CN210392616U - Large-diameter cylinder section butt joint device - Google Patents
Large-diameter cylinder section butt joint device Download PDFInfo
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- CN210392616U CN210392616U CN201921108504.XU CN201921108504U CN210392616U CN 210392616 U CN210392616 U CN 210392616U CN 201921108504 U CN201921108504 U CN 201921108504U CN 210392616 U CN210392616 U CN 210392616U
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Abstract
The utility model provides a major diameter section of thick bamboo interfacing apparatus, major diameter section of thick bamboo interfacing apparatus include the RGV car, the AGV car, the RGV section of thick bamboo, the AGV section of thick bamboo, the appearance mechanism is transferred in the drive, the controller, the sensor inserts subassembly one soon, and the sensor inserts subassembly two soon, laser rangefinder sensor, visual positioning sensor, the measuring basis inserts the bolt soon, be equipped with the sensor on the relative side of AGV section of thick bamboo and RGV section of thick bamboo and insert subassembly one soon and the sensor inserts subassembly two soon, the sensor inserts subassembly one soon and inserts subassembly two upper and lower distributions soon with the sensor, the sensor inserts subassembly one soon and inserts subassembly two structure the same soon with the sensor. The utility model has the advantages that: the utility model discloses based on the accurate positioning of vision positioning sensor and laser range finding sensor real-time positioning system; the utility model discloses AGV, RGV transportation butt joint integration.
Description
Technical Field
The utility model relates to an aerospace assembly technical field, concretely relates to major diameter section of thick bamboo interfacing apparatus.
Background
In the process of assembling airplanes and missiles, the butt joint of large-diameter barrel sections is often involved. Before the cylinder sections are butted, the cylinder sections need to be transported to a butting station and then transported to the station, and after the cylinder sections are butted, the cylinder sections need to be transported to a transport vehicle. During butt joint, tedious manual operation is needed. The large-diameter cylinder section is usually large in mass, long in time spent in the carrying process and has certain potential safety hazards. Due to the requirement of precision, the manual butt joint process is complicated, and the butt joint time is long.
SUMMERY OF THE UTILITY MODEL
For solving above-mentioned problem comprehensively, especially to the not enough that prior art exists, the utility model provides a major diameter section of thick bamboo interfacing apparatus can solve above-mentioned problem comprehensively.
In order to achieve the above object, the utility model adopts the following technical means: a large-diameter cylinder section butt joint device comprises an RGV vehicle and an AGV vehicle, wherein the RGV vehicle and the AGV vehicle are adjacent left and right, the top end of the RGV vehicle is provided with an RGV cylinder section, the RGV cylinder section is connected with the RGV vehicle through a driving posture adjusting mechanism, the top end of the AGV vehicle is provided with an AGV cylinder section, the AGV cylinder section is connected with the AGV vehicle through a driving posture adjusting mechanism, the RGV cylinder section corresponds to the AGV cylinder section, the AGV vehicle is also provided with a butt joint controller, the butt joint controller is in control connection with the driving posture adjusting mechanism, a first sensor quick-plug assembly and a second sensor quick-plug assembly are arranged on one side surface of the AGV cylinder section opposite to the RGV cylinder section, the first sensor quick-plug assembly and the second sensor quick-plug assembly are distributed up and down, the first sensor quick-plug assembly is identical to the second sensor quick-plug assembly in structure, the outer side walls of the first sensor quick-plug assembly and the second sensor quick-plug assembly are respectively provided with a laser distance, the sensor inserts the leading flank of subassembly one soon and is provided with fixed connection's visual positioning sensor, be equipped with the measuring basis on the relative side of RGV section of thick bamboo section and AGV section of thick bamboo section, the sensor inserts the subassembly one soon, the sensor inserts subassembly two soon and the back of measuring basis is equipped with fixed connection's the bolt of inserting soon respectively, the measuring basis is through inserting bolt and RGV section of thick bamboo swing joint soon, the sensor inserts the subassembly one soon and the sensor inserts the subassembly two respectively through inserting bolt and AGV section of thick bamboo swing joint soon.
Furthermore, the sensor inserts the subassembly soon and sets up in the well upper end of AGV section of thick bamboo section side, the sensor inserts the subassembly soon and sets up in the well lower extreme of AGV section of thick bamboo section side.
Furthermore, the first sensor quick-plug assembly and the second sensor quick-plug assembly are respectively provided with two groups, namely a first sensor quick-plug assembly and a second sensor quick-plug assembly, wherein the two groups are centrosymmetric.
Further, the measuring reference is arranged in the middle of the side face of the RGV cylinder section.
Furthermore, the laser ranging sensor and the visual positioning sensor are respectively externally connected with an upper computer.
The utility model has the advantages that: the utility model discloses accurate positioning based on real-time positioning system of vision positioning sensor and laser rangefinder sensor: four laser ranging sensors and two vision positioning sensors are adopted for accurate positioning and butt joint. And adjusting the posture of the posture adjusting system through information measured by the four laser ranging sensors to enable the two butt joint surfaces to be parallel. Then, measuring hole information through two vision positioning sensors, and positioning by using a posture adjusting mechanism to accurately position the holes; the utility model discloses AGV, RGV transportation butt joint integration: after AGV, RGV will dock the section of thick bamboo and transport to the butt joint station, need not carry the section of thick bamboo, directly carry out butt joint work, directly transport to next station after the butt joint is accomplished. The method can effectively avoid carrying work during butt joint and improve the working efficiency.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
FIG. 2 is the AGV car of the present invention and the structure schematic diagram of the butt joint barrel section thereof.
Figure 3 is the structure schematic diagram of the utility model discloses RGV car and butt joint section of thick bamboo section thereof.
Fig. 4 is a first structural schematic diagram of the first sensor quick-plug assembly of the present invention.
Fig. 5 is a schematic structural diagram of the first sensor quick-plug assembly of the present invention.
Detailed Description
The technical solution of the present invention will be clearly and completely described with reference to the accompanying drawings.
As shown in fig. 1 to 5, the utility model provides a large-diameter cylinder segment docking device, which comprises an RGV vehicle 1 and an AGV vehicle 3, wherein the RGV vehicle 1 is adjacent to the AGV vehicle 3 from left to right, the top end of the RGV vehicle 1 is provided with an RGV cylinder segment 2, the RGV cylinder segment 2 is connected with the RGV vehicle 1 through a driving posture adjusting mechanism 6, the top end of the AGV vehicle 3 is provided with an AGV cylinder segment 4, the AGV cylinder segment 4 is connected with the AGV vehicle 3 through the driving posture adjusting mechanism 6, the RGV cylinder segment 2 corresponds to the AGV cylinder segment 4, the AGV vehicle 3 is further provided with a docking controller 5, the docking controller 5 is in control connection with the driving posture adjusting mechanism 6, a side surface of the AGV cylinder segment 4 opposite to the RGV cylinder segment 2 is provided with a sensor quick-plugging component one 7 and a sensor quick-plugging component two 8, the sensor quick-plugging component one 7 and the sensor quick-plugging component two 8 are distributed from top to bottom, the sensor quick-plugging component one 7 and the sensor quick-plugging, the sensor inserts subassembly one 7 soon and the sensor inserts the lateral wall of subassembly two 8 soon and is equipped with fixed connection's laser range finding sensor 10 respectively, the sensor inserts the leading flank of subassembly one 7 soon and is provided with fixed connection's visual positioning sensor 11, be equipped with measuring basis 9 on RGV section of thick bamboo 2 and the relative side of AGV section of thick bamboo 4, the sensor inserts subassembly one 7 soon, the sensor inserts subassembly two 8 soon and measuring basis 9's the back is equipped with fixed connection's fast bolt 12 of inserting respectively, measuring basis 9 is through inserting bolt 12 and RGV section of thick bamboo 2 swing joint soon, the sensor inserts subassembly one 7 soon and sensor and inserts subassembly two 8 soon and insert bolt 12 and AGV section of thick bamboo 4 swing joint soon respectively through soon.
Preferably, the sensor inserts subassembly 7 soon and sets up in the well upper end of AGV section of thick bamboo 4 side, the sensor inserts subassembly two 8 soon and sets up in the well lower extreme of AGV section of thick bamboo 4 side.
Preferably, the sensor fast plug assembly I7 and the sensor fast plug assembly II 8 are respectively provided with two sets, two sets the sensor fast plug assembly I7 central symmetry, two sets the sensor fast plug assembly II 8 central symmetry.
Preferably, the measuring reference 9 is arranged in the middle of the side of the RGV cylinder section 2.
Preferably, the laser distance measuring sensor 10 and the visual positioning sensor 11 are respectively externally connected with an upper computer.
The specific use method comprises the following steps: after the AGV car 3 and the RGV car 1 are automatically butted and fixedly connected, a sensor quick-plug assembly I7 and a sensor quick-plug assembly II 8 are installed on the AGV cylinder section 4 through a quick-plug bolt 12, and a measuring reference 9 is installed on the RGV cylinder section 2.
During butt joint, after the laser ranging sensor 10 and the visual positioning sensor 11 are started, the butt joint controller 5 is controlled to adjust the distance between the two butt joint surfaces, so that the distance is within the measuring range of the sensors. The four laser ranging sensors 10 respectively measure the distance between the measuring datum 9 and the measuring datum, the upper computer obtains the measured values, the relative posture is obtained, the posture adjusting path is planned, the control system obtains the motion parameters, and the posture adjusting mechanism 6 is driven to adjust the posture of the barrel section, so that the two butt joint surfaces are parallel. The two visual positioning sensors 11 measure the deviation value of the datum point, the upper computer obtains the measured value, the relative posture is obtained, the motion track is planned, the control system obtains the motion parameters, the servo motor is driven, and the position of the cylinder section is adjusted, so that the holes on the AGV cylinder section 4 and the RGV cylinder section 2 correspond to the holes. And the first sensor quick-insert component 7, the second sensor quick-insert component 8 and the measuring datum 9 are removed through the quick-insert bolt 12. And finally, feeding the posture adjusting mechanism along the axial direction of the cylinder section, wherein the hole is opposite to the hole, and completing butt joint.
The utility model relates to a major diameter section of thick bamboo butt joint device, the utility model discloses accurate positioning based on real-time positioning system of visual positioning sensor and laser rangefinder sensor: four laser ranging sensors and two vision positioning sensors are adopted for accurate positioning and butt joint. And adjusting the posture of the posture adjusting system through information measured by the four laser ranging sensors to enable the two butt joint surfaces to be parallel. Then, measuring hole information through two vision positioning sensors, and positioning by using a posture adjusting mechanism to accurately position the holes; the utility model discloses AGV, RGV transportation butt joint integration: after AGV, RGV will dock the section of thick bamboo and transport to the butt joint station, need not carry the section of thick bamboo, directly carry out butt joint work, directly transport to next station after the butt joint is accomplished. The method can effectively avoid carrying work during butt joint and improve the working efficiency.
The present invention is illustrated by way of example and not by way of limitation. It will be apparent to those skilled in the art that other variations and modifications of the present invention can be made in light of the above teachings, and it is not necessary or necessary to exhaustively enumerate all embodiments herein, and it is intended that all such obvious variations and modifications are within the scope of the present invention.
Claims (5)
1. A large-diameter cylinder section butt joint device comprises an RGV vehicle and an AGV vehicle, wherein the RGV vehicle and the AGV vehicle are adjacent left and right, the top end of the RGV vehicle is provided with an RGV cylinder section, the RGV cylinder section is connected with the RGV vehicle through a driving posture adjusting mechanism, the top end of the AGV vehicle is provided with an AGV cylinder section, the AGV cylinder section is connected with the AGV vehicle through a driving posture adjusting mechanism, the RGV cylinder section corresponds to the AGV cylinder section, the AGV vehicle is also provided with a butt joint controller, the butt joint controller is in control connection with the driving posture adjusting mechanism, the butt joint device is characterized in that a first sensor quick-insert assembly and a second sensor quick-insert assembly are arranged on one side surface of the AGV cylinder section opposite to the RGV cylinder section, the first sensor quick-insert assembly and the second sensor quick-insert assembly are distributed up and down, the first sensor quick-insert assembly is identical in structure with the second sensor quick-insert assembly, the first sensor quick-insert assembly and the outer side wall of the second sensor quick-insert assembly are respectively provided, the sensor inserts the leading flank of subassembly one soon and is provided with fixed connection's visual positioning sensor, be equipped with the measuring basis on the relative side of RGV section of thick bamboo section and AGV section of thick bamboo section, the sensor inserts the subassembly one soon, the sensor inserts subassembly two soon and the back of measuring basis is equipped with fixed connection's the bolt of inserting soon respectively, the measuring basis is through inserting bolt and RGV section of thick bamboo swing joint soon, the sensor inserts the subassembly one soon and the sensor inserts the subassembly two respectively through inserting bolt and AGV section of thick bamboo swing joint soon.
2. The large-diameter cylinder segment docking device as claimed in claim 1, wherein the first sensor quick-plug assembly is arranged at the middle upper end of the side of the AGV cylinder segment, and the second sensor quick-plug assembly is arranged at the middle lower end of the side of the AGV cylinder segment.
3. The large-diameter cylinder section butt joint device according to claim 1 or 2, wherein two groups of the first sensor quick-plug assembly and the second sensor quick-plug assembly are respectively arranged, the first sensor quick-plug assembly is centrosymmetric, and the second sensor quick-plug assembly is centrosymmetric.
4. The large-diameter cylinder segment docking device as claimed in claim 1, wherein the measuring reference is provided in the middle of the side of the cylinder segment of the RGV.
5. The large-diameter cylinder section butt joint device according to claim 1, wherein the laser distance measuring sensor and the visual positioning sensor are externally connected with an upper computer respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921108504.XU CN210392616U (en) | 2019-07-16 | 2019-07-16 | Large-diameter cylinder section butt joint device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921108504.XU CN210392616U (en) | 2019-07-16 | 2019-07-16 | Large-diameter cylinder section butt joint device |
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| CN210392616U true CN210392616U (en) | 2020-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921108504.XU Active CN210392616U (en) | 2019-07-16 | 2019-07-16 | Large-diameter cylinder section butt joint device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112631302A (en) * | 2020-12-25 | 2021-04-09 | 珠海格力智能装备有限公司 | Method and device for controlling a collision avoidance system of a track guided vehicle |
| CN114012403A (en) * | 2021-11-10 | 2022-02-08 | 四川航天长征装备制造有限公司 | Novel automatic horizontal assembly butt joint system |
| CN117600830A (en) * | 2024-01-24 | 2024-02-27 | 上海上飞飞机装备制造股份有限公司 | Automatic installation production line for aircraft fuselage barrel section and control method thereof |
-
2019
- 2019-07-16 CN CN201921108504.XU patent/CN210392616U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112631302A (en) * | 2020-12-25 | 2021-04-09 | 珠海格力智能装备有限公司 | Method and device for controlling a collision avoidance system of a track guided vehicle |
| CN112631302B (en) * | 2020-12-25 | 2024-04-19 | 珠海格力智能装备有限公司 | Method and device for controlling collision avoidance system of guided vehicle |
| CN114012403A (en) * | 2021-11-10 | 2022-02-08 | 四川航天长征装备制造有限公司 | Novel automatic horizontal assembly butt joint system |
| CN117600830A (en) * | 2024-01-24 | 2024-02-27 | 上海上飞飞机装备制造股份有限公司 | Automatic installation production line for aircraft fuselage barrel section and control method thereof |
| CN117600830B (en) * | 2024-01-24 | 2024-04-12 | 上海上飞飞机装备制造股份有限公司 | Automatic installation production line for aircraft fuselage barrel section and control method thereof |
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