CN114111467B - Automatic docking system for projectile body cabin segments and operation method - Google Patents
Automatic docking system for projectile body cabin segments and operation method Download PDFInfo
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- CN114111467B CN114111467B CN202111540328.9A CN202111540328A CN114111467B CN 114111467 B CN114111467 B CN 114111467B CN 202111540328 A CN202111540328 A CN 202111540328A CN 114111467 B CN114111467 B CN 114111467B
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 192
- 238000003860 storage Methods 0.000 claims abstract description 37
- 210000001503 joint Anatomy 0.000 claims abstract description 36
- 238000009434 installation Methods 0.000 claims abstract description 31
- 238000012546 transfer Methods 0.000 claims abstract description 19
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 16
- 229920001971 elastomer Polymers 0.000 claims abstract description 6
- 239000000806 elastomer Substances 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 230000007723 transport mechanism Effects 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/36—Means for interconnecting rocket-motor and body section; Multi-stage connectors; Disconnecting means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Automatic Assembly (AREA)
Abstract
The invention belongs to an automatic docking system of an elastomer cabin section and an operation method thereof, and the automatic docking system comprises a square docking mounting frame, wherein an AGV transfer vehicle is arranged at the left end of the front side of the docking mounting frame, and an AGV rotating device is arranged at the left side of the AGV transfer vehicle; the device is characterized in that two transfer mechanisms are arranged on the left side of the upper surface of the butt joint mounting frame, a base moving mechanism is arranged on the left side of the transfer mechanisms, a fork mechanism I is arranged between the two transfer mechanisms, and a robot non-contact measuring mechanism I is arranged on the right side of the transfer mechanisms; the right end of the butt joint installation frame is provided with a fixed buffer storage frame in the temporary storage frame mechanism, the right end of the fixed buffer storage frame is provided with a cabin section support frame, the right end of the cabin section support frame is provided with a bidirectional pushing frame, and the rear side of the cabin section support frame is provided with a middle pushing frame. The invention improves the automation degree and the safety of operators in the missile transportation process; the labor intensity of staff is reduced, the working efficiency and the docking precision are improved, and the docking consistency and reliability are improved; and the reliability of the equipment is improved.
Description
Technical Field
The invention belongs to missile docking systems and operation methods, and particularly relates to an automatic missile cabin segment docking system and an operation method.
Background
Along with the high-speed development of digital intelligent manufacturing, the missile development industry also enters a new stage of automation and digitization with high production efficiency. At present, most of domestic missile butt joint assembly is still carried out in a manual mode, and butt joint among cabin sections is carried out by using a crane assembly manual work. In the butt joint process, the installation hole position between cabin sections needs to roll the projectile body in the circumferential direction, the manual visual inspection of the roll angle needs to depend on experience and skill level of operators, repeated roll, alignment, withdrawal and other operations are needed, and poor butt joint precision leads to low working efficiency and poor reliability. Most missile assembly workshops are inflammable and explosive environments, the danger coefficient is high, and the life safety of operators is low. The requirements of high safety, high precision, high efficiency and high reliability of missile production and assembly cannot be met.
Disclosure of Invention
The invention aims to solve the technical problems and provides an automatic abutting system for an elastomer cabin section and an operation method, wherein two attitude adjusting mechanisms are arranged on the left side of the upper surface of a square abutting mounting frame, a fork mechanism is arranged between the two attitude adjusting mechanisms, and a non-contact measuring mechanism of a robot is arranged on the right side of the upper surface of the square abutting mounting frame for automatic feeding, automatic measurement and automatic attitude adjusting abutting.
The technical scheme adopted for solving the technical problems is as follows: an automatic abutting system of an elastomer cabin section and an operation method thereof comprise square abutting installation frames, wherein an AGV transferring mechanism I is installed at the left end of the front side of each abutting installation frame, and an AGV transferring mechanism II is installed at the left side of each AGV transferring mechanism I; AGV transport mechanism one including transporting the automobile body, its characterized in that: a guide rail is fixed on an upper beam of the butt joint installation frame above the butt joint installation frame, and an adjustable base consisting of a plurality of bolts and nuts is arranged on a lower beam of the butt joint installation frame above the butt joint installation frame; a cabin section support frame III is arranged on the transfer vehicle body, support holding ring mounting frames III are fixed on the two ends of the cabin section support frame III, and support holding rings III are fixed at the middle and right ends of the cabin section support frame III through bolts; two gesture adjusting mechanisms are arranged on the left side of the upper surface of the butt joint mounting frame, a base moving mechanism is arranged on the left side of the gesture adjusting mechanism, a fork mechanism I is arranged between the two gesture adjusting mechanisms, and a non-contact measuring mechanism I of the robot is arranged on the right side of the gesture adjusting mechanism; the right end of the butt joint installation frame is provided with a fixed buffer storage frame in the temporary storage frame mechanism, the right end of the fixed buffer storage frame is provided with a cabin section support frame II, the right end of the cabin section support frame II is provided with a bidirectional pushing frame, and the rear side of the cabin section support frame II is provided with a middle pushing frame.
The gesture adjusting mechanism comprises gesture adjusting mechanism bases, wherein the gesture adjusting mechanism bases are fixed on the left side and the right side of the upper plane of the butt joint mounting frame, two ends of the lower surface of each gesture adjusting mechanism base are fixed with linear sliding blocks II, and sliding grooves are formed in the lower surfaces of the linear sliding blocks II; a speed reducer mounting seat is fixed on the right end of the gesture adjusting mechanism base by a bolt, a screw mounting seat is welded on the left side, a ball screw is arranged on the screw mounting seat, a radial gesture adjusting mechanism is arranged below the ball screw, and a servo motor power explosion-proof joint are arranged between the ball screw and the speed reducer mounting seat; a servo motor shaft is connected with a ball screw for driving, a gesture adjusting lifting installation frame in a gesture adjusting lifting mechanism is arranged on the servo motor shaft, a lifting servo motor is arranged on the right side of the gesture adjusting lifting mechanism, a coupler is arranged on the left side of the gesture adjusting lifting mechanism, and a spiral lifter is arranged on the left side of the coupler; screw lifter screw rods are fixed on the two sides of the lifting mounting frame, and a floating mounting plate in the floating fine adjustment mechanism is arranged in the middle of the screw lifter screw rods by screw lifter flange nuts; the upper end of a piston rod of the double-acting ultrathin cylinder is connected with an upper cylinder mounting seat by a nut, and the upper cylinder mounting seat is fixed on a fork-shaped embracing ring fixing frame in a cabin embracing ring mechanism; the left upper end of the embracing ring fixing frame is provided with a hasp, the right upper end is fixed with an anti-collision limiting mechanism seat by a screw, and an anti-collision screw rod is fixed on the anti-collision limiting mechanism seat by a nut; a semi-embracing ring frame is movably arranged on the right end of the embracing ring fixing frame by a damping shaft, and a plurality of cushion blocks are uniformly distributed on the inner sides of the semi-embracing ring frame and the embracing ring fixing frame; the middle of the embracing ring fixing frame is provided with a rolling limiting mechanism, and a rolling roller is arranged below the rolling limiting mechanism.
The first fork mechanism comprises a fork lifting base of the first fork mechanism, wherein a straight line bearing is fixed on two sides of the fork lifting base, a guide shaft is arranged in the straight line bearing, a fork mounting plate is fixed at the upper end of the guide shaft, and a lifting mounting plate II is arranged at the middle upper part of the guide shaft; two lower limiting blocks are arranged on the fork lifting base, two limiting blocks are arranged on the lifting mounting plate II, and a fork mechanism II is fixed at the upper end of the guide shaft; two sides of the second fork mechanism are provided with telescopic forks; the telescopic fork is provided with a supporting embracing ring mounting plate of a cabin section supporting plate I, and the two ends of the supporting embracing ring mounting plate are provided with supporting embracing rings I.
The base moving mechanism comprises a base moving mechanism arranged on a guide rail arranged on the left end of the butt joint installation frame, a plurality of first linear sliding blocks are uniformly distributed below the base moving mechanism, and a base moving fixing frame is fixed on the first linear sliding blocks. A motor seat is fixed below the base moving fixing frame, an axial driving servo motor is arranged on the motor seat, a driving gear is fixed on a motor shaft, and the driving gear is meshed with the rack above; the unidirectional telescopic electric cylinder is fixed below the first linear sliding blocks, the second lifting installation plate is fixed between the first linear sliding blocks, a driving chain seat is fixed in the middle of the second lifting installation plate, a lifting chain wheel is arranged on the driving chain seat through a pin shaft, the lifting chain wheel is meshed with a driving chain, the left end of the driving chain is connected with the right end of the unidirectional telescopic electric cylinder, the lower end of the driving chain is connected with a driving chain connecting block through a pin shaft, and the chain connecting block is fixed on the middle of the fork lifting base.
The first robot non-contact measuring mechanism comprises a robot base, wherein the first robot base is provided with the first robot non-contact measuring mechanism on the ground below the butt joint mounting frame, the PR-10 explosion-proof robot is arranged on the robot base, and the special-shaped measuring mounting frame of the second robot non-contact measuring mechanism is arranged below an arm of the first robot non-contact measuring mechanism; three point laser sensors are arranged on the upper beam of the measuring installation frame and the lower end of the middle upright rod, and industrial explosion-proof cameras are arranged on right-angle rods on two sides.
The temporary storage frame mechanism comprises a fixed cache frame arranged on the ground at the right end of the butt joint installation frame; the middle pushing frame is arranged at the rear of the left side of the cabin section supporting frame II; the right end of the cabin section supporting frame II is provided with a bidirectional pushing frame; the fixed buffer frame comprises a plurality of MYL-32-Q universal ball bearings fixed on a base of the fixed buffer frame.
The middle pushing frame comprises a triaxial cylinder below the middle of a middle pushing frame of the middle pushing frame, and three universal ball mounting plates are arranged below the middle pushing frame.
The bidirectional pushing frame comprises a bidirectional pushing frame, wherein a triaxial cylinder is arranged in the middle of the upper side and the right side of the bidirectional pushing frame, three universal ball mounting plates are arranged in the middle of the left surface of the right side, and five UBF-18-A flange type universal balls are arranged at the lower end of the bidirectional pushing frame.
The operation method of the invention is characterized in that: the following steps are adopted:
1) The cabin section support frame II and the cabin section C are transported to the temporary storage frame mechanism through the AGV transport mechanism II and lifted and placed on the temporary storage frame mechanism;
2) A triaxial cylinder on the temporary storage frame mechanism axially and radially pushes a cabin section supporting frame II to fix the cabin section II and the cabin section C to a reference position;
3) The AGV transferring mechanism firstly transfers the cabin B to the vicinity of the base moving mechanism, the telescopic fork stretches out and supports the cabin B, the fork mechanism firstly rises after the telescopic fork is retracted, the cabin B is loaded into the open cabin holding mechanism, and then the fork mechanism firstly descends;
4) After manually confirming that each party is error-free and safe, a hasp is buckled, and the control system confirms that the subsequent flow can be executed;
5) The first non-contact measuring mechanism of the robot works, and according to real-time measurement results, the posture of the B cabin section is adjusted by the posture adjusting mechanism in the propelling process, so that the axial positions of the B cabin section and the C cabin section, the locating pins and the holes are concentric;
6) Manually installing a fixing bolt between the cabin B and the cabin C;
7) After the installation work is completed, the hasp is opened manually;
8) Resetting a triaxial cylinder on the temporary storage frame mechanism, and releasing the fixation of the cabin section support frame II;
9) And the AGV transferring mechanism lifts the transferring cabin section supporting frame II and the full-elastic cabin section B and C to leave the temporary storage frame mechanism, transfers the temporary storage frame to the appointed storage position and completes the butt joint operation.
The beneficial effects of the invention are as follows:
1) The AGV transfer mechanism and the fork mechanism are matched to realize automatic loading and unloading of the missile cabin, so that the hoisting times of the cabin and the number of operators are reduced, and the automation degree and the safety of the operators in the missile transportation process are improved;
2) The gesture adjusting mechanism is controlled by software to automatically perform gesture adjusting and docking actions, so that the number of operators is effectively reduced, the labor intensity of the operators is reduced, the working efficiency and docking precision are improved, and the flexible assembly of the cabin section is realized;
3) The non-contact measuring mechanism of the robot is controlled by software to automatically measure, calculate and feed back the characteristic point positions of the docking cabin section, so that the actions of repeated alignment, withdrawal and the like are avoided, the alignment time is effectively shortened, and the docking consistency and reliability are improved;
4) The gesture adjusting mechanism has an automatic adjusting function, and the reliability of equipment is improved.
Drawings
The following is a detailed description of embodiments with reference to the accompanying drawings.
FIG. 1 is a front view of an elastomeric tank segment automatic docking system;
FIG. 2 is a front view of the base movement mechanism, attitude adjustment mechanism, fork mechanism, robotic non-contact measurement mechanism, etc. of FIG. 1;
FIG. 3 is a front view of the gesture adjustment mechanism of FIG. 1;
FIG. 4 is a front view of the first fork mechanism of FIG. 2;
FIG. 5 is a front view of the base movement mechanism of FIG. 1;
FIG. 6 is a front view of the robotic non-contact measurement mechanism one of FIG. 1;
FIG. 7 is a front view of the automated bay docking system of FIG. 1;
FIG. 8 is a front view of the fixed bumper bracket of FIG. 1;
FIG. 9 is a front view of the intermediate pusher carriage of FIG. 1;
FIG. 10 is a front view of the bi-directional pushing frame of FIG. 1;
FIG. 11 is a first AGV transport in soil 1;
FIG. 12 is a front view of the AGV transport of FIG. 1.
In the figure: 1-butting a mounting frame; 1-1-a guide rail; 1-2-butting an upper beam of the mounting rack; 1-3-an adjustable base; 1-4-racks; 1-5-butting a mounting frame lower beam; 2-a base moving mechanism; 2-1, a base moving fixing frame; 2-2-linear slide I; 2-3-one-way telescopic electric cylinder; 2-4-driving racks; 2-5-driving chain seat; 2-6-lifting chain wheels; 2-7-an axial movement servo motor; 2-8-driving sprocket; 2-9-motor base; 2-10-driving chain connecting blocks; 3-a gesture adjusting mechanism; 3-1 of a posture adjusting mechanism base; 3-1-1-second linear slide block; 3-2-radial gesture adjusting mechanism; 3-2-1-ball screw; 3-2-2-servo motor; 3-2-2-1-servo motor power line explosion-proof joint; 3-2-3-lead screw mounting seats; 3-2-4-reducer mounting seats; 3-3-gesture adjusting lifting mechanism; 3-3-1-spiral lifter; 3-3-1-1-screw lifter flange nuts; 3-3-1-2-spiral lifter screw; 3-3-2-lifting servo motor and speed reducer; 3-3-3-lifting mounting rack; 3-3-4-coupling; 3-3-5-lifting limit columns; 3-4-floating fine adjustment mechanism; 3-4-1-an upper mounting seat of the cylinder; 3-4-2-double acting ultrathin cylinder; 3-4-2-1-cylinder upper cavity air inlet and outlet interface; 3-4-2-2-cylinder lower cavity air inlet and outlet interface; 3-4-3-cylinder lower mounting seat; 3-4-4-floating mounting plate; 3-5-cabin embracing ring mechanism; 3-5-1-embracing ring fixing frames; 3-5-2-roll; 3-5-3-hasp; 3-5-4-rolling limiting structure; 3-5-5-cushion blocks; 3-5-6-semi-embracing ring frame; 3-5-7-damping shaft; 3-5-8-anti-collision limiting mechanism seats; 3-5-8-1-anti-collision screw rods; 3-5-8-2-nut; 4-a fork mechanism I; 4-1 of a fork lifting base; 4-1-1-upper limiting block; 4-1-2-lower limiting blocks; 4-1-3-linear bearings; 4-1-4-guide shaft; 4-1-5-lifting mounting plates II; 4-2-fork mechanism II; 4-2-1-fork mounting plates; 4-2-2-telescopic forks; 4-3-cabin section supporting plate I; 4-3-1-supporting embracing ring mounting plates; 4-3-2-supporting embracing ring I; 5-a non-contact measuring mechanism I of the robot; 5-1-a robot base; 5-2-PR-10 explosion-proof robot; 5-3-a non-contact measuring mechanism II of the robot; 5-3-1-measuring mounting rack; a 5-3-2-point laser sensor; 5-3-3-industrial explosion-proof camera; 6-a temporary storage frame mechanism; 6-1, fixing a cache frame; 6-1-1-fixing the cache rack frame; 6-2-middle pushing frame; 6-2-1-middle drag rack frame; 6-3-a bidirectional pushing frame; 6-3-1-two-way drag frame; 6-3-2-three-shaft cylinder; 6-3-3-universal ball mounting plate; 6-3-4-MYL-32-Q universal bearing; 6-3-5-UBF-18-A flange type universal ball; 7, a cabin section supporting frame II; 8-an AGV transferring mechanism I; 8-1 of a transfer car body; 8-2-cabin support frame III; 8-2-1-supporting embracing ring mounting rack III; 8-2-2 supporting embracing rings III; 9-AGV transport mechanism two, 10-B cabin section, 11-C cabin section.
Detailed Description
The embodiment, refer to the accompanying drawings, an automatic abutting system and an operation method of an elastomer cabin section, comprising a square abutting mounting frame 1, wherein an AGV transferring mechanism I8 is arranged at the left end of the front side of the abutting mounting frame 1, and an AGV transferring mechanism II 9 is arranged at the left side of the AGV transferring mechanism I8; AGV transport mechanism one 8 is including transporting automobile body 8-1, its characterized in that: a guide rail 1-1 is fixed on a butt joint mounting frame upper beam 1-2 on a butt joint mounting frame 1, and four adjustable bases 1-3 consisting of bolts and nuts are arranged on a butt joint mounting frame lower beam 1-5 on the butt joint mounting frame 1; a cabin section support frame III 8-2 is arranged on the transfer car body 8-1, support holding ring mounting frames III 8-2-1 are fixed on the two ends of the cabin section support frame III 8-2, and support holding rings III 8-2-2 are fixed on the middle and right ends of the transfer car body through bolts; two gesture adjusting mechanisms 3 are arranged on the left side of the upper surface of the butt joint mounting frame 1, a base moving mechanism 2 is arranged on the left side of the gesture adjusting mechanisms 3, a fork mechanism I4 is arranged between the two gesture adjusting mechanisms 3, and a robot non-contact measuring mechanism I5 is arranged on the right side; the right end of the butt joint installation frame 1 is provided with a fixed buffer storage frame 6-1 in a temporary storage frame mechanism 6, the right end of the fixed buffer storage frame 6-1 is provided with a cabin section support frame II 7, the right end of the cabin section support frame II 7 is provided with a bidirectional pushing frame 6-3, and the rear side of the cabin section support frame II 7 is provided with a middle pushing frame 6-2.
The gesture adjusting mechanism 3 (see figures 2 and 3) comprises gesture adjusting mechanism bases 3-1, wherein the gesture adjusting mechanism bases 3-1 are fixed on the left side and the right side of the upper plane of the butt joint mounting frame 1, two ends of the lower surface of the gesture adjusting mechanism base 3-1 are fixed with linear sliding blocks II 3-1-1, and sliding grooves are formed in the lower surface of the linear sliding blocks II 3-1-1; a speed reducer mounting seat 3-2-4 is fixed on the right end of the gesture adjusting mechanism base 3-1 through bolts, a screw rod mounting seat 3-2-3 is welded on the left side, a ball screw 3-2-1 is arranged on the screw rod mounting seat 3-2-3, a radial gesture adjusting mechanism 3-2 is arranged below the ball screw 3-2-1, and a servo motor 3-2-2 and a servo motor power explosion-proof joint 3-2-2-1 are arranged between the ball screw 3-2-1 and the speed reducer mounting seat 3-2-4; the servo motor 3-2-2 shaft is connected with the ball screw 3-2-1 for driving, a gesture adjusting lifting installation frame 3-3-3 in a gesture adjusting lifting mechanism 3-3 is arranged on the servo motor, a lifting servo motor 3-3-2 is arranged on the right side of the gesture adjusting lifting mechanism 3-3, a coupler 3-3-4 is arranged on the left side of the servo motor, and a spiral lifter 3-3-1 is arranged on the left side of the coupler 3-3-4; a spiral lifter lead screw 3-3-1-2 is fixed on the two sides of the lifting mounting frame 3-3, and a floating mounting plate 3-4-4 in a floating fine adjustment mechanism 3-4 is arranged in the middle of the spiral lifter lead screw 3-3-1-2 by using a spiral lifter flange nut 3-3-1-1; the upper surfaces of two ends of the floating mounting plates 3-4-4 are fixedly provided with cylinder lower mounting seats 3-4-3, the upper surfaces of the cylinder lower mounting seats 3-4-3 are hinged with a double-acting ultrathin cylinder 3-4-2 by a pin shaft, the end heads of piston rods of the double-acting ultrathin cylinder 3-4-2 are connected with cylinder upper mounting seats 3-4-1 by nuts, and the cylinder upper mounting seats 3-4-1 are fixed on fork-shaped embracing ring fixing frames 3-5-1 in a cabin embracing ring mechanism 3-5; the left upper end of the embracing ring fixing frame 3-5-1 is provided with a hasp 3-5-3, the right upper end is fixed with an anti-collision limit mechanism seat 3-5-8 by a screw, and an anti-collision screw 3-5-8-1 is fixed on the anti-collision limit mechanism seat 3-5-8 by a nut 3-5-8-2; the right end of the embracing ring fixing frame 3-5-1 is movably provided with a half embracing ring frame 3-5-6 by a damping shaft 3-5-7, and four cushion blocks 3-5-5 are uniformly distributed on the inner sides of the half embracing ring frame 3-5-6 and the embracing ring fixing frame 3-5-1; a rolling limit mechanism 3-5-4 is arranged in the middle of the embracing ring fixing frame 3-5-1, and a rolling roller 3-5-2 is arranged below the rolling limit mechanism 3-5-4.
The fork mechanism I4 (see figures 2 and 4) comprises a fork lifting base 4-1, wherein the middle of a lower beam of the butt joint mounting frame 1 is provided with the fork mechanism I4, two sides of the fork lifting base 4-1 are fixedly provided with linear bearings 4-1-3, a guide shaft 4-1-4 is arranged in the linear bearings 4-1-3, the upper end of the guide shaft 4-1-4 is fixedly provided with a fork mounting plate 4-2-1, and the middle upper part of the guide shaft is provided with a lifting mounting plate II 4-1-5; two lower limiting blocks 4-1-2 are arranged on the fork lifting base 4-1, two limiting blocks 4-1-1 are arranged on the lifting mounting plate II 4-1-5, and a fork mechanism II 4-2 is fixed at the upper end of the guide shaft 4-1-4; two sides of the upper surface of the fork mechanism II 4-2 are provided with telescopic forks 4-2-2; the telescopic pallet fork 4-2-2 is provided with a supporting embracing ring mounting plate 4-3-1 of a cabin section supporting plate 4-3, and the two ends of the supporting embracing ring mounting plate 4-3-1 are provided with supporting embracing rings 4-3-2.
The base moving mechanism 2 (see figures 2 and 5) comprises a base moving mechanism 2 which is arranged on a guide rail 1-1 arranged on the left end of a butt joint mounting frame 1, four linear sliding blocks I2-2 are uniformly distributed below the base moving mechanism 2, a base moving fixing frame 2-1 is fixed on the linear sliding blocks I2-2, a motor base 2-9 is fixed below the base moving fixing frame 2-1, an axial driving servo motor 2-7 is arranged on the motor base 2-9, a driving gear 2-8 is fixed on a motor shaft, and the driving gear 2-8 is meshed with a rack 1-4 above; the unidirectional telescopic electric cylinder 2-3 is fixed below the linear sliding blocks 2-2, a lifting mounting plate two 4-1-5 is fixed between the two linear sliding blocks 2-2, a driving chain seat 2-5 is fixed in the middle of the lifting mounting plate two 4-1-5, a lifting chain wheel 2-6 is arranged on the driving chain seat 2-5 through a pin shaft, the lifting chain wheel 2-6 is meshed with the driving chain 2-4, the left end of the driving chain 2-4 is connected with the right end of the unidirectional telescopic electric cylinder 2-3, the lower end of the driving chain is connected with a driving chain connecting block 2-10 through a pin shaft, and the chain connecting block 2-10 is fixed on the middle of the fork lifting base 4-1.
The robot non-contact measuring mechanism I5 (see figures 2 and 6) comprises a robot base 5-1, a PR-10 explosion-proof robot 5-2, and a special-shaped measuring mounting frame 5-3-1, wherein the robot base 5-1 is provided with the robot non-contact measuring mechanism I5 on the ground below the butt joint mounting frame 1, the PR-10 explosion-proof robot 5-2 is arranged on the robot base 5-1, and the special-shaped measuring mounting frame 5-3 of the robot non-contact measuring mechanism II 5-3 is arranged below an arm of the robot non-contact measuring mechanism I5; three point laser sensors 5-3-2 are arranged on the upper beam of the measuring installation frame 5-3-1 and the lower end of the middle upright rod, and industrial explosion-proof cameras 5-3-3 are arranged on right-angle rods on two sides.
The temporary storage frame mechanism 6 (see figures 1,2, 7, 9, 10 and 11) comprises a fixed cache frame 6-1 arranged on the ground at the right end of the butt joint installation frame 1; the rear of the left side of the cabin section support frame II 7 is provided with a middle pushing frame 6-2; the right end of the cabin section supporting frame II 7 is provided with a bidirectional pushing frame 6-3; the fixed buffer frame 6-1 comprises eight MYL-32-Q universal ball bearings 6-3-4 fixed on the fixed buffer frame base 6-1-1.
The middle pushing frame 6-2 comprises a triaxial cylinder 6-3-2 below the middle of a middle pushing frame 6-2-1 of the middle pushing frame 6-2, and three universal ball mounting plates 6-3-3 are arranged below the middle.
The bidirectional pushing frame 6-3 comprises a bidirectional pushing frame 6-3-1, a triaxial cylinder 6-3-2 is arranged in the middle of the upper side and the right side of the bidirectional pushing frame 6-3, three universal ball mounting plates 6-3-3 are arranged in the middle of the left side of the right side, and five UBF-18-A flange type universal balls 6-3-5 are arranged at the lower end of the bidirectional pushing frame.
The operation method of the invention is (see figures 1,2, 6, 7, 8 and 9) and is characterized in that: the following steps are adopted:
1) The cabin section support frame II 7 and the cabin section C11 are transported to the temporary storage frame mechanism 6 through the AGV transport mechanism II 9 and lifted and placed on the temporary storage frame mechanism 6;
2) The triaxial cylinder 6-3-2 on the temporary storage frame mechanism 6 axially and radially pushes the cabin section support frame II 7 to fix the cabin section support frame II and the cabin section C11 at a reference position;
3) The AGV transferring mechanism I8 conveys the cabin B10 to the position near the base moving mechanism 2, the telescopic fork 4-2-2 stretches out and supports the cabin B10, the fork mechanism I4 is lifted after being retracted, the cabin B10 is loaded into the opened cabin holding mechanism 3-5, and the fork mechanism I4 is lowered;
4) After each party is confirmed to be safe without errors manually, a hasp 3-5-3 is buckled, and the executable subsequent flow is confirmed on a control system;
5) The first non-contact measuring mechanism 5 of the robot works, and according to real-time measurement results, the posture adjusting mechanism 3 adjusts the posture of the B cabin section 10 in the propelling process, so that the axial positions of the B cabin section 10 and the C cabin section 11, the locating pins and the holes are concentric;
6) Manually installing fixing bolts between the cabin B10 and the cabin C11;
7) After the installation work is completed, manually opening the hasp 3-5-3;
8) The triaxial cylinder 6-3-2 on the temporary storage frame mechanism 6 is reset, and the fixation of the cabin section support frame II 7 is released;
9) And the AGV transferring mechanism II 9 lifts the transferring cabin section supporting frame II 7 and the full-bullet B cabin section 10 and the C cabin section 11 to leave the temporary storage frame mechanism 6, and transfers the temporary storage frame to a designated storage position, so that the butt joint operation is completed.
The AGV transfer trolley 8 comprises an AGV transfer trolley body 8-1, wherein a support frame 8-2 is fixed on the AGV transfer trolley body 8-1, hanging rings 8-2-1 are welded at two ends of the support frame 8-2, and support holding rings 8-2-2 are fixed at the middle and left ends of the support frame by screws; the AGV transferring device 9 is arranged in the supporting embracing ring 8-2-2.
All electric equipment in the equipment, such as a unidirectional telescopic electric cylinder 2-3, an axial moving servo motor 2-7, a servo motor 3-2-2, a lifting servo motor 3-3-2, a PR-10 explosion-proof robot 5-2, a spot laser sensor 5-3-2, an industrial explosion-proof camera 5-3-3 and the like, are communicated with a control circuit in an electric control device of the equipment by wires, and are preprogrammed in an operation mode to perform automatic control. The cylinder body of the triaxial cylinder 3-5-3 is provided with a left cavity air inlet and outlet interface and a right cavity air inlet and outlet interface, the cylinder body of the double-acting ultrathin cylinder 3-4-2 is provided with a cylinder lower cavity air inlet and outlet interface 3-4-8 and a cylinder upper cavity air inlet and outlet interface 3-4-9, and each air inlet and outlet interface of the cylinder is communicated with an electromagnetic valve in the air compression control system through a pipeline and is controlled; the electromagnetic valve is communicated with a control circuit in the electric control device through a lead wire. The upper part of the AGV transferring device 9 is provided with a cabin section support frame II 7, and a C cabin section 11 is arranged on the cabin section support frame II 7.
The design principle of the invention is as follows: automatic feeding of the B cabin section 10 and the C cabin section 11 is achieved through the AGV transferring device 9, the AGV transferring vehicle 8 and the fork mechanism I4, deviation data of the B cabin section 10 and the C cabin section 11 are automatically measured and calculated through the robot non-contact measuring mechanism I5, the form of the B cabin section 10 is automatically adjusted through the gesture adjusting mechanism 3, and automatic movement and alignment of the projectile body cabin sections are achieved. The wireless encryption mode of the local area network is connected with the electric control circuit, and the automatic control operation is realized through programming.
Claims (9)
1. An automatic abutting system for an elastomer cabin section comprises a square abutting installation frame (1), wherein an AGV transferring mechanism I (8) is installed at the left end of the front side of the abutting installation frame (1), and an AGV transferring mechanism II (9) is installed on the left side of the AGV transferring mechanism I (8); AGV transport mechanism one (8) is including transporting automobile body (8-1), its characterized in that: a guide rail (1-1) is fixed on a butt joint mounting frame upper beam (1-2) on a butt joint mounting frame (1), and four adjustable bases (1-3) consisting of bolts and nuts are arranged on a butt joint mounting frame lower beam (1-5) on the butt joint mounting frame (1); a cabin section support frame III (8-2) is arranged on the transfer vehicle body (8-1), support holding ring mounting frames III (8-2-1) are fixed on the two ends of the cabin section support frame III (8-2), and support holding ring III (8-2-2) are fixed at the middle and right ends by bolts; two gesture adjusting mechanisms (3) are arranged on the left side of the upper surface of the butt joint mounting frame (1), a base moving mechanism (2) is arranged on the left side of the gesture adjusting mechanisms (3), a fork mechanism I (4) is arranged between the two gesture adjusting mechanisms (3), and a robot non-contact measuring mechanism I (5) is arranged on the right side of the gesture adjusting mechanisms; the right end of the butt joint installation frame (1) is provided with a fixed buffer storage frame (6-1) in a temporary storage frame mechanism (6), the right end of the fixed buffer storage frame (6-1) is provided with a cabin section support frame II (7), the right end of the cabin section support frame II (7) is provided with a bidirectional pushing frame (6-3), and the rear side of the cabin section support frame II (7) is provided with a middle pushing frame (6-2).
2. The automatic docking system of the projectile body cabin section according to claim 1, which is characterized in that the gesture adjusting mechanism (3) comprises gesture adjusting mechanism bases (3-1) which are fixedly arranged on the left side and the right side of the upper plane of the docking installation frame (1) and used for adjusting the gesture of the gesture adjusting mechanism (3), two linear sliding blocks (3-1-1) are fixedly arranged at two ends below the gesture adjusting mechanism bases (3-1), and sliding grooves are formed below the linear sliding blocks (3-1-1); a speed reducer mounting seat (3-2-4) is fixed on the right end of the gesture adjusting mechanism base (3-1) through bolts, a screw rod mounting seat (3-2-3) is welded on the left side, a ball screw (3-2-1) is arranged on the screw rod mounting seat (3-2-3), a radial gesture adjusting mechanism (3-2) is arranged below the ball screw (3-2-1), and a servo motor (3-2-2) and a servo motor power explosion-proof connector (3-2-2-1) are arranged between the ball screw (3-2-1) and the speed reducer mounting seat (3-2-4); the shaft of the servo motor (3-2-2) is connected with the ball screw (3-2-1) for driving, a gesture adjusting lifting installation frame (3-3-3) in a gesture adjusting lifting mechanism (3-3) is arranged on the servo motor, a lifting servo motor (3-3-2) is arranged on the right side of the gesture adjusting lifting mechanism (3-3), a coupler (3-3-4) is arranged on the left side of the servo motor, and a spiral lifter (3-3-1) is arranged on the left side of the coupler (3-3-4); screw lifter lead screws (3-3-1-2) are fixed on the two sides of the lifting mounting frame (3-3-3), and floating mounting plates (3-4-4) in the floating fine adjustment mechanism (3-4) are arranged in the middle of the screw lifter lead screws (3-3-1-2) by screw lifter flange nuts (3-3-1-1); a lower cylinder mounting seat (3-4-3) is fixed on the two ends of the floating mounting plate (3-4-4), a double-acting ultrathin cylinder (3-4-2) is hinged on the lower cylinder mounting seat (3-4-3) through a pin shaft, the end head of a piston rod of the double-acting ultrathin cylinder (3-4-2) is connected with an upper cylinder mounting seat (3-4-1) through a nut, and the upper cylinder mounting seat (3-4-1) is fixed on a fork-shaped ring holding fixing frame (3-5-1) in the cabin ring holding mechanism (3-5); the left upper end of the embracing ring fixing frame (3-5-1) is provided with a hasp (3-5-3), the right upper end is fixed with an anti-collision limit mechanism seat (3-5-8) by a screw, and an anti-collision screw (3-5-8-1) is fixed on the anti-collision limit mechanism seat (3-5-8) by a nut (3-5-8-2); a semi-embracing ring frame (3-5-6) is movably arranged on the right end of the embracing ring fixing frame (3-5-1) by a damping shaft (3-5-7), and a plurality of cushion blocks (3-5-5) are uniformly distributed on the inner sides of the semi-embracing ring frame (3-5-6) and the embracing ring fixing frame (3-5-1); a rolling limit mechanism (3-5-4) is arranged in the middle of the embracing ring fixing frame (3-5-1), and a rolling roller (3-5-2) is arranged below the rolling limit mechanism (3-5-4).
3. The automatic docking system for the projectile body cabin section according to claim 2, wherein the first fork mechanism (4) comprises a fork lifting base (4-1) provided with the first fork mechanism (4) in the middle of a lower beam of the docking mounting frame (1), linear bearings (4-1-3) are fixed on two sides of the fork lifting base (4-1), a guide shaft (4-1-4) is arranged in the linear bearings (4-1-3), a fork mounting plate (4-2-1) is fixed at the upper end of the guide shaft (4-1-4), and a lifting mounting plate II (4-1-5) is arranged at the middle upper part of the guide shaft; two lower limiting blocks (4-1-2) are arranged on the fork lifting base (4-1), two limiting blocks (4-1-1) are arranged on the lifting mounting plate II (4-1-5), and a fork mechanism II (4-2) is fixed at the upper end of the guide shaft (4-1-4); two sides of the upper surface of the fork mechanism II (4-2) are provided with telescopic forks (4-2-2); the telescopic pallet fork (4-2-2) is provided with a supporting embracing ring mounting plate (4-3-1) of a cabin section supporting plate I (4-3), and the two ends of the supporting embracing ring mounting plate (4-3-1) are provided with supporting embracing rings I (4-3-2).
4. An automatic docking system for projectile body cabin segments according to claim 3, characterized in that the base moving mechanism (2) comprises a base moving mechanism (2) arranged on a guide rail (1-1) arranged on the left end of the docking installation frame (1), a plurality of linear sliding blocks I (2-2) are uniformly distributed on the base moving mechanism (2), and a base moving fixing frame (2-1) is fixed on the linear sliding blocks I (2-2); a motor seat (2-9) is fixed below the base moving fixing frame (2-1), an axial driving servo motor (2-7) is arranged on the motor seat (2-9), a driving gear (2-8) is fixed on a motor shaft, and the driving gear (2-8) is meshed with the rack (1-4); the unidirectional telescopic electric cylinder (2-3) is fixed below the first linear sliding blocks (2-2), a second lifting installation plate (4-1-5) is fixed between the first linear sliding blocks (2-2), a driving chain seat (2-5) is fixed in the middle of the second lifting installation plate (4-1-5), a lifting chain wheel (2-6) is arranged on the driving chain seat (2-5) through a pin shaft, the lifting chain wheel (2-6) is meshed with the driving chain (2-4), the left end of the driving chain (2-4) is connected with the right end of the unidirectional telescopic electric cylinder (2-3), the lower end of the driving chain is connected with a driving chain connecting block (2-10) through a pin shaft, and the chain connecting block (2-10) is fixed on the middle of the fork lifting base (4-1).
5. The automatic docking system for the projectile body cabin section according to claim 4, wherein the robot non-contact type measuring mechanism I (5) comprises a robot base (5-1) provided with the robot non-contact type measuring mechanism I (5) on the ground below the docking mounting frame (1), the PR-10 explosion-proof robot (5-2) is arranged on the robot base (5-1), and the special-shaped measuring mounting frame (5-3-1) of the robot non-contact type measuring mechanism II (5-3) is arranged below an arm of the robot non-contact type measuring mechanism I (5); three point laser sensors (5-3-2) are arranged on the upper beam of the measuring installation frame (5-3-1) and at the lower end of the middle upright rod, and industrial explosion-proof cameras (5-3-3) are arranged on right-angle rods at two sides.
6. An automated docking system for projectile body bays according to claim 5, wherein the temporary storage rack mechanism (6) comprises a fixed buffer rack (6-1) mounted on the ground at the right end of the docking rack (1); the rear of the left side of the cabin section support frame II (7) is provided with a middle pushing frame (6-2); the right end of the cabin section support frame II (7) is provided with a bidirectional pushing frame (6-3); the fixed buffer frame (6-1) comprises a plurality of MYL-32-Q universal ball bearings (6-3-4) fixed on a base (6-1-1) of the fixed buffer frame.
7. An automated elastomer tank docking system according to claim 6, characterized by a middle pusher (6-2) comprising a middle lower triaxial cylinder (6-3-2) of a middle pusher frame (6-2-1) of the middle pusher (6-2), under which three universal ball mounting plates (6-3-3) are mounted.
8. An automated docking system for projectile body bays according to claim 7, characterized by a bi-directional pushing frame (6-3) comprising a bi-directional pushing frame (6-3-1) of bi-directional pushing frame (6-3) with a tri-axial cylinder (6-3-2) mounted in the middle of the upper and right sides, three universal ball mounting plates (6-3-3) mounted in the middle of the left right side, five UBF-18-a flange type universal balls (6-3-5) mounted in the lower end.
9. A method of operating an automated elastomeric tank section docking system in accordance with claim 8, wherein: the following steps are adopted:
1) The cabin section support frame II (7) and the cabin section C (11) are transported to the temporary storage frame mechanism (6) through the AGV transport mechanism II (9) and lifted and placed on the temporary storage frame mechanism (6);
2) A triaxial cylinder (6-3-2) on the temporary storage frame mechanism (6) axially and radially pushes a cabin section support frame II (7) to fix the cabin section support frame II and a cabin section C (11) at a reference position;
3) The AGV transferring mechanism I (8) conveys the cabin B (10) to the position near the base moving mechanism (2), the telescopic fork (4-2-2) stretches out and supports the cabin B (10), the fork mechanism I (4) rises after the cabin B is retracted, the cabin B (10) is loaded into the opened cabin embracing ring mechanism (3-5), and the fork mechanism I (4) descends;
4) After each party is confirmed to be safe without errors manually, a hasp (3-5-3) is buckled, and the executable subsequent flow is confirmed on a control system;
5) The first non-contact measuring mechanism (5) of the robot works, and according to real-time measuring results, the posture adjusting mechanism (3) adjusts the posture of the B cabin section (10) in the propelling process, so that the axial positions of the B cabin section (10) and the C cabin section (11) as well as the locating pins and the holes are concentric;
6) Manually installing fixing bolts between the cabin B section (10) and the cabin C section (11);
7) After the installation work is completed, the hasp (3-5-3) is opened manually;
8) The triaxial cylinder (6-3-2) on the temporary storage frame mechanism (6) is reset, and the fixation of the cabin section support frame II (7) is released;
9) And the AGV transferring mechanism II (9) lifts the transferring cabin section supporting frame II (7) and the full-elastic cabin section B (10) and the cabin section C (11) to leave the temporary storage frame mechanism (6), and transfers the temporary storage frame to the appointed storage position, so that the butt joint operation is finished.
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| CN202111540328.9A CN114111467B (en) | 2021-12-16 | 2021-12-16 | Automatic docking system for projectile body cabin segments and operation method |
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| CN114111467A (en) | 2022-03-01 |
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