CN216283054U - Automatic butt joint system for projectile body cabin sections - Google Patents
Automatic butt joint system for projectile body cabin sections Download PDFInfo
- Publication number
- CN216283054U CN216283054U CN202123170981.9U CN202123170981U CN216283054U CN 216283054 U CN216283054 U CN 216283054U CN 202123170981 U CN202123170981 U CN 202123170981U CN 216283054 U CN216283054 U CN 216283054U
- Authority
- CN
- China
- Prior art keywords
- frame
- butt joint
- fixed
- mounting
- posture adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 210000001503 joint Anatomy 0.000 title claims abstract description 72
- 230000007246 mechanism Effects 0.000 claims abstract description 171
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 22
- 238000003860 storage Methods 0.000 claims abstract description 22
- 238000012546 transfer Methods 0.000 claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 4
- 230000007723 transport mechanism Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 15
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Images
Landscapes
- Automatic Assembly (AREA)
Abstract
The utility model belongs to an automatic butt joint system for a projectile body cabin section, which comprises a square butt joint mounting frame, wherein an AGV transfer trolley is mounted at the left end of the front side of the butt joint mounting frame, and an AGV rotating device is mounted on the left side of the AGV transfer trolley; the device is characterized in that two posture adjusting mechanisms are arranged on the left side of the upper surface of the butt joint mounting frame, a base moving mechanism is arranged on the left side of each posture adjusting mechanism, a first pallet fork mechanism is arranged between the two posture adjusting mechanisms, and a first robot non-contact measuring mechanism is arranged on the right side of each posture adjusting mechanism; the right end of the butt joint mounting frame is provided with a fixed buffer storage frame in the temporary storage frame mechanism, the right end of the fixed buffer storage frame is provided with a cabin section supporting frame, the right end of the cabin section supporting frame is provided with a bidirectional pushing frame, and the rear side of the cabin section supporting frame is provided with a middle pushing frame. The utility model improves the automation degree of the missile transportation process and the safety of operators; the labor intensity of workers is reduced, the working efficiency and the butt joint precision are improved, and the butt joint consistency and reliability are improved; the reliability of the equipment is improved.
Description
Technical Field
The utility model belongs to missile butt joint systems, and particularly relates to an automatic butt joint system for a missile body cabin.
Background
With the high-speed development of digital intelligent manufacturing, the missile development industry has also entered a new stage of high production efficiency of automation and digitization. At present, most of domestic missile butt joint assembly is still carried out in a manual mode, and butt joint between cabin sections is carried out by matching lifting with manual work. In the butt joint process, the position of the mounting hole between the cabin sections needs the projectile to roll in the circumferential direction, the manual visual inspection of the roll angle needs to depend on the experience and skill level of operators, the operations of rolling, aligning, returning and the like need to be repeated, and the butt joint precision is poor, so that the working efficiency is low and the reliability is poor. Missile assembly workshops are mostly inflammable and explosive environments, the danger coefficient is high, and the life safety guarantee of operators is low. The requirements of high safety, high precision, high efficiency and high reliability of missile production and assembly cannot be met.
Disclosure of Invention
The utility model aims to solve the technical problems and provides an automatic butt joint system for a bomb cabin section, which is characterized in that two attitude adjusting mechanisms are arranged on the left side of a square butt joint installation frame, a pallet fork mechanism is arranged between the two attitude adjusting mechanisms, and a robot non-contact type measuring mechanism is arranged on the right side of the square butt joint installation frame for automatic feeding, automatic measurement and automatic attitude adjusting butt joint.
The technical scheme adopted by the utility model for solving the technical problem is as follows: an automatic butt joint system for projectile body cabin sections comprises a square butt joint mounting frame, wherein a first AGV transferring mechanism is mounted at the left end of the front side of the butt joint mounting frame, and a second AGV transferring mechanism is mounted on the left side of the first AGV transferring mechanism; AGV transport mechanism one is including transporting the automobile body, its characterized in that: a guide rail is fixed on the upper beam of the butt joint mounting frame above the butt joint mounting frame, and a plurality of adjustable bases consisting of bolts and nuts are arranged on the lower beam of the butt joint mounting frame above the butt joint mounting frame; a third cabin section supporting frame is arranged on the transfer vehicle body, third supporting hoop mounting frames are fixed on the two ends of the third cabin section supporting frame, and third supporting hoops are fixed on the middle and the right ends of the third cabin section supporting frame through bolts; the device is characterized in that two posture adjusting mechanisms are arranged on the left side of the upper surface of the butt joint mounting frame, a base moving mechanism is arranged on the left side of each posture adjusting mechanism, a first pallet fork mechanism is arranged between the two posture adjusting mechanisms, and a first robot non-contact measuring mechanism is arranged on the right side of each posture adjusting mechanism; the right end of the butt joint mounting frame is provided with a fixed buffer storage frame in the temporary storage frame mechanism, the right end of the fixed buffer storage frame is provided with a second cabin section supporting frame, the right end of the second cabin section supporting frame is provided with a bidirectional pushing frame, and the rear side of the second cabin section supporting frame is provided with a middle pushing frame.
The posture adjusting mechanism comprises a posture adjusting mechanism base, wherein the posture adjusting mechanisms are fixed on the left side and the right side of the upper plane of the butt joint mounting frame; a speed reducer mounting seat is fixed on the right end of the base of the posture adjusting mechanism through a bolt, a lead screw mounting seat is welded on the left side of the base of the posture adjusting mechanism, a ball screw is mounted on the lead screw mounting seat, a radial posture adjusting mechanism is mounted below the ball screw, and a servo motor power line explosion-proof joint are mounted between the ball screw and the speed reducer mounting seat; a servo motor shaft is connected with a ball screw for driving, an attitude adjusting lifting mounting frame in an attitude adjusting lifting mechanism is arranged on the servo motor shaft, a lifting servo motor and a speed reducer are arranged on the right side of the attitude adjusting lifting mechanism, a coupler is arranged on the left side of the attitude adjusting lifting mechanism, and a spiral lifter is arranged on the left side of the coupler; spiral lifters are fixed on the two sides of the lifting mounting frame, and a floating mounting plate in the floating fine adjustment mechanism is arranged in the middle of each spiral lifter through a spiral lifter flange nut; lower cylinder mounting seats are fixed on two ends of the floating mounting plate, a double-acting ultrathin cylinder is hinged on the lower cylinder mounting seat through a pin shaft, the end of a piston rod of the double-acting ultrathin cylinder is connected through an upper nut cylinder mounting seat, and the upper cylinder mounting seat is fixed on a fork-shaped embracing fixing frame in the cabin section embracing mechanism; the left upper end of the embracing fixed frame is provided with a hasp, the right upper end of the embracing fixed frame is fixed with an anti-collision limiting mechanism seat by a screw, and an anti-collision screw is fixed on the anti-collision limiting mechanism seat by a nut; a semi-hoop frame is movably arranged on the right end of the hoop fixing frame through a damping shaft, and a plurality of cushion blocks are uniformly distributed on the inner sides of the semi-hoop frame and the hoop fixing frame; the middle of the embracing fixed frame is provided with a rolling limiting mechanism, and a rolling roller is arranged below the rolling limiting mechanism.
The first fork mechanism comprises a fork lifting base, a first fork mechanism is arranged in the middle of a lower beam of the butt joint mounting frame, linear bearings are fixed on two sides of the fork lifting base, a guide shaft is arranged in each linear bearing, a fork mounting plate is fixed at the upper end of each guide shaft, and a second lifting mounting plate is arranged on the middle upper part of each guide shaft; two lower limiting blocks are arranged on the fork lifting base, two limiting blocks are arranged on the lifting mounting plate II, and a fork mechanism II is fixed at the upper end of the guide shaft; telescopic forks are arranged on two sides of the upper surface of the fork mechanism II; the supporting embracing ring mounting plate of the cabin section supporting plate I is arranged on the telescopic fork, and the supporting embracing rings I are arranged on two ends of the supporting embracing ring mounting plate.
The base moving mechanism comprises a base moving mechanism arranged on a guide rail arranged on the upper side of the left end of the butt joint mounting frame, a plurality of linear sliding blocks I are uniformly distributed below the base moving mechanism, and a base moving fixing frame is fixed on each linear sliding block. A motor base is fixed below the base movable fixing frame, an axial driving servo motor is arranged on the motor base, a driving gear is fixed on a motor shaft, and the driving gear is meshed with a rack on the driving gear; the one-way telescopic electric cylinder is fixed below the first linear sliding blocks, the second lifting mounting plate is fixed between the first two linear sliding blocks, a driving chain seat is fixed in the middle of the second lifting mounting plate, a lifting chain wheel is installed on the driving chain seat through a pin shaft, the lifting chain wheel is meshed with a driving chain, the left end of the driving chain is connected with the right end of the one-way telescopic electric cylinder, the lower end of the driving chain is connected with a connecting block of the driving chain through a pin shaft, and the connecting block of the chain is fixed above the middle of the fork lifting base.
The robot non-contact measuring mechanism I comprises a robot base, wherein the robot base is provided with a robot non-contact measuring mechanism I on the ground below a butt joint mounting frame, a PR-10 explosion-proof robot is arranged on the robot base, and a special-shaped measuring mounting frame of a robot non-contact measuring mechanism II is arranged below an arm of the robot non-contact measuring mechanism I; three point laser sensors are arranged on the upper cross beam of the measuring mounting frame and at the lower end of the middle upright rod, and industrial explosion-proof cameras are arranged on the right-angle rods at the two sides.
The temporary storage frame mechanism comprises a fixed buffer storage frame arranged on the ground at the right end of the butt joint mounting frame; a middle pushing frame is arranged behind the left side of the cabin section supporting frame II; a bidirectional pushing frame is arranged at the right end of the cabin section supporting frame II; the fixed buffer frame comprises a plurality of MYL-32-Q universal ball bearings fixed on a base of the fixed buffer frame.
The middle pushing frame comprises a three-axis cylinder below the middle of a middle pushing frame of the middle pushing frame, and three universal ball mounting plates are mounted below the three-axis cylinder.
The bidirectional pushing frame comprises a bidirectional pushing frame, wherein a three-shaft cylinder is arranged in the middle of the upper side and the right side of the bidirectional pushing frame, three universal ball mounting plates are arranged in the middle of the left side of the right side, and five UBF-18-A flange type universal balls are arranged at the lower end of the bidirectional pushing frame.
The utility model has the beneficial effects that:
1) automatic loading and unloading of the missile cabin are realized by matching the AGV transferring mechanism and the first fork mechanism, the hoisting times of the cabin and the number of operators are reduced, and the automation degree and the safety of the operators in the missile transportation process are improved;
2) the posture adjusting mechanism is controlled by software to automatically adjust the posture and carry out butt joint action, so that the number of operators is effectively reduced, the labor intensity of the operators is reduced, the working efficiency and the butt joint precision are improved, and the flexible assembly of the cabin section is realized;
3) the first non-contact measuring mechanism of the robot is controlled by software to automatically measure, calculate and feed back the position of the characteristic point of the butt joint cabin section, so that repeated actions such as alignment return and the like are avoided, the alignment time is effectively reduced, and the butt joint consistency and reliability are improved;
4) the posture adjusting mechanism has an automatic adjusting function, and the reliability of the equipment is improved.
Drawings
The following description is made in detail by way of example with reference to the accompanying drawings.
FIG. 1 is a front view of an automatic butt joint system for a projectile bay;
FIG. 2 is a front view of the base movement mechanism, attitude adjustment mechanism, fork mechanism, non-contact measurement mechanism of the robot, etc. of FIG. 1;
FIG. 3 is a front view of the attitude adjustment mechanism of FIG. 1;
FIG. 4 is a front view of the first fork mechanism of FIG. 2;
FIG. 5 is a front view of the base movement mechanism of FIG. 1;
FIG. 6 is a front view of the first non-contact measurement mechanism of the robot of FIG. 1;
FIG. 7 is a front view of the front of the automated cabin docking system of FIG. 1;
FIG. 8 is a front view of the stationary bumper bracket of FIG. 1;
FIG. 9 is a front view of the intermediate pushing frame of FIG. 1;
FIG. 10 is a front view of the bi-directional thrust frame of FIG. 1;
FIG. 11 is a first AGV transfer mechanism of FIG. 1;
FIG. 12 is a front view of the AGV transfer mechanism of FIG. 1.
In the figure: 1-butting a mounting rack; 1-1-guide rail; 1-2-butting an upper beam of a mounting rack; 1-3-an adjustable base; 1-4-rack; 1-5-butting a lower beam of the mounting rack; 2-a base moving mechanism; 2-1-base movable fixing frame; 2-2-a linear slide block I; 2-3-unidirectional telescopic electric cylinder; 2-4-driving the rack; 2-5-driving the chain seat; 2-6-lifting chain wheel; 2-7-axial movement of the servo motor; 2-8-drive sprocket; 2-9-motor base; 2-10-drive chain connecting block; 3-posture adjusting mechanism; 3-1-adjusting the posture organization base; 3-1-1-linear sliding block II; 3-2-radial posture adjusting mechanism; 3-2-1-ball screw; 3-2-2-servo motor; 3-2-2-1-servo motor power line explosion-proof joint; 3-2-3-lead screw mounting seat; 3-2-4-reducer mounting seat; 3-3-posture adjusting lifting mechanism; 3-3-1-spiral elevator; 3-3-1-1-screw riser flange nut; 3-3-1-2-screw elevator lead screw; 3-3-2-lifting servo motor and reducer; 3-3-3-lifting mounting rack; 3-3-4-coupler; 3-3-5-lifting limit column; 3-4-floating fine adjustment mechanism; 3-4-1-mounting seat on the cylinder; 3-4-2-double-acting ultrathin cylinder; 3-4-2-1-air inlet and outlet interfaces of the upper cavity of the air cylinder; 3-4-2-2-cylinder lower cavity air inlet and outlet interfaces; 3-4-3-cylinder lower mounting seat; 3-4-4-floating mounting plate; 3-5-cabin surrounding mechanism; 3-5-1-embracing the fixed frame; 3-5-2-rolling roller; 3-5-3-hasp; 3-5-4-rolling limit structure; 3-5-5-cushion block; 3-5-6-half hoop frame; 3-5-7-damping shaft; 3-5-8-an anti-collision limiting mechanism seat; 3-5-8-1-anti-collision screw; 3-5-8-2-nut; 4-a first pallet fork mechanism; 4-1-a fork lifting base; 4-1-1-upper limit block; 4-1-2-lower limit block; 4-1-3-linear bearings; 4-1-4-guide shaft; 4-1-5-lifting mounting plate II; 4-2-a second pallet fork mechanism; 4-2-1-a fork mounting plate; 4-2-2-telescopic forks; 4-3-cabin section supporting plate I; 4-3-1-supporting embracing ring mounting plate; 4-3-2-supporting the first embracing ring; 5-a robot non-contact measuring mechanism I; 5-1-a robot base; 5-2-PR-10 explosion-proof robot; 5-3-a robot non-contact measuring mechanism II; 5-3-1-measuring the mounting rack; 5-3-2-point laser sensor; 5-3-3-industrial explosion-proof camera; 6-temporary storage rack mechanism; 6-1 fixing a cache frame; 6-1-1-fixing a cache frame; 6-2-middle pushing frame; 6-2-1-middle dragging frame; 6-3-bidirectional pushing frame; 6-3-1-bidirectional dragging frame; 6-3-2-triaxial cylinder; 6-3-3-universal ball mounting plate; 6-3-4-MYL-32-Q universal bearing; 6-3-5-UBF-18-A flange type universal ball; 7-a second cabin section supporting frame; 8, an AGV transferring mechanism I; 8-1-a transporter body; 8-2-cabin section supporting frames III; 8-2-1-supporting hoop mounting rack III; 8-2-2 supporting third embracing ring; 9-AGV transfer mechanism II, 10-B cabin section and 11-C cabin section.
Detailed Description
In the embodiment, referring to the attached drawings, an automatic butt joint system for projectile body cabin sections comprises a square butt joint installation frame 1, wherein a first AGV transferring mechanism 8 is installed at the left end of the front side of the butt joint installation frame 1, and a second AGV transferring mechanism 9 is installed on the left side of the first AGV transferring mechanism 8; AGV transport mechanism 8 is including transporting automobile body 8-1, its characterized in that: a guide rail 1-1 is fixed on an upper beam 1-2 of the butt joint installation frame above the butt joint installation frame 1, and four adjustable bases 1-3 consisting of bolts and nuts are arranged on a lower beam 1-5 of the butt joint installation frame above the butt joint installation frame 1; a cabin section support frame III 8-2 is arranged on the transfer vehicle body 8-1, a support hoop mounting frame III 8-2-1 is fixed on the two ends of the cabin section support frame III 8-2, and a support hoop III 8-2-2 is fixed on the middle and the right end through bolts; the device is characterized in that two posture adjusting mechanisms 3 are arranged on the left side of the upper surface of a butt joint mounting frame 1, a base moving mechanism 2 is arranged on the left side of each posture adjusting mechanism 3, a pallet fork mechanism I4 is arranged between the two posture adjusting mechanisms 3, and a robot non-contact type measuring mechanism I5 is arranged on the right side of the two posture adjusting mechanisms; the right end of the butt joint mounting frame 1 is provided with a fixed buffer frame 6-1 in the buffer frame mechanism 6, the right end of the fixed buffer frame 6-1 is provided with a cabin section supporting frame II 7, the right end of the cabin section supporting frame II 7 is provided with a bidirectional pushing frame 6-3, and the rear side of the cabin section supporting frame II 7 is provided with a middle pushing frame 6-2.
The posture adjusting mechanism 3 (shown in attached figures 2 and 3) comprises a posture adjusting mechanism base 3-1, wherein the posture adjusting mechanism base 3-1 is fixedly arranged on the left side and the right side of the upper plane of the butt joint installation frame 1, a linear sliding block II 3-1-1 is fixedly arranged at two ends of the lower surface of the posture adjusting mechanism base 3-1, and a sliding groove is formed below the linear sliding block II 3-1-1; a speed reducer mounting seat 3-2-4 is fixed on the right end of a base 3-1 of the posture adjusting mechanism through a bolt, a screw rod mounting seat 3-2-3 is welded on the left side of the base, a ball screw 3-2-1 is mounted on the screw rod mounting seat 3-2-3, a radial posture adjusting mechanism 3-2 is mounted below the ball screw 3-2-1, and a servo motor 3-2-2 and a servo motor power line explosion-proof joint 3-2-2-1 are mounted between the ball screw 3-2-1 and the speed reducer mounting seat 3-2-4; a shaft 3-2-2 of a servo motor is connected with a ball screw 3-2-1 for driving, an attitude adjusting lifting mounting frame 3-3-3 in an attitude adjusting lifting mechanism 3-3 is arranged on the shaft, a lifting servo motor and a speed reducer 3-3-2 are arranged on the right side of the attitude adjusting lifting mechanism 3-3, a coupler 3-3-4 is arranged on the left side, and a spiral lifter 3-3-1 is arranged on the left side of the coupler 3-3-4; a spiral lifter 3-3-1-2 is fixed on the two sides of the lifting mounting rack 3-3-3, and a floating mounting plate 3-4-4 in a floating fine adjustment mechanism 3-4 is arranged in the middle of the spiral lifter 3-3-1-2 by a spiral lifter flange nut 3-3-1-1; the upper parts of two ends of the floating installation plate 3-4-4 are fixedly provided with a lower cylinder installation seat 3-4-3, the upper part of the lower cylinder installation seat 3-4-3 is hinged with a double-acting type ultrathin cylinder 3-4-2 by a pin shaft, the end of a piston rod of the double-acting type ultrathin cylinder 3-4-2 is connected by an upper nut cylinder installation seat 3-4-1, and the upper cylinder installation seat 3-4-1 is fixed on a forked embracing fixing frame 3-5-1 in the cabin section embracing mechanism 3-5; the left upper end of the embracing fixed frame 3-5-1 is provided with a hasp 3-5-3, the right upper end is fixed with an anti-collision limiting mechanism seat 3-5-8 by a screw, and an anti-collision screw rod 3-5-8-1 is fixed on the anti-collision limiting mechanism seat 3-5-8 by a nut 3-5-8-2; a semi-embracing frame 3-5-6 is movably arranged on the right end of the embracing fixed frame 3-5-1 by a damping shaft 3-5-7, and four cushion blocks 3-5-5 are uniformly distributed on the inner sides of the semi-embracing frame 3-5-6 and the embracing fixed frame 3-5-1; the middle of the embracing fixed frame 3-5-1 is provided with a rolling limiting mechanism 3-5-4, and a rolling roller 3-5-2 is arranged below the rolling limiting mechanism 3-5-4.
The first pallet fork mechanism 4 (see attached figures 2 and 4) comprises a pallet fork lifting base 4-1, wherein the middle of a lower beam of the butt joint mounting frame 1 is provided with the first pallet fork mechanism 4, two sides of the pallet fork lifting base 4-1 are fixedly provided with linear bearings 4-1-3, guide shafts 4-1-4 are arranged in the linear bearings 4-1-3, a pallet fork mounting plate 4-2-1 is fixedly arranged at the upper end of each guide shaft 4-1-4, and a lifting mounting plate II 4-1-5 is arranged at the middle upper part of each guide shaft 4-1-4; two lower limiting blocks 4-1-2 are arranged on the pallet fork lifting base 4-1, two limiting blocks 4-1-1 are arranged on the lifting mounting plate II 4-1-5, and a pallet fork mechanism II 4-2 is fixed at the upper end of the guide shaft 4-1-4; telescopic forks 4-2-2 are arranged on two sides of the upper surface of the fork mechanism II 4-2; a supporting embracing ring mounting plate 4-3-1 of a cabin supporting plate I4-3 is arranged on the telescopic fork 4-2-2, and supporting embracing rings I4-3-2 are arranged on two ends of the supporting embracing ring mounting plate 4-3-1.
The base moving mechanism 2 (see attached figures 2 and 5) comprises a guide rail 1-1 arranged on the upper surface of the left end of the butt joint mounting frame 1, a base moving mechanism 2, four linear sliding blocks I2-2 uniformly distributed below the base moving mechanism 2, a base moving fixing frame 2-1 fixed on the linear sliding blocks I2-2, a motor base 2-9 fixed below the base moving fixing frame 2-1, an axial driving servo motor 2-7 arranged on the motor base 2-9, a driving gear 2-8 fixed on a motor shaft, and a rack 1-4 meshed with the driving gear 2-8; the unidirectional telescopic electric cylinder 2-3 is fixed below the linear sliding block I2-2, the lifting mounting plate II 4-1-5 is fixed between the two linear sliding blocks I2-2, a driving chain seat 2-5 is fixed in the middle of the lifting mounting plate II 4-1-5, the driving chain seat 2-5 is provided with a lifting chain wheel 2-6 through a pin shaft, the lifting chain wheel 2-6 is meshed with the driving chain 2-4, the left end of the driving chain 2-4 is connected with the right end of the unidirectional telescopic electric cylinder 2-3, the lower end of the driving chain is connected with a driving chain connecting block 2-10 through a pin shaft, and the chain connecting block 2-10 is fixed above the middle of the fork lifting base 4-1.
The robot non-contact measuring mechanism I5 (see attached figures 2 and 6) comprises a robot base 5-1, a PR-10 explosion-proof robot 5-2 and a special-shaped measuring mounting frame 5-3-1, wherein the robot base 5-1 is provided with the robot non-contact measuring mechanism I5 on the ground below a butt mounting frame 1, the PR-10 explosion-proof robot 5-2 is arranged above the robot base 5-1, and the robot non-contact measuring mechanism II 5-3 is arranged below an arm of the robot non-contact measuring mechanism I5; three point laser sensors 5-3-2 are arranged on the upper cross beam of the measuring mounting frame 5-3-1 and at the lower end of the middle vertical rod, and industrial explosion-proof cameras 5-3-3 are arranged on the right-angle rods at the two sides.
The temporary storage frame mechanism 6 (shown in figures 1, 2, 7, 9, 10 and 11) comprises a fixed temporary storage frame 6-1 arranged on the ground at the right end of the butt joint mounting frame 1; a middle pushing frame 6-2 is arranged behind the left side of the second cabin section supporting frame 7; a bidirectional pushing frame 6-3 is arranged at the right end of the second cabin section supporting frame 7; the fixed cache frame 6-1 comprises eight MYL-32-Q universal ball bearings 6-3-4 fixed on a fixed cache frame base 6-1-1.
The middle pushing frame 6-2 comprises a middle lower three-axis cylinder 6-3-2 of a middle pushing frame framework 6-2-1 of the middle pushing frame 6-2, and three universal ball mounting plates 6-3-3 are arranged below the middle lower three-axis cylinder.
The bidirectional pushing frame 6-3 comprises a bidirectional pushing frame 6-3-1 of the bidirectional pushing frame 6-3, a triaxial cylinder 6-3-2 is arranged in the middle of the upper side and the right side of the bidirectional pushing frame, three universal ball mounting plates 6-3-3 are arranged in the middle of the left side of the right side, and five UBF-18-A flange type universal balls 6-3-5 are arranged at the lower end of the bidirectional pushing frame.
The operation method of the utility model is (see attached figures 1, 2, 6, 7, 8 and 9), which is characterized in that: the following operation steps are adopted:
1) the cabin supporting frame II 7 and the cabin C11 are conveyed to the temporary storage frame mechanism 6 through a second AGV transferring mechanism 9 and are lifted and placed on the temporary storage frame mechanism 6;
2) a three-axis cylinder 6-3-2 on the temporary storage frame mechanism 6 axially and radially pushes a second cabin section support frame 7 to fix the second cabin section support frame and the C cabin section 11 to a reference position;
3) the AGV transferring mechanism I8 transports the B cabin section 10 to the position near the base moving mechanism 2, the telescopic forks 4-2-2 extend out and support the B cabin section 11, the fork mechanism I4 is retracted to lift, the B cabin section 11 is filled into the opened cabin section embracing ring structure 3-5, and then the fork mechanism I4 is lowered;
4) after manually confirming that each party is correct and safe, buckling a hasp 3-5-3, and confirming that the subsequent flow can be executed on a control system;
5) the robot non-contact type measuring mechanism I5 works, and according to a real-time measuring result, the posture adjusting mechanism 3 adjusts the posture of the cabin B section 10 in the propelling process, so that the axle center positions of the cabin B section 10 and the cabin C section 11 are concentric with the positions of the positioning pins and the holes;
6) manually installing a fixing bolt between the cabin B section 10 and the cabin C section 11;
7) after the installation work is finished, manually opening the hasps 3-5-3;
8) the three-axis cylinder 6-3-2 on the temporary storage frame mechanism 6 is reset, and the second cabin section support frame 7 is released from being fixed;
9) and a second AGV transferring mechanism 9 lifts a second transferring cabin supporting frame 7 and a full-bomb B cabin 10 and C cabin 11 to leave the temporary storage frame mechanism 6, transfers to an appointed storage position, and completes the butt joint operation.
The AGV transfer trolley 8 comprises an AGV transfer trolley body 8-1, wherein a support frame 8-2 is fixed on the AGV transfer trolley body 8-1, two ends of the support frame 8-2 are welded with lifting rings 8-2-1, and the middle and the left end are fixed with support hooping rings 8-2-2 by screws; an AGV transfer device 9 is arranged in the supporting hooping ring 8-2-2.
All electrical equipment such as a unidirectional telescopic electric cylinder 2-3, an axial movement servo motor 2-7, a servo motor 3-2-2, a lifting servo motor 3-3-2, a PR-10 explosion-proof robot 5-2, a point laser sensor 5-3-2, an industrial explosion-proof camera 5-3-3 and the like in the equipment are communicated with a control circuit in an equipment electrical control device by leads, and are programmed in advance by an operation mode to be automatically controlled. The cylinder body of the three-shaft cylinder 3-5-3 is provided with a left cavity inlet and outlet port and a right cavity inlet and outlet port, the cylinder body of the double-acting ultrathin cylinder 3-4-2 is provided with a cylinder lower cavity inlet and outlet port 3-4-8 and a cylinder upper cavity inlet and outlet port 3-4-9, and each inlet and outlet port of the cylinder is communicated with and controlled by an electromagnetic valve in an air compression control system through a pipeline; the solenoid valve is communicated with a control circuit in the electrical control device through a lead. And a second cabin supporting frame 7 is arranged at the upper part of the AGV transferring device 9, and a C cabin 11 is arranged on the second cabin supporting frame 7.
The design principle of the utility model is as follows: automatic feeding of the B cabin section 10 and the C cabin section 11 is achieved through an AGV transfer device 9, an AGV transfer vehicle 8 and a fork mechanism I4, deviation data of the B cabin section 10 and the C cabin section 11 are automatically measured and calculated through a robot non-contact type measuring mechanism I5, the posture adjusting mechanism 3 automatically adjusts the shape of the B cabin section 10, and automatic moving and alignment of the bomb body cabin section are achieved. The wireless encryption device is connected with the electric control circuit in a local area network wireless encryption mode, and automatic control operation is realized through programming.
Claims (8)
1. An automatic butt joint system for projectile body cabin sections comprises a square butt joint mounting frame (1), wherein a first AGV transferring mechanism (8) is installed at the left end of the front side of the butt joint mounting frame (1), and a second AGV transferring mechanism (9) is installed on the left side of the first AGV transferring mechanism (8); AGV transport mechanism (8) are including transporting automobile body (8-1), its characterized in that: a guide rail (1-1) is fixed on an upper beam (1-2) of the butt joint mounting frame above the butt joint mounting frame (1), and four adjustable bases (1-3) consisting of bolts and nuts are arranged on a lower beam (1-5) of the butt joint mounting frame above the butt joint mounting frame (1); a third cabin section supporting frame (8-2) is arranged on the transfer vehicle body (8-1), a third supporting hoop mounting frame (8-2-1) is fixed on the two ends of the third cabin section supporting frame (8-2), and a third supporting hoop (8-2-2) is fixed on the middle and the right end of the third cabin section supporting frame by bolts; the device is characterized in that two posture adjusting mechanisms (3) are arranged on the left side of the upper surface of a butt joint mounting frame (1), a base moving mechanism (2) is arranged on the left side of each posture adjusting mechanism (3), a pallet fork mechanism I (4) is arranged between the two posture adjusting mechanisms (3), and a robot non-contact type measuring mechanism I (5) is arranged on the right side of the two posture adjusting mechanisms; a fixed buffer storage frame (6-1) in the buffer storage frame mechanism (6) is arranged at the right end of the butt joint mounting frame (1), a cabin section supporting frame II (7) is arranged at the right end of the fixed buffer storage frame (6-1), a bidirectional pushing frame (6-3) is arranged at the right end of the cabin section supporting frame II (7), and a middle pushing frame (6-2) is arranged at the rear side of the cabin section supporting frame II (7).
2. The automatic butt joint system for the projectile body cabin sections according to claim 1, wherein the posture adjusting mechanism (3) comprises posture adjusting mechanism bases (3-1) with the posture adjusting mechanisms (3) fixed on the left side and the right side of the upper plane of the butt joint mounting frame (1), two linear sliding blocks II (3-1-1) are fixed at two ends of the lower surface of each posture adjusting mechanism base (3-1), and sliding grooves are formed in the lower surfaces of the linear sliding blocks II (3-1-1); a speed reducer mounting seat (3-2-4) is fixed on the right end of the posture adjusting mechanism base (3-1) through a bolt, a lead screw mounting seat (3-2-3) is welded on the left side of the posture adjusting mechanism base, a ball screw (3-2-1) is mounted on the lead screw mounting seat (3-2-3), a radial posture adjusting mechanism (3-2) is mounted below the ball screw (3-2-1), and a servo motor (3-2-2) and a servo motor power line explosion-proof joint (3-2-2-1) are mounted between the ball screw (3-2-1) and the speed reducer mounting seat (3-2-4); a shaft of a servo motor (3-2-2) is connected with a ball screw (3-2-1) for driving, a posture adjusting lifting mounting frame (3-3-3) in a posture adjusting lifting mechanism (3-3) is arranged on the shaft, a lifting servo motor and a speed reducer (3-3-2) are arranged on the right side of the posture adjusting lifting mechanism (3-3), a coupler (3-3-4) is arranged on the left side of the posture adjusting lifting mechanism (3-3), and a spiral lifter (3-3-1) is arranged on the left side of the coupler (3-3-4); spiral lifters (3-3-1) are fixed on the two sides of the lifting mounting rack (3-3-3), and floating mounting plates (3-4-4) in the floating fine adjustment mechanisms (3-4) are mounted in the middles of the spiral lifters (3-3-1) through spiral lifter flange nuts (3-3-1-1); a lower cylinder mounting seat (3-4-3) is fixed on the two ends of the floating mounting plate (3-4-4), a double-acting ultrathin cylinder (3-4-2) is hinged on the lower cylinder mounting seat (3-4-3) by a pin shaft, the end of a piston rod of the double-acting ultrathin cylinder (3-4-2) is connected by an upper nut cylinder mounting seat (3-4-1), and the upper cylinder mounting seat (3-4-1) is fixed on a forked embracing fixing frame (3-5-1) in the cabin section embracing mechanism (3-5); a hasp (3-5-3) is arranged at the upper left end of the embracing fixing frame (3-5-1), an anti-collision limiting mechanism seat (3-5-8) is fixed at the upper right end by a screw, and an anti-collision screw (3-5-8-1) is fixed on the anti-collision limiting mechanism seat (3-5-8) by a nut (3-5-8-2); a semi-hoop frame (3-5-6) is movably arranged on the right end of the hoop fixing frame (3-5-1) by a damping shaft (3-5-7), and a plurality of cushion blocks (3-5-5) are uniformly distributed on the inner sides of the semi-hoop frame (3-5-6) and the hoop fixing frame (3-5-1); the middle of the embracing fixed frame (3-5-1) is provided with a rolling limiting mechanism (3-5-4), and a rolling roller (3-5-2) is arranged below the rolling limiting mechanism (3-5-4).
3. The automatic butt joint system for the projectile body cabin sections according to claim 1, wherein the first fork mechanism (4) comprises a first fork lifting base (4-1) which is provided with the first fork mechanism (4) in the middle of a lower beam of the butt joint mounting frame (1), linear bearings (4-1-3) are fixed on two sides of the first fork lifting base (4-1), a guide shaft (4-1-4) is arranged in each linear bearing (4-1-3), a second fork mounting plate (4-2-1) is fixed at the upper end of each guide shaft (4-1-4), and a second lifting mounting plate (4-1-5) is arranged on the middle upper portion of each guide shaft; two lower limiting blocks (4-1-2) are arranged on the fork lifting base (4-1), two limiting blocks (4-1-1) are arranged on the lifting mounting plate II (4-1-5), and a fork mechanism II (4-2) is fixed at the upper end of the guide shaft (4-1-4); telescopic forks (4-2-2) are arranged on two sides of the upper surface of the second fork mechanism (4-2); a supporting embracing ring mounting plate (4-3-1) of the cabin supporting plate I (4-3) is arranged on the telescopic fork (4-2-2), and supporting embracing ring I (4-3-2) is arranged on the two ends of the supporting embracing ring mounting plate (4-3-1).
4. The automatic butt joint system for the projectile body cabin sections according to claim 1, wherein the base moving mechanism (2) comprises a base moving mechanism (2) arranged on a guide rail (1-1) arranged on the left end of the butt joint mounting frame (1), a plurality of linear sliding blocks I (2-2) are uniformly distributed on the base moving mechanism (2), and a base moving fixing frame (2-1) is fixed on the linear sliding blocks I (2-2); a motor base (2-9) is fixed below the base movable fixing frame (2-1), an axial driving servo motor (2-7) is arranged on the motor base (2-9), a driving gear (2-8) is fixed on the motor shaft, and the driving gear (2-8) is meshed with the rack (1-4); the one-way telescopic electric cylinder (2-3) is fixed below the first linear sliding block (2-2), the second lifting mounting plate (4-1-5) is fixed between the first two linear sliding blocks (2-2), the middle of the second lifting mounting plate (4-1-5) is fixed with a driving chain seat (2-5), the driving chain seat (2-5) is provided with a lifting chain wheel (2-6) through a pin shaft, the lifting chain wheel (2-6) is meshed with the driving chain (2-4), the left end of the driving chain (2-4) is connected with the right end of the one-way telescopic electric cylinder (2-3), the lower end of the driving chain is connected with a connecting block (2-10) through a pin shaft, and the chain connecting block (2-10) is fixed above the middle of the fork lifting base (4-1).
5. The automatic butt joint system for the projectile cabin sections according to claim 1, wherein the robot non-contact type measuring mechanism I (5) comprises a robot base (5-1) which is provided with the robot non-contact type measuring mechanism I (5) on the ground below the butt joint mounting frame (1), a PR-10 explosion-proof robot (5-2) is arranged on the robot base (5-1), and a special-shaped measuring mounting frame (5-3-1) of the robot non-contact type measuring mechanism II (5-3) is arranged below an arm of the robot non-contact type measuring mechanism I (5); three point laser sensors (5-3-2) are arranged on the upper cross beam of the measuring mounting frame (5-3-1) and at the lower end of the middle upright rod, and industrial explosion-proof cameras (5-3-3) are arranged on the right-angle rods at two sides.
6. The automatic butt joint system for the projectile body cabin sections according to claim 1, wherein the temporary storage frame mechanism (6) comprises a fixed temporary storage frame (6-1) arranged on the ground at the right end of the butt joint mounting frame (1); a middle pushing frame (6-2) is arranged behind the left side of the second cabin section supporting frame (7); a bidirectional pushing frame (6-3) is arranged at the right end of the second cabin section supporting frame (7); the fixed buffer frame (6-1) comprises a plurality of MYL-32-Q universal ball bearings (6-3-4) fixed on a fixed buffer frame base (6-1-1).
7. The automatic butt joint system for the projectile body cabin sections according to claim 1, wherein the middle pushing frame (6-2) comprises a middle lower three-axis cylinder (6-3-2) of a middle pushing frame (6-2-1) of the middle pushing frame (6-2), and three universal ball mounting plates (6-3-3) are arranged below the middle lower three-axis cylinder.
8. The automatic butt joint system for the projectile body cabin sections according to claim 1, wherein the bidirectional pushing frame (6-3) comprises a bidirectional pushing frame (6-3-1) of the bidirectional pushing frame (6-3), a three-shaft cylinder (6-3-2) is arranged in the middle of the upper side and the right side of the bidirectional pushing frame, three universal ball mounting plates (6-3-3) are arranged in the middle of the left side of the right side of the bidirectional pushing frame, and five UBF-18-A flange type universal balls (6-3-5) are arranged at the lower end of the bidirectional pushing frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123170981.9U CN216283054U (en) | 2021-12-16 | 2021-12-16 | Automatic butt joint system for projectile body cabin sections |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123170981.9U CN216283054U (en) | 2021-12-16 | 2021-12-16 | Automatic butt joint system for projectile body cabin sections |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216283054U true CN216283054U (en) | 2022-04-12 |
Family
ID=81057080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123170981.9U Withdrawn - After Issue CN216283054U (en) | 2021-12-16 | 2021-12-16 | Automatic butt joint system for projectile body cabin sections |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216283054U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114111467A (en) * | 2021-12-16 | 2022-03-01 | 北京惠众智通机器人科技股份有限公司 | Automatic butt joint system for projectile body cabin sections and operation method |
-
2021
- 2021-12-16 CN CN202123170981.9U patent/CN216283054U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114111467A (en) * | 2021-12-16 | 2022-03-01 | 北京惠众智通机器人科技股份有限公司 | Automatic butt joint system for projectile body cabin sections and operation method |
| CN114111467B (en) * | 2021-12-16 | 2024-06-04 | 北京惠众智通机器人科技股份有限公司 | Automatic docking system for projectile body cabin segments and operation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3315417B1 (en) | Flexible hydrostatically normalized cradle to support fuselage sections for assembly | |
| CN216283054U (en) | Automatic butt joint system for projectile body cabin sections | |
| CN102950503B (en) | Gantry-type high-precision automatic loading and unloading manipulator | |
| CN110901947B (en) | Multi-dimensional attitude adjusting platform for loading and maintaining airplane ground | |
| RU2448876C2 (en) | Method, device and plant for manufacturing skin structures | |
| CN210306643U (en) | Rocket flexible automatic posture-adjusting butt joint AGV (automatic guided vehicle) frame vehicle based on six-degree-of-freedom platform | |
| CN109910970B (en) | Multi-degree-of-freedom installation transport vehicle and method for transporting installation model by using same | |
| CN103846649A (en) | Two-stage parallel robot device applied to precision assembly | |
| CN209988578U (en) | Automatic lifting AGV device and transmission system | |
| CN114111467B (en) | Automatic docking system for projectile body cabin segments and operation method | |
| WO2011048819A1 (en) | In-reactor piping work device and in-reactor piping work method | |
| CN104649182A (en) | Conveying equipment for rotary lifting of large cylindrical workpiece | |
| CN112706809B (en) | Four-degree-of-freedom precise hoisting carrier vehicle for lower parts of motor train unit | |
| CN107591978B (en) | A kind of motor rotor component assembly rotor automatic localization mechanism | |
| CN108284509B (en) | A kind of connection locking device | |
| CN106287105A (en) | A kind of large-scale pipeline internal installation device | |
| CN114474110A (en) | Flexible clamping structure of manipulator and application of flexible clamping structure in quick-change device | |
| CN209024061U (en) | Modified gear and the scalable Omni-mobile hoisting and transport equipment of planer-type | |
| CN210109030U (en) | Ultrasonic automatic inspection device for pressure vessel of high-temperature gas cooled reactor nuclear reactor | |
| CN203877321U (en) | Lift type universal roller conveying device | |
| CN113651236B (en) | Self-positioning carrying equipment for aluminum profile of railway vehicle | |
| CN216470436U (en) | Double-shaft carrying robot | |
| CN214057624U (en) | Four-freedom-degree accurate hoisting carrier loader for lower parts of motor train unit | |
| CN205891922U (en) | Take vertical lift's double -deck circulating transmission mechanism of marching type | |
| CN205328553U (en) | Coil stripping trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20220412 Effective date of abandoning: 20240604 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20220412 Effective date of abandoning: 20240604 |