating with an air source of an air foot (2-2) to realize frictionless motion of the air foot on the air floatation support (2-1);
s4, descending a rear support (7-4) of the cabin section to be penetrated, controlling rolling adjusting and connecting devices (4) on the left side and the right side of the air floating platform (2) to move in the same direction, enabling air feet (2-2) to bear the cabin section to be penetrated (8) to move linearly, lifting the rear support (7-4) of the cabin section to be penetrated after cabin penetration is completed, and lifting a front support (7-5) of the section of the socket cabin 1 and a rear support (7-7) of the section of the socket cabin 1;
s5, after cabin penetration of the cabin section 1 (9) of the sleeving cabin is finished, adjusting the pose of a combination body of the cabin section (8) to be penetrated and the cabin section 1 (9) of the sleeving cabin again and enabling the combination body to be matched with the cabin section 2 (10) of the sleeving cabin, descending the cabin section 2 (10) of the sleeving cabin after adjustment is finished, and respectively connecting the cabin section (8) to be penetrated and the cabin section 1 (9) of the sleeving cabin after descending meets the requirement;
s6, respectively connecting rolling rings (4-4) of 2 rolling adjusting devices (4) with a socket cabin 1 section (9) and a socket cabin 2 section (10), raising a rolling ring base (4-3) to a specified height, descending a cabin section front support (7-2) to be penetrated, a cabin section middle support (7-3) to be penetrated, a cabin section rear support (7-4) to be penetrated, a socket cabin section 1 front support (7-5) and a socket cabin 1 section rear support (7-7) until 3 cabin sections are completely supported by the rolling adjusting and connecting devices (4);
s7, overturning the combination of the socket cabin 2 section (10), the socket cabin 1 section (9) and the cabin section (8) to be penetrated by 180 degrees, correspondingly operating the socket cabin 2 section (10), overturning the combination of the socket cabin 2 section (10), the socket cabin 1 section (9) and the cabin section (8) to be penetrated by 180 degrees after the corresponding operation is finished, lifting the front support (7-1) of the socket cabin 2 section and the rear support (7-6) of the socket cabin 2 section until the rolling ring (4-4) is separated from the rolling ring base (4-3), detaching 2 rolling rings (4-4), and finishing the assembly.
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