CN216029133U - Horizontal automatic butt joint assembly system - Google Patents
Horizontal automatic butt joint assembly system Download PDFInfo
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- CN216029133U CN216029133U CN202122826691.9U CN202122826691U CN216029133U CN 216029133 U CN216029133 U CN 216029133U CN 202122826691 U CN202122826691 U CN 202122826691U CN 216029133 U CN216029133 U CN 216029133U
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Abstract
The utility model discloses a horizontal automatic butt joint assembly system, which comprises: a support platform; a multi-degree-of-freedom docking unit; a measuring unit; the supporting platform and the bottoms of the multi-free-end butt joint units are provided with a sliding platform and a linear sliding table which are matched with each other. In the butt joint assembly process, the measuring unit taking the laser tracker as a core detects the position and the posture of the butt joint workpiece in real time and feeds the position and the posture to the control unit, the position and the posture of the butt joint workpiece are adjusted under the action of the multi-free-end butt joint unit, and the butt joint workpiece slides to one side of the supporting platform on the linear sliding table to finish the accurate butt joint operation. The utility model provides a horizontal automatic butt-joint assembly system, which can realize the matched space supporting and positioning of a cylindrical workpiece and a complicated-profile spray pipe-shaped workpiece in the butt-joint assembly process, acquire the position and the pose of the workpiece through a measuring unit, adjust the distance between the complicated-profile spray pipe-shaped workpiece and the cylindrical workpiece through a control unit in real time in the alignment process, complete the horizontal butt-joint assembly of the cylindrical workpiece and the complicated-profile spray pipe-shaped workpiece, and has the advantages of good alignment precision controllability and high structural stability.
Description
Technical Field
The utility model relates to the field of equipment component assembly. More particularly, the utility model relates to a horizontal automatic butt-joint assembly system for realizing the assembly of a cylindrical workpiece and a multi-step hole shaft at the end part of a complicated-profile spray pipe-shaped workpiece.
Background
The high-precision horizontal automatic butt joint assembly table is used for realizing the assembly of a cylindrical workpiece and a multi-step hole shaft at the end part of a complicated-profile spray pipe-shaped workpiece.
In the prior art, in the assembly of a cylindrical workpiece and a multi-step hole shaft at the end part of a spray pipe-shaped workpiece with a complex profile, firstly, the cylindrical workpiece and the complicated-profile nozzle-shaped workpiece are spatially supported and limited in position, so that the complex surface spray pipe-shaped workpiece is aligned with the cylindrical workpiece in space to complete the connection of the two workpieces, however, in the prior art, the manual assembly mode is mainly adopted, and the large equipment components cause safety risks and low efficiency in the assembly process, moreover, the consistency of products during assembly is not good, the assembly effect is influenced, and in order to enable the products to have better intelligence, the prior art also adopts a superposed six-axis mechanism as an auxiliary in alignment and is matched with manual assembly, but the assembly and measurement mode is manual naked eye measurement, and the precision can not meet the requirement by matching with the form of the auxiliary pin.
SUMMERY OF THE UTILITY MODEL
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
To achieve these objects and other advantages in accordance with the purpose of the utility model, there is provided a horizontal automatic docking assembly system, comprising:
the supporting platform is used for supporting and positioning the cylindrical workpiece;
the multi-degree-of-freedom docking unit is arranged corresponding to the docking of the supporting platform;
a measuring unit disposed between the butting faces to detect the butting parameters in real time;
the supporting platform and the bottom of the multi-free-end butt joint unit are provided with a sliding platform and a linear sliding table which are matched with each other, and the multi-free-end butt joint unit slides to one side of the supporting platform on the linear sliding table under the action of the control unit to complete butt joint operation.
Preferably, the support platform is configured to include:
two supporting pieces for spatially positioning the surface of the cylindrical workpiece;
the fixing seat is internally provided with a cavity, and the supporting pieces are oppositely arranged in the cavity through a rotating shaft matched with each other;
wherein, each supporting piece is provided with at least two arc supporting surfaces matched with the surfaces of the cylindrical pieces with different outer diameters;
the fixing seat is provided with a fixing pin, and the disc surface of the supporting piece is provided with at least two fixing holes which are matched with the fixing pin so as to ensure that the space supporting position of each arc-shaped supporting surface after rotation is matched with the external structure of the cylindrical piece;
each supporting piece is provided with an eccentric mounting hole matched with the rotating shaft.
Preferably, the oppositely disposed supports spatially subtend an angle of wrap of greater than 125 degrees to the cylindrical workpiece surface.
Preferably, the fixed seat is rotatably provided with a transmission shaft with an adjusting wheel;
the transmission shaft is provided with first gear teeth, and the free end of each rotating shaft is provided with gear teeth matched with the first gear teeth;
the first gear teeth are in transmission connection with the gear teeth through a matched transmission belt, and the transmission belt is provided with a plurality of rows of third gear teeth at a preset distance at one side matched with the first gear teeth and the gear teeth;
the free end of each fixing pin is provided with a locking wheel matched with the free end of each fixing pin;
wherein, each fixing pin is provided with a matched thread, and each fixing seat is provided with a thread sleeve matched with the thread hole.
Preferably, the multiple degree of freedom docking unit is configured to include: the flexible abdominal bracing type clamping device is matched with the spray pipe type workpiece, and the six-degree-of-freedom platform is arranged below the flexible abdominal bracing type clamping device and is adjusted according to the spatial position of the flexible abdominal bracing type clamping device;
the flexible abdominal bracing clamp device is configured to include:
the front belly supporting component and the rear belly supporting component are arranged at the bottom of the spray pipe type workpiece;
the tail support assemblies are arranged on two sides of the spray pipe type workpiece to play a role in clamping in space;
the front abdominal support assembly and the rear abdominal support assembly are both configured to comprise two first support pieces which are split left and right, and the first support pieces are provided with first molded surfaces matched with the front abdominal structures and the rear abdominal structures of the jet pipe type workpieces;
each tail supporting assembly is configured to comprise a supporting piece and a mounting mechanism which is matched with the supporting piece to realize left-right telescopic adjustment, and a second molded surface which is matched with the external structure of the spray pipe type workpiece is arranged on the supporting piece.
Preferably, each first supporting piece is provided with a limiting groove matched with a flange and/or a conical surface of the spray pipe type workpiece;
the fixing device also comprises two fixing belts which are arranged on two sides of the base and used for integrally binding the spray pipe-shaped workpiece, and each fixing belt is used for constructing an arc-shaped structure matched with the external structure of the spray pipe-shaped workpiece through a matched tightener;
the rear belly supporting component and the tail supporting component are provided with colloid cushion layers at the positions contacted with the spray pipe-shaped workpiece.
Preferably, the mounting mechanism is configured to include: the mounting plate is pivoted with the supporting piece, and the telescopic mechanism is matched with the mounting plate;
the base is provided with an installation part matched with the telescopic mechanism, and the installation plate is provided with at least one guide column which penetrates through the installation part to guide the feeding direction of the telescopic mechanism.
Preferably, the sliding platform is configured to include:
the sliding table base body is oppositely provided with matched linear guide rails;
the fixed supporting mechanism is arranged on the sliding table base body and is close to one side of the spray pipe-shaped workpiece;
the sliding support mechanism is arranged on the linear guide rail and matched with the fixed support mechanism;
and a locking mechanism is arranged on one side of the sliding support mechanism.
Preferably, the measurement unit is configured to include:
the laser tracker and the three-dimensional scanner are used for measuring the size of the matching surface of the cylindrical workpiece and the complex-profile spray pipe-shaped workpiece;
the laser tracker, the attitude tracker and the target ball are used for acquiring the motion attitude of the complicated profile nozzle-shaped workpiece in the butt joint work.
The utility model at least comprises the following beneficial effects:
the horizontal automatic butt-joint assembly system can realize the matched space supporting and positioning of the cylindrical workpiece and the complex-profile spray pipe-shaped workpiece in the butt-joint assembly process, the position and the pose of the workpiece are obtained through the measuring unit, the distance between the complex-profile spray pipe-shaped workpiece and the cylindrical workpiece is adjusted through the control unit after alignment, the horizontal butt-joint assembly of the cylindrical workpiece and the complex-profile spray pipe-shaped workpiece is completed, the alignment precision controllability is good, and the structural stability is better.
Secondly, the supporting piece provided by the utility model can be provided with a plurality of supporting surfaces with arc structures, and the supporting surfaces can be fixed after being switched by matching with corresponding fixing pins and fixing holes through the rotatable arrangement of the supporting piece, so that the device can be suitable for assembling and supporting in a plurality of sizes and has better adaptability.
Thirdly, the two symmetrical supporting parts are arranged, so that the height of the fixed seat for arranging the supporting parts in space can be limited, the height of the supporting device is integrally reduced, and the operation and the observation in the operation are facilitated.
Fourthly, the utility model has better support stability for the large-scale cylindrical workpiece by limiting the wrap angle of the support surface to be larger than 125 degrees in space.
Fifthly, according to the special appearance of the complex-profile spray pipe-shaped workpiece, the special clamping tool is manufactured, the front and rear ventral support assemblies in profile design are positioned according to the support parts of the complex-profile spray pipe-shaped workpiece, the structural matching degree of the complex-profile spray pipe-shaped workpiece during support of the complex-profile spray pipe-shaped workpiece and the complex-profile spray pipe-shaped workpiece is ensured, the tail support assemblies arranged on the left and right sides are further assisted to carry out clamping type limitation on the tail of the workpiece, the support stability of the workpiece on a spatial structure is ensured, the special clamping tool is particularly suitable for the support limitation of an eccentric design workpiece on the spatial structure, and the stability is better;
sixth, the front and rear abdomen supporting components and the tail supporting component are arranged in a left-right separation structure, and the spatial position of the front and rear abdomen supporting components can be adjusted without working procedures through the cooperation of the telescopic mechanisms, so that the front and rear abdomen supporting components have better adaptability.
Seventhly, the front abdominal supporting component and the rear abdominal supporting component are detachably arranged, and the tail supporting component is arranged to be capable of adjusting the angle and the position according to needs, so that in actual operation, workpieces with different profiles and different sizes can be adapted by replacing the supporting components and adjusting the positions of the supporting components, and the front abdominal supporting component and the rear abdominal supporting component have better adaptability.
Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model.
Drawings
FIG. 1 is a schematic structural diagram of a horizontal automatic docking assembly system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a flexible large-wrap-angle arc-shaped supporting device for a cylindrical workpiece according to an embodiment of the utility model;
FIG. 3 is a side view of the structure of FIG. 2;
FIG. 4 is a schematic structural view of the support member of the present invention;
FIG. 5 is a schematic view of the apparatus of the present invention with one of the supports removed;
FIG. 6 is a partially enlarged view of the fastening wheel and the adjustment wheel of FIG. 3, together with the fixing pin and the rotation shaft;
FIG. 7 is a schematic diagram of a flexible web-supported clamp for complex-profile nozzle-shaped workpieces according to one embodiment of the present invention;
FIG. 8 is an enlarged schematic view of the anterior and posterior abdominal support assemblies of FIG. 7;
FIG. 9 is an enlarged schematic view of the caudal bearing assembly of FIG. 7;
FIG. 10 is an enlarged schematic view of the front and rear web support members of FIG. 7 in contact with the base and the workpiece;
FIG. 11 is a schematic view of the structure of the sliding platform of the present invention
FIG. 12 is a schematic view of the distribution of the measuring units of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the utility model by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
It is to be understood that in the description of the present invention, the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are used only for convenience in describing the present invention and for simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specifically stated or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are used broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or a communication between two elements, and those skilled in the art will understand the specific meaning of the terms in the present invention specifically.
Further, in the present invention, unless otherwise expressly specified or limited, the first feature may be "on" or "under" the feature in direct contact with the first feature or in indirect contact with the first feature through an intermediate. Also, a first feature "on," "over," and "above" a feature may be directly or diagonally above the feature, or may simply mean that the first feature is higher in level than the feature. A first feature being "under," "below," and "beneath" a feature may be directly under or obliquely under the feature, or may simply mean that the first feature is at a lesser elevation than the feature.
Fig. 1 shows a horizontal automatic docking assembly system implementation form according to the present invention, which includes:
the supporting platform 1 is used for supporting and positioning the cylindrical workpiece, the cylindrical workpiece is a horizontally placed cylindrical large-sized workpiece, the end assembly surface of the cylindrical large-sized workpiece is a multi-step hole, the supporting platform of the cylindrical workpiece can be placed on the ground of a workshop and used for fixing and supporting the cylindrical workpiece in the assembly process, and the cylindrical workpiece supporting platform is a reference for automatic butt assembly;
the multi-degree-of-freedom docking unit 2 is arranged corresponding to the docking of the supporting platform, the complex-surface spray pipe-shaped workpiece is a horizontally placed conical product, the end assembly surface of the complex-surface spray pipe-shaped workpiece is a multi-step shaft, in actual operation, the matching relationship between the cylindrical workpiece and the assembly surface (end surface) of the complex-surface spray pipe-shaped workpiece is that a hole shaft consisting of a plurality of groups of step surfaces is matched, and the minimum clearance in the circumferential direction of the matching surface is 0.2mm and the minimum clearance is 0.1 mm; the complex surface spray pipe-shaped workpiece and the cylindrical workpiece are assembled to meet the requirements that: the coaxiality error of the central line is +/-0.2 mm, and the assembly clearance is less than 0.02 mm;
a measuring unit 3 provided between the butting faces to detect the butting parameters in real time;
wherein, the bottom of the supporting platform and the bottom of the multi-free end butt joint unit are respectively provided with a sliding platform 4 and a linear sliding platform 5 which are matched with each other, the multi-free end butt joint unit slides to one side of the supporting platform on the linear sliding platform under the action of a control unit (not shown) to complete the butt joint operation, in the structure, a control system unit comprises a PLC, an industrial personal computer, an auxiliary electrical device and the like, and the structure has the advantages that after the spray pipe-shaped workpiece and the cylindrical workpiece are aligned in space, the spray pipe-shaped workpiece is pushed to the butt joint surface of the cylindrical workpiece through the control unit to complete the butt joint work of the spray pipe-shaped workpiece and the cylindrical workpiece, in the actual operation, the linear sliding platform is driven by a band-type brake servo motor, the sliding platform moves along the guide rail on the base through the transmission of a gear rack and a linear guide rail, and the linear sliding platform can complete the coarse adjustment of the multi-degree of freedom butt joint device of the complex profile spray pipe-shaped workpiece in the advancing direction, and (3) locking the band-type brake after the butt joint is carried out, and repeatedly positioning the precision: 0.1 mm.
2-6, in another example, the support platform is configured to include:
two support members 7 for spatially positioning the surface of the cylindrical workpiece 6;
the structure is characterized in that the fixing seat 9 is internally provided with a cavity 8, each supporting piece is oppositely arranged in the cavity through a rotating shaft 10 matched with the supporting piece, the height of the fixing seat for arranging the supporting pieces on the space can be limited by arranging the two supporting pieces symmetrically, the height of the supporting device is integrally reduced, the observation in operation and operation is facilitated, namely, the height and the size of the supporting pieces can be effectively reduced by arranging the two supporting pieces under the same supporting radian, so that the integral height of the supporting pieces can be downwards adjusted;
wherein, each supporting piece is provided with at least two arc supporting surfaces 11 matched with the surfaces of the cylindrical pieces with different outer diameters;
the fixing seat is provided with a fixing pin 12, the disc surface of the supporting piece is provided with at least two fixing holes 13 matched with the fixing pin so that the space supporting position of each arc-shaped supporting surface after rotation is matched with the external structure of the cylindrical piece, in the structure, the fixing pin and the fixing hole matched with each supporting piece are respectively arranged so that the supporting surface of each supporting piece is fixed after rotating to a designated position, so that a supporting part matched with the external surface structure of the cylindrical piece is constructed through the corresponding supporting surface in space, and the supporting and limiting of the cylindrical piece are completed.
The eccentric mounting holes 14 matched with the rotating shafts are formed in the supporting pieces, the function of the eccentric mounting holes 14 is that the supporting pieces can ensure that the center lines of the supported cylindrical workpieces with different diameters are basically coaxial with the center line of the complex-profile spray pipe-shaped workpiece on the complex-profile spray pipe-shaped workpiece multi-degree-of-freedom butting device, in actual operation, the mounting holes matched with the second rotating shafts are inevitably formed in the second supporting pieces for mounting requirements, but the eccentric mounting holes are arranged to be eccentric with the centers of the supporting pieces, so that when the supporting pieces rotate to switch arc-shaped supporting surfaces, the corresponding fixing holes are always matched with the positions of the fixing pins after rotation, the spatial position limitation of the supporting pieces after rotation adjustment is completed, and the fitting degree of the supporting surfaces and the surfaces of the cylindrical workpieces is ensured to meet the fixing requirements.
In another example, the oppositely arranged supporting pieces spatially have a wrap angle larger than 125 degrees to the surface of the cylindrical workpiece, and the radian of the supporting surface formed by the two supporting pieces spatially limits the radian, so that the supporting surface has better matching degree with the outer surface of the cylindrical workpiece and better supporting property and stability.
As shown in fig. 2 and 6, in another example, a transmission shaft (not shown) with an adjusting wheel 15 is rotatably disposed on the fixing base, the transmission shaft is fixed by a matching bearing seat, and it is ensured that the transmission shaft is not interfered by rotation of the adjusting wheel, and the bearing seat can be fixed on the fixing base by a matching mounting member as required, or can be directly mounted on the fixing base, and the bearing seats can be disposed as one as required, or can be disposed on both sides of the transmission belt respectively, so as to ensure the mounting stability of the transmission shaft, and at the same time, partially limit the position of the transmission belt, and prevent the transmission belt from deviating, and as required, the bearing seat can also be disposed with a guiding groove matching with the transmission manner of the transmission belt;
wherein, the transmission shaft is provided with first gear teeth (not shown), and the free end of each rotating shaft is provided with second gear teeth 16 matched with the first gear teeth;
first teeth of a cogwheel is connected through the transmission of matched with drive belt 17 with the second teeth of a cogwheel, and the drive belt with first teeth of a cogwheel, second teeth of a cogwheel matched with one side interval is predetermine the distance and is provided with multirow third teeth of a cogwheel 18, in this kind of structure, the adjustment wheel is rotated to the hand mode of operating personnel, the adjustment wheel drives the transmission shaft and rotates in the axial, and it rotates further through the first teeth of a cogwheel on it again, the third wheel tooth on the drive belt transmits for the second teeth of a cogwheel, and then make and rotate with the pivot that has the second teeth of a cogwheel, it rotates on the space to drive support piece, in order to switch the arc holding surface on the support piece, make it cooperate with not unidimensional cylinder work piece surface, simultaneously through this kind of mode, make it when limiting large work piece, it is more laborsaving.
The free end of each fixing pin is provided with a locking wheel 19 matched with the free end of each fixing pin;
wherein, be provided with the matched with screw thread on each fixing pin, be provided with on each fixing base with screw hole matched with thread bush 20 this kind of scheme in, through set up on the fixing pin with thread bush matched with screw thread, the tight pulley on the cooperation fixing pin accomplishes feeding and withdrawing from to the fixing pin, guarantees its job stabilization nature and fastening effect, the thread bush is exactly that a protrusion is fixed outside the fixing base to with the corresponding column hollow member of the spatial position of fixing pin, its height can be adjusted as required.
As shown in fig. 1, 7-10, in another example, the multiple degree of freedom docking unit is configured to include: the flexible abdominal bracing type clamping device is matched with the spray pipe type workpiece, and the six-degree-of-freedom platform 22 is arranged below the flexible abdominal bracing type clamping device 21 and is adjusted according to the spatial position of the flexible abdominal bracing type clamping device; the six-degree-of-freedom platform is a core device of an automatic docking system, can complete complex space compound motion, can complete independent motion (advancing, translating, lifting, pitching, yawing and rolling) of each degree of freedom, is a main device for adjusting the posture of a complex profile spray pipe-shaped workpiece product, and is completely completed by the six-degree-of-freedom platform in the docking process; the six-degree-of-freedom platform is fixed on the linear sliding table through the reference platform, the six-degree-of-freedom platform adopts a Stewart platform structure, and the six-degree-of-freedom motion of the upper platform in the space is realized through the expansion of six sets of servo actuators. The structure mode determines that the six-degree-of-freedom platform has a motion system which can be accurately calibrated, and the motion system can be calibrated by a tracking measurement system and is connected to a measurement system in parallel;
the platform is provided with a motion control system, and can effectively receive coordinate feedback from a tracking and measuring system to form a full closed-loop motion system;
each driving electric cylinder of the platform is powered by a servo motor, the motors are provided with mechanical feedback modules, and after mechanical synthesis, the mechanical parameters of butt joint can be effectively fed back, the mechanical change in the butt joint process is monitored, and when the mechanical parameters exceed the limit, the system stops and gives an alarm;
the platform-related motion parameters are as follows:
the flexible abdominal bracing clamp device is configured to include:
a front belly support assembly 23 and a rear belly support assembly 24 which are arranged at the bottom of the nozzle type workpiece;
the front abdominal support assembly and the rear abdominal support assembly are both configured to comprise two first support pieces 26 which are oppositely arranged left and right, and the first support pieces are provided with first profiles 27 matched with the front abdominal structures and the rear abdominal structures of the jet pipe type workpieces;
each tail support component is configured to comprise a mounting mechanism 29 which is matched with a second support component 28 and realizes left-right telescopic adjustment, the second support component is provided with a second profile 30 matched with the external structure of the nozzle-shaped workpiece, in the structure, the first profiles of the front and back belly support components contacted with the workpiece are set into a profiling design matched with the nozzle-shaped workpiece with a complex profile, the second profiles matched with the nozzle-shaped workpiece are further used, so that the contact position of each support component and the nozzle-shaped workpiece with the complex profile has better fit tightness, the first support component is set into a split structure, the second support component can be adjusted left and right through the matched mounting mechanism, the position of the second support component can be adjusted left and right according to requirements, and the position adjustment requirements of the support components under different assembly procedures are met, the supporting piece is axially withdrawn after the spray pipe-shaped workpiece and the cylindrical workpiece are assembled, and the device has better adaptability.
In another example, as shown in fig. 7-8 and 10, each first supporting member is provided with a limiting groove 33 which is matched with the flange 32 and/or the conical surface of the nozzle-shaped workpiece 31, and in this structure, the design of the limiting groove is matched with the flange and conical surface structure on the nozzle-shaped workpiece with the complex profile, so as to position and support the workpiece, and have better stability;
the spray pipe-shaped workpiece fixing device is characterized by further comprising two fixing belts 34 which are arranged on two sides of the base and used for integrally binding the spray pipe-shaped workpiece, and each fixing belt is used for constructing an arc-shaped structure matched with the external structure of the spray pipe-shaped workpiece through a matched bolt 35;
the back belly supporting component, afterbody supporting component are provided with the colloid bed course on the position that contacts with spout pipe-shaped work piece, and in this kind of structure, support through the back belly and the afterbody supports and the contact surface of work piece sets up soft cushion, effectively prevent to press from both sides the in-process and cause the damage to the work piece surface.
In another example, as shown in FIG. 9, the mounting mechanism is configured to include: a mounting plate 36 pivotally connected to the second support member, and a second telescoping mechanism 37 coupled to the mounting plate;
wherein, be provided with on the base with second telescopic machanism matched with installed part 38, be provided with at least one on the mounting panel and pass the installed part to guide post 39 that leads is carried out to the direction of feed of second telescopic machanism, in this kind of structure, through the cooperation of second telescopic machanism with the mounting panel, make second support piece position in space adjust as required, in order to adapt to the installation needs of different processes, and the effect of guide post can give the clamping process about it, protect the second telescopic machanism, the effect of guide, in order to guarantee the stability of structure.
Fig. 10, in another example, the sliding platform is configured to include:
a sliding table base body 40 on which matched linear guide rails 41 are oppositely arranged;
a fixed support mechanism 42 arranged on the sliding table base body and close to one side of the spray pipe-shaped workpiece;
a sliding support mechanism 43 provided on the linear guide rail to be engaged with the fixed support mechanism;
in actual operation, the distance between the leveling sliding support mechanism and the fixed support can be adjusted according to the lengths of cylindrical workpieces with different specifications, and the sliding support mechanism is locked and fixed through the locking device after adjustment is completed, so that the sliding support mechanism is prevented from moving on the linear guide rail, and the support stability of the sliding support mechanism is influenced.
Fig. 11, in another example, the measurement unit is configured to include:
a laser tracker and a three-dimensional scanner 45 for measuring the size of the matching surface of the cylindrical workpiece and the complicated surface spray pipe-shaped workpiece; a laser tracker 46, a posture tracker 47 and a target ball 48 for acquiring the motion posture of the complex-profile nozzle-shaped workpiece in the butt joint work. The measuring unit is used for measuring the size (circle diameter, step surface height and cylinder surface length) of the matching surface of the cylindrical workpiece and the complicated surface spray pipe-shaped workpiece and reversely constructing a three-dimensional model of the matching surface; analyzing the product fit size through measurement software, and displaying the interference area and the interference amount of the parts; and monitoring and feedback of the spatial motion attitude in the butt joint process of the complicated-profile nozzle-shaped workpiece are completed.
In practical application, the measuring unit mainly comprises a three-dimensional scanner, a laser tracker, an attitude tracker, a target ball seat and measuring software.
The three-dimensional scanner selects a non-contact handheld three-dimensional scanner, can accurately scan the circular diameter, the step surface height, the cylindrical surface length and the like of the assembly surface of the complex-profile spray pipe-shaped workpiece and the cylindrical workpiece, and is matched with measurement software to realize reverse construction of a three-dimensional model of the matching surface of the cylindrical workpiece and the complex-profile spray pipe-shaped workpiece.
The laser tracker is arranged at a designated position beside the multi-degree-of-freedom butt joint device of the complex-profile spray pipe-shaped workpiece, and is used for finishing dynamic measurement of the motion attitude of the complex-profile spray pipe-shaped workpiece together with the attitude tracker fixed on the complex-profile spray pipe-shaped workpiece clamping tool and uploading data to measurement software in real time.
The posture tracker is a high-performance accessory used in cooperation with the laser tracker, and can realize a 6D measurement function: namely, not only can coordinate values of x, y and z in space be measured in one measurement, but also a pitch angle, a yaw angle and a rolling angle can be measured.
The target ball seats are used as characteristic marks, after measurement and calibration are carried out, the relation between the target ball seats and a motion system or a product coordinate system can be established, the target ball seats generally adopt a group use mode, the number of the target ball seats is four or more, and information of one coordinate system can be completely represented.
When the information of the target ball seat is extracted, the target ball is placed and measured. The target ball is placed on the ball table part of the target ball seat, the target ball is measured by the laser tracker and is calculated by software fitting, and then relevant data information can be extracted and used.
The target ball seat is arranged on a reference table top of the six-degree-of-freedom platform, the target ball seat group and the six-degree-of-freedom platform motion system are connected through calibration in a debugging stage, and after the laser tracker is started, the measurement system after the station is transferred and the equipment motion system are connected in a target ball placing measurement mode, and coordinates of the equipment motion system and the attitude tracker are related, so that the establishment of the global closed-loop motion system can be realized.
The software is mainly used for matching with a three-dimensional scanner, a laser tracker and an attitude tracker to work, can receive and analyze scanning point cloud data from a tester, can perform data comparison on the point cloud data and a three-dimensional design model through algorithm design, sets a noise threshold value to remove noise, and reversely generates a product actual measurement three-dimensional model; the software can also be used for product data analysis, such as product assembly dimension parameter analysis and the like.
The above embodiments are merely illustrative of a preferred embodiment, but not limiting. When the utility model is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While embodiments of the utility model have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the utility model not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (9)
1. A horizontal automatic docking assembly system, comprising:
the supporting platform is used for supporting and positioning the cylindrical workpiece;
the multi-degree-of-freedom docking unit is arranged corresponding to the docking of the supporting platform;
a measuring unit disposed between the butting faces to detect the butting parameters in real time;
the supporting platform and the bottom of the multi-free-end butt joint unit are provided with a sliding platform and a linear sliding table which are matched with each other, and the multi-free-end butt joint unit slides to one side of the supporting platform on the linear sliding table under the action of the control unit to complete butt joint operation.
2. The horizontal automated docking assembly system of claim 1, wherein the support platform is configured to comprise:
two supporting pieces for spatially positioning the surface of the cylindrical workpiece;
the fixing seat is internally provided with a cavity, and the supporting pieces are oppositely arranged in the cavity through a rotating shaft matched with each other;
wherein, each supporting piece is provided with at least two arc supporting surfaces matched with the surfaces of the cylindrical pieces with different outer diameters;
the fixing seat is provided with a fixing pin, and the disc surface of the supporting piece is provided with at least two fixing holes which are matched with the fixing pin so as to ensure that the space supporting position of each arc-shaped supporting surface after rotation is matched with the external structure of the cylindrical piece;
each supporting piece is provided with an eccentric mounting hole matched with the rotating shaft.
3. The horizontal automated docking assembly system of claim 2 wherein the oppositely disposed support members spatially subtend an angle greater than 125 degrees with respect to the cylindrical workpiece surface.
4. The horizontal automatic butt-joint assembling system according to claim 2, wherein a transmission shaft with an adjusting wheel is rotatably provided on the fixing seat;
the transmission shaft is provided with first gear teeth, and the free end of each rotating shaft is provided with gear teeth matched with the first gear teeth;
the first gear teeth are in transmission connection with the gear teeth through a matched transmission belt, and the transmission belt is provided with a plurality of rows of third gear teeth at a preset distance at one side matched with the first gear teeth and the gear teeth;
the free end of each fixing pin is provided with a locking wheel matched with the free end of each fixing pin;
wherein, each fixing pin is provided with a matched thread, and each fixing seat is provided with a thread sleeve matched with the thread hole.
5. The horizontal automated docking assembly system of claim 1, wherein the multiple degree of freedom docking unit is configured to comprise: the flexible abdominal bracing type clamping device is matched with the spray pipe type workpiece, and the six-degree-of-freedom platform is arranged below the flexible abdominal bracing type clamping device and is adjusted according to the spatial position of the flexible abdominal bracing type clamping device;
the flexible abdominal bracing clamp device is configured to include:
the front belly supporting component and the rear belly supporting component are arranged at the bottom of the spray pipe type workpiece;
the tail support assemblies are arranged on two sides of the spray pipe type workpiece to play a role in clamping in space;
the front abdominal support assembly and the rear abdominal support assembly are both configured to comprise two first support pieces which are split left and right, and the first support pieces are provided with first molded surfaces matched with the front abdominal structures and the rear abdominal structures of the jet pipe type workpieces;
each tail supporting assembly is configured to comprise a supporting piece and a mounting mechanism which is matched with the supporting piece to realize left-right telescopic adjustment, and a second molded surface which is matched with the external structure of the spray pipe type workpiece is arranged on the supporting piece.
6. The horizontal automatic butt joint assembly system according to claim 5, wherein each first supporting member is provided with a limiting groove matched with a flange and/or a conical surface of the spray pipe type workpiece;
the fixing device also comprises two fixing belts which are arranged on two sides of the base and used for integrally binding the spray pipe-shaped workpiece, and each fixing belt is used for constructing an arc-shaped structure matched with the external structure of the spray pipe-shaped workpiece through a matched tightener;
the rear belly supporting component and the tail supporting component are provided with colloid cushion layers at the positions contacted with the spray pipe-shaped workpiece.
7. The horizontal automated docking assembly system of claim 6, wherein the mounting mechanism is configured to comprise: the mounting plate is pivoted with the supporting piece, and the telescopic mechanism is matched with the mounting plate;
the base is provided with an installation part matched with the telescopic mechanism, and the installation plate is provided with at least one guide column which penetrates through the installation part to guide the feeding direction of the telescopic mechanism.
8. The horizontal automated docking assembly system of claim 1, wherein the slide platform is configured to comprise:
the sliding table base body is oppositely provided with matched linear guide rails;
the fixed supporting mechanism is arranged on the sliding table base body and is close to one side of the spray pipe-shaped workpiece;
the sliding support mechanism is arranged on the linear guide rail and matched with the fixed support mechanism;
and a locking mechanism is arranged on one side of the sliding support mechanism.
9. The horizontal automated docking assembly system of claim 1, wherein the measurement unit is configured to comprise:
the laser tracker and the three-dimensional scanner are used for measuring the size of the matching surface of the cylindrical workpiece and the complex-profile spray pipe-shaped workpiece;
the laser tracker, the attitude tracker and the target ball are used for acquiring the motion attitude of the complicated-profile nozzle-shaped workpiece in real time in butt joint work.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122826691.9U CN216029133U (en) | 2021-11-17 | 2021-11-17 | Horizontal automatic butt joint assembly system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122826691.9U CN216029133U (en) | 2021-11-17 | 2021-11-17 | Horizontal automatic butt joint assembly system |
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| CN216029133U true CN216029133U (en) | 2022-03-15 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114986117A (en) * | 2022-06-21 | 2022-09-02 | 重庆御基科技发展有限公司 | Horizontal butt joint assembly quality of cylindrical equipment |
| CN115070378A (en) * | 2022-06-20 | 2022-09-20 | 陕西法士特齿轮有限责任公司 | Transmission SCU assembly auxiliary device and method |
| CN117140056A (en) * | 2023-10-25 | 2023-12-01 | 中交天航南方交通建设有限公司 | Alignment connection adjusting device and method for municipal pipeline installation |
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2021
- 2021-11-17 CN CN202122826691.9U patent/CN216029133U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070378A (en) * | 2022-06-20 | 2022-09-20 | 陕西法士特齿轮有限责任公司 | Transmission SCU assembly auxiliary device and method |
| CN115070378B (en) * | 2022-06-20 | 2023-10-13 | 陕西法士特齿轮有限责任公司 | Auxiliary device and method for assembling SCU (automated mechanical transmission) |
| CN114986117A (en) * | 2022-06-21 | 2022-09-02 | 重庆御基科技发展有限公司 | Horizontal butt joint assembly quality of cylindrical equipment |
| CN117140056A (en) * | 2023-10-25 | 2023-12-01 | 中交天航南方交通建设有限公司 | Alignment connection adjusting device and method for municipal pipeline installation |
| CN117140056B (en) * | 2023-10-25 | 2024-03-29 | 中交天航南方交通建设有限公司 | Alignment connection adjusting device and method for municipal pipeline installation |
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