CN214558930U - Posture adjusting equipment for butt joint of cylinders based on high-precision measurement technology - Google Patents
Posture adjusting equipment for butt joint of cylinders based on high-precision measurement technology Download PDFInfo
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- CN214558930U CN214558930U CN202022730833.7U CN202022730833U CN214558930U CN 214558930 U CN214558930 U CN 214558930U CN 202022730833 U CN202022730833 U CN 202022730833U CN 214558930 U CN214558930 U CN 214558930U
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Abstract
The utility model relates to an accent appearance equipment that is used for drum butt joint based on high accuracy measurement technique, a serial communication port, transfer appearance mechanism and butt joint accent appearance platform anchor clamps including base mechanism, butt joint fixed platform, fixed platform anchor clamps, measuring robot, vision measurement system, butt joint. The utility model provides a safer, work efficiency is higher, the butt joint is transferred the appearance quality more reliable, the higher appearance equipment of transferring that is used for the drum butt joint of degree of automation, especially is applicable to the automation safety in production's of the high accuracy of products such as the propeller of trades such as aviation, space flight, aircraft adjusting equipment. The utility model discloses a full-automatic measurement, accent appearance and butt joint process, design simple structure has improved the production efficiency of equipment promptly, has also reduced personnel's cost.
Description
Technical Field
The utility model relates to a transfer appearance equipment that is used for drum butt joint based on high accuracy measurement technique.
Background
Along with the continuous development of scientific technology, the production automation and informatization are continuously improved, and particularly the high-precision automatic safe production of products such as propellers, airplanes and the like in the industries such as aviation and aerospace is particularly important, the butt joint of similar cylindrical parts is the core part of the production, most of the parts are initiating explosive devices, on one hand, collision is required to be avoided, the safety is ensured, on the other hand, the high-precision production is required, and the quality and the consistency of the products are ensured. Most of the existing posture-adjusting butt joint production modes adopt manual butt joint or semi-automatic butt joint, so that the labor intensity of personnel is increased. In addition, manual or semi-automatic butt joint cannot realize dynamic monitoring of the space postures of two sections of butted cylinders, the coaxiality of the central axis of the cylinder cannot be guaranteed, and butt joint cannot be realized or collision or friction occurs in the butt joint process for products with small assembly tolerance gaps, so that the product quality is influenced, and potential safety hazards are generated for initiating explosive devices. Secondly, manual butt joint or semi-automatic butt joint is adopted, and multiple persons are matched to complete measurement and butt joint, so that the number of operators is greatly increased, and the production efficiency is influenced due to the limitation of personnel in an initiating explosive device workshop.
Patent 201920541049.6 provides an equipment scheme for docking an AGV based on the flexible automatic posture adjustment of a rocket of a six-degree-of-freedom platform, in the scheme, although the flexible automatic posture adjustment configuration of the rocket of the six-degree-of-freedom platform is adopted, the posture adjustment mechanism is arranged on the AGV, the stability or control precision of the equipment is difficult to guarantee, and the docking precision and the safety of the product cannot be guaranteed for a product with a docking tolerance gap of two cylinders smaller than 0.1 mm. In addition, the utility model discloses an equipment will realize that automatic appearance butt joint must be based on the space coordinate basis of two sections drums to the automation, and this equipment does not have automatic measurement result, can't realize automatic measurement production and data transmission.
Patent 201811093136.6 provides a six-degree-of-freedom posture-adjusting docking platform, which mainly includes three major parts, namely a mobile base, a bottom-layer three-degree-of-freedom motion platform and a top-layer three-degree-of-freedom motion platform. The scheme of the invention is not provided with a fixed platform for fixing the other end of the butt joint, one end of the butt joint is fixed, and the other end of the butt joint is subjected to posture adjustment butt joint, so that the butt joint is safe and reliable, the scheme is not provided with the mode, a measurement system is not used for monitoring the butt joint process of the product in real time, and the posture cannot be adjusted in time if position deviation or errors occur, so that the product is damaged.
Patent 201911270168.3 provides an explosion-proof appearance butt joint platform scheme of transferring, constitutes including explosion-proof electric cabinet and six degrees of freedom motion, and wherein six degrees of freedom motion include movable base, link firmly two platform light load platforms on movable base, be located the platform and the bracket that move on the platform light load, wherein: the light-load platform is connected with the movable base to realize plane independent motion, and the two platforms are connected to realize six-degree-of-freedom posture adjustment of the movable platform and the flexible bracket thereof. The scheme has no measuring system and a fixed platform, can not realize automatic measurement, posture adjustment and butt joint, and can not well protect the product safety.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: the traditional cylinder butt joint posture adjusting equipment cannot meet the requirement of large-batch high-precision automatic production.
In order to solve the technical problem, the technical scheme of the utility model a transfer appearance equipment that is used for drum butt joint based on high accuracy measurement technique is provided, a serial communication port, transfer appearance mechanism and butt joint and transfer appearance platform anchor clamps including base mechanism, butt joint fixed platform, fixed platform anchor clamps, measuring robot, vision measurement system, butt joint, wherein:
the visual measurement system and the measurement robot base are respectively positioned at the left side and the right side of the base mechanism, and the butt joint fixing platform and the butt joint posture adjusting mechanism are respectively positioned at the front end and the rear end of the base mechanism; the fixed platform clamp and the butt joint posture adjusting platform clamp are respectively arranged on the butt joint fixed platform and the butt joint posture adjusting mechanism; one section of the two sections of cylinders to be butted is clamped by a fixed platform clamp, the other section of the cylinders is clamped by a butting posture-adjusting platform clamp, the cylinder clamped by the fixed platform clamp is defined as a fixed end cylinder, and the cylinder clamped by the butting posture-adjusting platform clamp is defined as a movable end cylinder; the vision measuring system and the measuring robot are respectively positioned at the left side and the right side of the fixed end cylinder and the movable end cylinder which are clamped;
carrying out 6-degree-of-freedom posture adjustment on the moving end cylinder by a butt joint posture adjustment mechanism, wherein 6 degrees of freedom are an X-axis direction, a Y-axis direction, a Z-axis direction, a rotating direction taking an X-axis as a rotating shaft, a rotating direction taking a Y-axis as a rotating shaft and a rotating direction taking a Z-axis as a rotating shaft, a front-back direction is defined as the X-axis direction, a left-right direction is defined as the Y-axis direction, and an up-down direction is defined as the Z-axis direction;
the measuring robot, the vision measuring system and the butt joint posture adjusting mechanism are all connected with the control system.
Preferably, the vision measuring system is fixed on a vertical support; and the measuring robot is fixed on a measuring robot base.
Preferably, if the motion in the rotation direction with the X-axis as the rotation axis is defined as roll, the motion in the rotation direction with the Y-axis as the rotation axis is defined as pitch, and the motion in the rotation direction with the Z-axis as the rotation axis is defined as yaw, the docking and attitude adjusting mechanism includes:
the translation mechanism is used for adjusting the position of the movable end cylinder along the Y-axis direction under the driving of the Y-axis motor;
the transverse moving mechanism is used for adjusting the position of the moving end cylinder along the X-axis direction under the driving of the X-axis motor;
the lifting mechanism is used for adjusting the position of the movable end cylinder along the Z-axis direction under the driving of the Z-axis motor;
the yawing mechanism is used for driving the moving end cylinder to do yawing motion under the driving of a yawing motor so as to enable the moving end cylinder to rotate around the Z axis by an angle gamma;
the pitching mechanism is used for driving the moving end cylinder to perform pitching motion under the driving of the pitching motor so as to enable the moving end cylinder to rotate by an angle beta around the Y axis;
the rolling mechanism is used for driving the moving end cylinder to perform rolling motion under the driving of the rolling motor so as to enable the moving end cylinder to rotate around the Y axis by an angle alpha;
and the movable end clamp linking mechanism is used for installing and fixing the butt joint posture adjusting platform clamp.
The utility model provides a safer, work efficiency is higher, the butt joint is transferred the appearance quality more reliable, the higher appearance equipment of transferring that is used for the drum butt joint of degree of automation, especially is applicable to the automation safety in production's of the high accuracy of products such as the propeller of trades such as aviation, space flight, aircraft adjusting equipment. The utility model discloses following demand has been satisfied:
the robot comprises a robot contact type measuring system, a vision measuring system, a butt joint posture adjusting mechanism, a butt joint fixing platform, a tool clamp and the like. The utility model provides a transfer appearance mechanism can realize translation, sideslip, lift, driftage, every single move of work piece on the platform and roll over the accent appearance location of 6 degrees of freedom, and the adjustment precision is high, uses in a flexible way. One of the two sections is fixedly butted by using the butting and fixing platform, and the other section is only needed to be adjusted in the butting process, so that the adjusting difficulty and the equipment mechanism cost are reduced.
Secondly, adopt the measurement mode of robot contact measurement system and vision measurement system looks structure, convert measuring robot's coordinate system, leading-in to the vision detecting system in, adopt the mode that two detecting system verified each other on the one hand, ensure measurement accuracy, another party's vision detecting system need not all paste the target at every turn, the utility model discloses only need paste the target can used repeatedly on frock clamp, can realize the high automation of measurement, butt joint.
Compared with the prior art, the utility model has the advantages of as follows:
1. the mechanical part comprises a robot contact type measuring system, a vision measuring system, a butt joint posture adjusting mechanism, a butt joint fixing platform, a tool clamp, a base and the like, so that the full-automatic measuring, posture adjusting and butt joint processes are realized, and the design structure is simple.
2. The butt joint posture adjusting mechanism comprises a translation mechanism, a transverse moving mechanism, a lifting mechanism, a yawing mechanism, a pitching mechanism and a rolling mechanism, a control system calculates according to a measurement result, controls a high-precision servo motor to adjust the space posture, and enables the central axes of two sections of cylinders to be coaxial.
3. Adopt the measurement mode of robot contact measurement system and vision measurement system looks structure, convert measuring robot's coordinate system, leading-in to the vision detecting system in, adopt the mode that two detecting system verified each other on the one hand, ensure measurement accuracy, another party's vision detecting system need not all paste the target at every turn, the utility model discloses only need paste the target can used repeatedly on frock clamp, can realize the high automation of measurement, butt joint.
Drawings
Fig. 1 is an oblique view of the posture adjusting device for cylinder docking based on the high-precision measurement technology of the present invention;
fig. 2 is an oblique view of a docking posture-adjusting mechanism of a posture-adjusting device for cylinder docking based on a high-precision measurement technology of the present invention;
fig. 3 is the utility model relates to a transfer appearance schematic diagram of appearance equipment that transfers based on high accuracy measurement technique is used for drum butt joint.
Detailed Description
The present invention will be further described with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes and modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope of the appended claims.
Combine fig. 2 and fig. 3, the utility model provides a pair of transfer appearance equipment that is used for drum butt joint based on high accuracy measurement technique includes base mechanism 1, butt joint fixed platform 2, fixed platform anchor clamps 3, measuring robot 4, measuring robot base 5, vision measurement system 6, butt joint transfer appearance mechanism 7, butt joint transfer appearance platform anchor clamps 8 mechanism.
The vision measuring system 6 and the measuring robot base 5 are respectively positioned at the left side and the right side of the base mechanism 1, and the butt joint fixing platform 2 and the butt joint posture adjusting mechanism 7 are respectively positioned at the front end and the rear end of the base mechanism 1. The fixed platform clamp 3 is fixedly arranged on the butt joint fixed platform 2, one of the two sections of cylinders to be butt jointed is fixed on the fixed platform clamp 3, and the other section of cylinder is fixed on the butt joint posture adjusting platform clamp 8. The butt joint posture adjusting platform clamp 8 is fixedly arranged on the butt joint posture adjusting mechanism 7. It should be noted that, regarding the specific structure of the fixed platform clamp 3 and the docking and posture-adjusting platform clamp 8, those skilled in the art can design the fixed platform clamp according to the shape of the cylinder, which belongs to the common knowledge of those skilled in the art, and will not be described herein again.
After the two sections of cylinders to be butted are respectively fixed on the butting posture adjusting platform clamp 8 and the fixed platform clamp 3, the vision measuring system 6 and the measuring robot 4 are respectively positioned at the left side and the right side of the cylinder. The vision measuring system 6 is fixed on the vertical support, and the measuring robot 4 is fixed on the measuring robot base 5. In this embodiment, the vision measuring system 6 and the measuring robot 4 are purchased products, and the hardware structure thereof is not described herein again.
In the present embodiment, the cylinder fixed to the fixed stage jig 3 is defined as a fixed end cylinder, and the cylinder fixed to the butt posture adjustment stage jig 8 is defined as a movable end cylinder. In the butt joint process, the position of the fixed end cylinder is kept unchanged, and the position and the attitude of the movable end cylinder are adjusted through the butt joint attitude adjusting mechanism 7.
Further, the docking and attitude adjusting mechanism 7 needs to adjust the positional deviation and the attitude deviation of the moving end cylinder in each direction before the cylinder is docked, including the movement in the X-axis direction, the Y-axis direction, and the Z-axis direction, the rotation around the X-axis direction (defined as "roll"), the rotation around the Y-axis direction (defined as "pitch"), and the rotation around the Z-axis direction (defined as "yaw"). In this embodiment, the X-axis direction is the front-rear direction, the Y-axis direction is the left-right direction, and the Z-axis direction is the up-down direction. Therefore, the movement in 3 directions and the adjustment of the rotational freedom degree in 3 directions are realized through the butt joint posture adjusting mechanism 7.
As shown in fig. 2 and 3, in the present embodiment, the docking posture adjustment mechanism 7 includes:
the translation mechanism 9 is used for adjusting the position of the moving end cylinder along the Y-axis direction under the driving of the Y-axis motor;
the transverse moving mechanism 10 is used for adjusting the position of the moving end cylinder along the X-axis direction under the driving of the X-axis motor;
the lifting mechanism 11 is used for adjusting the position of the moving end cylinder along the Z-axis direction under the driving of the Z-axis motor;
the yawing mechanism 12 is used for driving the moving end cylinder to perform yawing motion under the driving of a yawing motor, so that the moving end cylinder rotates by an angle gamma around a Z axis, and the accurate fine-tuning alignment of the moving end cylinder and the fixed end cylinder in the Y-axis radial component direction of the central axis of the cylinder body of the moving end cylinder and the fixed end cylinder is realized;
the pitching mechanism 13 is used for driving the moving end cylinder to perform pitching motion under the driving of the pitching motor, so that the moving end cylinder rotates by an angle beta around the Y axis, and the accurate fine tuning alignment of the moving end cylinder and the fixed end cylinder in the Z axis radial component direction of the central axis of the cylinder body of the moving end cylinder is realized;
and the rolling mechanism 14 is used for driving the moving end cylinder to perform rolling motion under the driving of the rolling motor, so that the moving end cylinder rotates around the Y axis by an angle alpha, and the high-precision circumferential posture adjustment alignment of the moving end cylinder is realized.
And the movable end clamp linking mechanism 15 is used for installing and fixing the butt joint posture adjusting platform clamp 8.
In this embodiment, the translation mechanism 9, the traverse mechanism 10, the lifting mechanism 11, the yaw mechanism 12, the pitch mechanism 13, the rolling mechanism 14, and the moving-end clamp linking mechanism 15 are all implemented by using existing mature structures, and are not described herein again. And high-precision servo motors are adopted for the Y-axis motor, the X-axis motor, the Z-axis motor, the yaw motor, the pitching motor and the rolling motor. The control system calculates according to the measurement results obtained by the vision measurement system 6 and the measurement robot 4, controls the high-precision servo motor to adjust the space attitude, and enables the central axes of the movable end cylinder and the fixed end cylinder to be coaxial.
After the equipment provided by the utility model is operated, the movable end cylinder and the fixed end cylinder are clamped and fixed with the movable end cylinder by the fixed platform clamp 3 and the butt joint posture adjusting platform clamp 8 respectively after the movable end cylinder and the fixed end cylinder are put on the butt joint posture adjusting equipment, and the measuring robot 4 measures the excircles, end faces and the like of the two sections of cylinders respectively to establish a space coordinate system; shooting a target on the tool by using a vision measuring system 6 to determine a space coordinate; and meanwhile, the coordinate system of the measuring robot 4 is converted and led into the vision measuring system 6, and the measuring precision is ensured by adopting a mutual verification mode of double detecting systems.
The butt joint posture adjusting mechanism 7 carries out 6-degree-of-freedom posture adjustment according to the measurement result, 5 shafts are adjusted through adjusting the transverse moving mechanism 10, the lifting mechanism 11, the yawing mechanism 12, the pitching mechanism 13, the rolling mechanism 14 and the like, so that the moving end cylinder and the fixed end cylinder are coaxial, and after the posture adjustment is finished, the 5 shafts are locked, so that the platform can only move in the direction driven by the translation mechanism 9. During this time, the vision measuring system 6 dynamically detects the deviation requirement of the motion production run of the docking platform during the centering process. After reaching the preset position, the docking and attitude adjusting mechanism 7 adopts a propelling pressure sensor to realize pressure protection, and the servo used by the docking and attitude adjusting mechanism 7 adopts torque control to realize safety protection in the docking process, eliminate the inertia influence of a combustion chamber during rotation and complete 6 degrees of freedom in centering.
The utility model discloses structurally by robot contact measurement system, vision measurement system, butt joint accent appearance mechanism, butt joint fixed platform, frock clamp etc. constitute, realize on the platform translation, sideslip, lift, driftage, every single move and the accent appearance location of 6 degrees of freedom of roll-over of work piece. After the two cylinders are hoisted to the butt joint posture adjusting equipment, the two cylinders are clamped and fixed by a tool clamp, and a measuring robot respectively measures the outer circles, the end faces and the like of the two cylinders to establish a space coordinate system; shooting a target on the tool by using a visual inspection camera to determine a space coordinate; and simultaneously, the coordinate system of the measuring robot is converted and led into a visual detection system, and the measurement precision is ensured by adopting a mutual verification mode of double detection systems.
The docking platform carries out 6-degree-of-freedom posture adjustment according to a measurement result, the two cylinders are coaxial, 5 shafts of the two cylinders are locked after the posture adjustment is finished, the platform can only move in the horizontal direction, during the period, the visual detection system dynamically detects the position, the deviation requirement of the motion production operation of the docking platform in the centering process is guaranteed, after the position reaches a preset position, the centering platform also adopts a propelling pressure sensor to realize pressure protection, the servo used by the platform adopts torque control, so that the safety protection in the docking process is achieved, the inertia influence of a combustion chamber during rotation is eliminated, and 6 degrees of freedom are locked in centering.
Claims (3)
1. The utility model provides a transfer appearance equipment for drum butt joint based on high accuracy measurement technique which characterized in that, includes base mechanism (1), butt joint fixed platform (2), fixed platform anchor clamps (3), measuring robot (4), vision measurement system (6), butt joint transfer appearance mechanism (7) and butt joint transfer appearance platform anchor clamps (8), wherein:
the vision measuring system (6) and the measuring robot base (5) are respectively positioned at the left side and the right side of the base mechanism (1), and the butt joint fixing platform (2) and the butt joint posture adjusting mechanism (7) are respectively positioned at the front end and the rear end of the base mechanism (1); the fixed platform clamp (3) and the butt joint posture adjusting platform clamp (8) are respectively arranged on the butt joint fixed platform (2) and the butt joint posture adjusting mechanism (7); one section of the two sections of cylinders to be butted is clamped by a fixed platform clamp (3), the other section of the cylinders is clamped by a butting posture adjusting platform clamp (8), the cylinder clamped by the fixed platform clamp (3) is defined as a fixed end cylinder, and the cylinder clamped by the butting posture adjusting platform clamp (8) is defined as a moving end cylinder; the vision measuring system (6) and the measuring robot (4) are respectively positioned at the left side and the right side of the clamped fixed end cylinder and the clamped movable end cylinder;
a butt joint posture adjusting mechanism (7) is used for adjusting the posture of the moving end cylinder by 6 degrees of freedom, wherein the 6 degrees of freedom are an X-axis direction, a Y-axis direction, a Z-axis direction, a rotating direction taking an X-axis as a rotating shaft, a rotating direction taking a Y-axis as a rotating shaft and a rotating direction taking a Z-axis as a rotating shaft, the front-back direction is defined as the X-axis direction, the left-right direction is defined as the Y-axis direction, and the up-down direction is defined as the Z-axis direction;
the measuring robot (4), the vision measuring system (6) and the butt joint posture adjusting mechanism (7) are all connected with the control system.
2. The attitude adjustment device for cylinder docking based on high precision measurement technique as claimed in claim 1, characterized in that the vision measurement system (6) is fixed on a vertical support; the measuring robot (4) is fixed on a measuring robot base (5).
3. An attitude adjusting apparatus for cylinder docking based on high precision measurement technique as claimed in claim 1, wherein if the movement in the rotation direction with the X-axis as the rotation axis is defined as roll, the movement in the rotation direction with the Y-axis as the rotation axis is defined as pitch, and the movement in the rotation direction with the Z-axis as the rotation axis is defined as yaw, there are: the butt joint posture adjusting mechanism (7) comprises:
the translation mechanism (9) is used for adjusting the position of the moving end cylinder along the Y-axis direction under the driving of the Y-axis motor;
the transverse moving mechanism (10) is used for adjusting the position of the moving end cylinder along the X-axis direction under the driving of the X-axis motor;
the lifting mechanism (11) is used for adjusting the position of the moving end cylinder along the Z-axis direction under the driving of the Z-axis motor;
the yawing mechanism (12) is used for driving the moving end cylinder to do yawing motion under the driving of a yawing motor so as to enable the moving end cylinder to rotate around the Z axis by an angle gamma;
the pitching mechanism (13) is used for driving the moving end cylinder to perform pitching motion under the driving of the pitching motor so as to enable the moving end cylinder to rotate around the Y axis by an angle beta;
the rolling mechanism (14) is used for driving the moving end cylinder to do rolling motion under the driving of the rolling motor so as to enable the moving end cylinder to rotate around the Y axis by an angle alpha;
and the movable end clamp linking mechanism (15) is used for installing and fixing the butt joint posture adjusting platform clamp (8).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022730833.7U CN214558930U (en) | 2020-11-23 | 2020-11-23 | Posture adjusting equipment for butt joint of cylinders based on high-precision measurement technology |
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| CN202022730833.7U CN214558930U (en) | 2020-11-23 | 2020-11-23 | Posture adjusting equipment for butt joint of cylinders based on high-precision measurement technology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043402A (en) * | 2021-11-08 | 2022-02-15 | 陕西飞机工业有限责任公司 | Method for installing numerical control attitude adjusting positioning assembly on airplane assembly platform |
| CN114932517A (en) * | 2022-05-11 | 2022-08-23 | 哈尔滨理工大学 | Six-degree-of-freedom posture adjusting platform for butt joint of missile barrels and posture adjusting method |
| CN114952288A (en) * | 2022-07-27 | 2022-08-30 | 深圳皓影医疗科技有限公司 | Ultrasonic transducer's assembly quality |
| CN115070349A (en) * | 2022-06-08 | 2022-09-20 | 扬州市玉宇电器有限公司 | Production process of high-voltage transmission shielding case |
| CN115255906A (en) * | 2022-06-30 | 2022-11-01 | 天津大学 | Alignment method and device for coaxial assembly of rotating member |
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2020
- 2020-11-23 CN CN202022730833.7U patent/CN214558930U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043402A (en) * | 2021-11-08 | 2022-02-15 | 陕西飞机工业有限责任公司 | Method for installing numerical control attitude adjusting positioning assembly on airplane assembly platform |
| CN114932517A (en) * | 2022-05-11 | 2022-08-23 | 哈尔滨理工大学 | Six-degree-of-freedom posture adjusting platform for butt joint of missile barrels and posture adjusting method |
| CN115070349A (en) * | 2022-06-08 | 2022-09-20 | 扬州市玉宇电器有限公司 | Production process of high-voltage transmission shielding case |
| CN115255906A (en) * | 2022-06-30 | 2022-11-01 | 天津大学 | Alignment method and device for coaxial assembly of rotating member |
| CN114952288A (en) * | 2022-07-27 | 2022-08-30 | 深圳皓影医疗科技有限公司 | Ultrasonic transducer's assembly quality |
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