WO2020220691A1 - 一种液化天然气船用聚氨酯绝缘箱的箱体装配系统 - Google Patents

一种液化天然气船用聚氨酯绝缘箱的箱体装配系统 Download PDF

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Publication number
WO2020220691A1
WO2020220691A1 PCT/CN2019/124973 CN2019124973W WO2020220691A1 WO 2020220691 A1 WO2020220691 A1 WO 2020220691A1 CN 2019124973 W CN2019124973 W CN 2019124973W WO 2020220691 A1 WO2020220691 A1 WO 2020220691A1
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WIPO (PCT)
Prior art keywords
assembly
correction
positioning
box
splint
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Application number
PCT/CN2019/124973
Other languages
English (en)
French (fr)
Inventor
孔谅
王志远
金鑫
朱威
傅琦俊
张跃龙
周春立
冯炜杰
Original Assignee
上海交通大学
上海宝业机电科技有限公司
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Application filed by 上海交通大学, 上海宝业机电科技有限公司 filed Critical 上海交通大学
Priority to KR1020217009538A priority Critical patent/KR102470462B1/ko
Publication of WO2020220691A1 publication Critical patent/WO2020220691A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
    • B63B25/02—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
    • B63B25/08—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid
    • B63B25/12—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed
    • B63B25/16—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed heat-insulated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
    • F17C2203/00—Vessel construction, in particular walls or details thereof
    • F17C2203/03—Thermal insulations
    • F17C2203/0304—Thermal insulations by solid means
    • F17C2203/0329—Foam
    • F17C2203/0333—Polyurethane

Definitions

  • the invention belongs to the technical field of box body assembly, and relates to a box body assembly system of a polyurethane insulation box for liquefied natural gas ships.
  • the reinforced polyurethane standard insulation box is the core component of the large-scale liquefied natural gas film type LNG (Liquefied Natural Gas, referred to as LNG) ship containment system.
  • LNG Liquified Natural Gas
  • the reinforced polyurethane standard insulation box Including L03, L03+ and other forms
  • a film-type LNG ship with NO.96 containment system requires 20,000 N096-L03+ series reinforced polyurethane standard insulation boxes
  • the reinforced polyurethane standard insulation boxes are highly standardized, Highly prefabricated workshop, complex process, high manufacturing precision, etc.
  • improving the degree of automation of insulated boxes is the key to improving the production efficiency of insulated boxes.
  • the characteristic of the polyurethane standard insulated box is that the box body is assembled from multiple plywoods of different layers and glued with polyurethane, and undergoes a certain pressure and time pressing process, and aging curing under no pressure conditions.
  • Companies such as Hankuk Carbon, Dongsung Finetec, Kangrim Insulation in South Korea and Cannon Viking in the United Kingdom are manufacturing the N096-L03+ series of reinforced polyurethane standard insulation boxes.
  • the manufacturing method is: plywood or polyurethane foam board is automatically glued, Manual or semi-automatic spreaders are stacked and stacked layer by layer on the corresponding assembly table for assembly. After assembly, the control of the box body size is mostly manual correction.
  • the insulation box of the N096-L03+ series is generally divided into K1, K2 and K5 box-type structures, among which, as shown in Figure 1 and Figure 3, the K1 box-type structure includes the No. 1 board (plywood material) and the No. 2 board. (Polyurethane board material)
  • the composite bottom part and the upper part composite on the No. 2 board are the No. 3 board (plywood), No. 4 board (polyurethane board material) and No. 5 board (plywood), which are compounded in sequence.
  • the four corners of the number plate are provided with right-angle grooves, and right-angle splints are correspondingly equipped on the right-angle grooves (the splint also has grooves on the outside), and the K2 and K5 box structures are shown in Figure 2 and Figure 4.
  • the upper parts omit the No. 4 board and the No. 5 board, and the rest are the same.
  • the purpose of the present invention is to provide a box body assembly system for a polyurethane insulated box for LNG ships in order to overcome the above-mentioned defects in the prior art.
  • a box body assembly system of a polyurethane insulation box for LNG ships including:
  • Insulation box assembly station used to assemble the bottom part and the upper part to form an insulation box
  • Material conveying mechanism used to transport the bottom layer components to the insulating box assembly station, and send out the insulating box completed from the insulating box assembly station;
  • Upper component conveying mechanism It includes an upper component conveying line arranged next to the material conveying mechanism, and an upper component reversing device that accepts the end of the upper component conveying line and is used to invert the conveyed upper component to the insulating box assembly station for assembly .
  • the insulating box assembly station includes a Y-direction positioning correction mechanism arranged along the conveying direction of the material conveying mechanism, an X-direction positioning correction mechanism arranged perpendicular to the conveying direction of the material conveying mechanism and capable of up and down, and conveying along the material conveying mechanism Directional arrangement and used to compress and correct the right-angle splint on the insulating box splint correction mechanism.
  • the Y-direction positioning correction mechanism includes a Y-direction mounting plate fixed under the material conveying mechanism with two ends exposed on both sides of the material conveying mechanism, and a first Y-direction mounting plate arranged on both sides of the Y-direction mounting plate and along the X direction.
  • a guide assembly, and a positioning correction arm that is slidably installed at both ends of the Y-direction mounting plate and is respectively connected and driven by the first guide assembly to move back and forth in the X direction.
  • the inner side of the positioning correction arm is also provided with a connecting correction insulation box Y-direction positioning correction block on the side of Y.
  • the X-direction positioning correction mechanism includes an X-direction mounting plate fixedly arranged under the material conveying mechanism, a lifting assembly provided on the X-direction mounting plate, and slidingly mounted on the X-direction mounting plate and driven by the lifting The component is connected to drive a lifting plate that moves up and down along the X-direction mounting plate, and an X-direction positioning correction component that is installed on the lifting plate and can move back and forth in the Y direction.
  • the movable end of the X-direction positioning correction component is also provided with Hold the X-direction positioning correction block on the X-direction side of the correction insulation box.
  • the X-direction positioning correction assembly includes a second guide assembly that passes through the lifting plate along the Y direction, and an X-direction positioning correction block and an X-direction positioning correction block respectively connected to the inner and outer ends of the second guide assembly. Correct the drive.
  • the splint correction mechanism includes a splint correction drive assembly, a splint guide assembly, a turning drive assembly, and a splint correction block, wherein the splint correction drive assembly is arranged beside the material conveying mechanism, and the splint guide assembly is along the Y direction
  • the splint guide assembly is provided with a splint correction support plate guided and slid by the splint guide assembly and connected to the splint correction drive assembly.
  • the upper end of the splint correction support plate is hinged with the splint correction support plate that can rotate in a plane perpendicular to the Y direction.
  • the clamping plate correction support plate is also provided with an overturning drive assembly drivingly connected to the clamping plate correction block.
  • the upper-layer component turning device includes an upper-layer component turning assembly, and an upper-layer component feeding assembly for sending the upper-layer components sent via the upper-layer component conveying line to the upper-layer component turning assembly one by one.
  • the upper-layer component is turned over.
  • the assembly includes an upper-layer component turning unit and an upper-layer component height adjustment unit rotatably connected with the upper-layer component turning unit.
  • the upper-layer component height adjustment unit is provided with a fixing member for positioning the upper-layer component to be turned over.
  • the upper part height adjustment unit includes a height adjustment frame connected to the turnover output end of the upper part turnover unit, a turnover positioning table slidably mounted on the height adjustment frame, and fixed on the height adjustment frame And it is used to connect the height adjustment driving member that drives the turning positioning table to move up and down along the height adjustment frame, and the upper component fixing member is arranged on the turning positioning table.
  • the upper component fixing piece includes a turning positioning lifting unit, a turning positioning plate arranged on the turning positioning lifting piece, a Y-direction positioning reference piece and a Y-direction clamping piece respectively arranged at both ends of the turning positioning plate, and mounting
  • the suction cup set on the upper surface of the flip positioning plate, the Y-direction clamping piece can move back and forth along the Y-direction on the flip positioning plate, and form an upper layer component sandwiched between the two with the Y-direction positioning reference piece Clamping space.
  • X-direction positioning units are respectively provided on both sides of the upper-layer component fixing member, and the X-direction positioning unit includes a Z-direction lifting member that can move up and down along the Z direction, and is arranged on the Z-direction lifting member and X-direction positioning piece that can move back and forth along X-direction;
  • the X-direction positioning unit is activated, and the X-direction position of the upper part on the upper part fixing part is adjusted through the X-direction positioning part.
  • the present invention has the following advantages:
  • the automatic assembly system and method of the box body of the present invention can be applied to the automatic assembly of various types of N096-L03+ series of reinforced polyurethane standard insulation boxes to meet the assembly requirements under different production conditions;
  • the upper component turning device of the present invention completes the automatic assembly of the polyurethane board or plywood on the upper layer of the insulation box.
  • the glued polyurethane board or plywood passes reliable X direction, Y direction, assembly reference positioning and servo flipping, etc.
  • the method realizes the process that the glued surface is from top to bottom and the glued surface is down, which is convenient for assembly;
  • the upper part turning device of the present invention adopts two sets of X-direction positioning units, which can cooperate with program control actions to realize the positioning of polyurethane boards or plywood boards of different lengths in different types of insulated boxes;
  • the Y-direction clamp and the suction cup set with lifting parts are combined to realize the turning and positioning of the polyurethane board or plywood.
  • the lifting parts drive the elastic suction cup set to rise to make
  • the suction cup group is adsorbed on the uncoated surface of the plate, and the uncoated surface of the plate is tightly attached to the assembly datum surface through the lowering of the lifting member, and then the plate is clamped in the Y direction, which solves the problem of the deformation of the plate surface. Error of assembly position accuracy;
  • the upper part height adjustment unit (mainly the height adjustment servo motor included in the upper part turnover device of the present invention) and the upper part turnover unit (that is, the rotation servo motor included) coordinate their actions, based on the layer-by-layer increase
  • the assembly height position changes automatically adjust the height, so that the glued surface of the polyurethane board or plywood board is downward and reaches the top of the assembled position;
  • the height adjustment servo motor mechanism presses down each polyurethane board or plywood board to ensure that the polyurethane board or plywood to be assembled The plywood is reliably bonded to the assembled polyurethane board or plywood;
  • the assembly station of the present invention uses the Y-direction positioning correction mechanism, the X-direction positioning correction mechanism and the splint correction mechanism to perform overall correction on the assembled insulating box plate and the right-angle splint respectively, and reliably controls the dimensional accuracy after assembly And the assembly quality of the right-angle splint.
  • FIG. 1 is a schematic diagram of the K1 box type L03 of the present invention.
  • Figure 2 is a schematic diagram of the structure of the K2 and K5 box types of L03+ of the present invention.
  • FIG. 3 is a schematic diagram of the K1 box type after assembly
  • Figure 4 is a schematic diagram of the box type K2 and K5 after assembly
  • Figure 5 is a schematic diagram of the glued surface of each component of the insulating box
  • Figure 6 is a schematic diagram of the layout of the automatic assembly system of the polyurethane insulated box
  • Figure 7 is a schematic diagram of the structure of the automatic assembly system of the polyurethane insulated box
  • Figure 8 is a schematic diagram of the assembly station of the insulating box
  • Figure 9 is a schematic diagram of the Y-direction positioning correction mechanism
  • Figure 10 is a schematic diagram of the X-direction positioning correction mechanism
  • Figure 11 is a schematic diagram of a splint correction mechanism
  • Figure 12 is a schematic diagram of the upper component turning device
  • Figure 13 is a schematic diagram of an upper component fixing member
  • Fig. 14 is a schematic view of a bottom view of the upper component fixing member
  • Figure 15 is a schematic diagram of the correction state of each component after the insulation box is assembled
  • 10-Insulation box assembly station 11-Y-direction positioning correction mechanism, 111-Y-direction mounting plate, 112-first guide assembly, 113-position correction arm, 114-Y-direction correction block, 12-X-direction correction Mechanism, 121-X-direction mounting plate, 122-lifting plate, 123-X-direction positioning correction assembly, 124-X-direction positioning correction block, 125-second guide assembly, 126-X-direction positioning correction drive unit, 13-splint correction Mechanism, 131- splint correction drive assembly, 132- splint guide assembly, 133- overturn drive assembly, 134- splint correction block, 20- material conveying mechanism, 30- upper part conveying mechanism, 31- upper part conveying line, 32- upper layer Component turning device, 321-upper component turning component, 322-upper component feeding component, 323-upper component turning unit, 324-upper component height adjustment unit, 3241-height adjustment rack, 3242-turning positioning table, 325-upper component Fixed parts, 3251-turn
  • the present invention proposes a box body assembly system for a polyurethane insulation box for a liquefied natural gas ship.
  • a box body assembly system for a polyurethane insulation box for a liquefied natural gas ship Refer to Figure 6 and Figure 7 for its structure, including:
  • Insulation box assembly station 10 used to assemble the bottom part and the upper part to form an insulation box;
  • Material conveying mechanism 20 used to convey the bottom layer components to the insulating box assembly station 10, and send out the insulating box completed from the insulating box assembly station 10;
  • Upper component conveying mechanism 30 includes an upper component conveying line 31 arranged next to the material conveying mechanism 20, and receiving the end of the upper component conveying line 31 and used to turn the upper component conveyed in place to the insulating box assembly station 10 for assembly The upper part turnover device 32.
  • the material conveying mechanism 20 can adopt conveying equipment commonly used in the field of chain conveying, plate chain conveying, roller table or roller conveying.
  • the insulating box assembly station 10 includes a Y-direction positioning correction mechanism 11 arranged along the conveying direction of the material conveying mechanism 20, and is perpendicular to the material conveying mechanism 20.
  • the X-direction positioning correction mechanism 12 arranged in the conveying direction and capable of up and down lifting, and the clamping plate correction mechanism 13 arranged along the conveying direction of the material conveying mechanism 20 and used to compress and correct the right-angle clamping plate 46 on the insulating box.
  • the Y-direction positioning correction mechanism 11 includes Y-direction mounting plates 111 fixed below the material conveying mechanism 20 with two ends exposed on both sides of the material conveying mechanism 20, arranged on The first guide components 112 on both sides of the Y-direction mounting plate 111 and along the X-direction, and slidably mounted on both ends of the Y-direction mounting plate 111 and are respectively connected and driven by the first guide components 112 to move back and forth in the X direction.
  • the correction arm 113 is provided with a Y-direction correction block 114 for abutting against the Y-direction side surface of the correction insulation box on the inner side of the positioning correction arm 113.
  • the first guide assembly 112 may include a guide cylinder and an X-direction rail.
  • the positioning correction arm 113 can be slidably mounted on the X-direction guide rail, and is connected and driven by the guide cylinder.
  • the Y-direction positioning correction block 114 can be used to compress all the panels after assembly, and it can be made of engineering plastics and other materials that do not bond with glue.
  • the Y-direction positioning correction block 114 can be divided into Y-up positioning correction blocks, Y-direction middle positioning correction blocks, and Y-direction positioning correction blocks arranged at intervals from top to bottom.
  • the Y-up positioning correction block can be attached to the third board 43, the fourth board 44 and the fifth board 45 to achieve positioning, and the Y-direction middle positioning correction block can be attached to the second board 42 to achieve positioning.
  • the lower positioning correction block can be attached to the first board 41 and the second board 42 to achieve positioning.
  • the X-direction positioning correction mechanism 12 includes an X-direction mounting plate 121 fixedly arranged under the material conveying mechanism 20, and a lifting assembly arranged on the X-direction mounting plate 121 , A lifting plate 122 that is slidably mounted on the X-direction mounting plate 121 and connected by the lifting assembly to drive up and down along the X-direction mounting plate 121, and an X that is mounted on the lifting plate 122 and can move back and forth in the Y direction
  • the positioning correction component 123 is further provided with an X-direction positioning correction block 124 for resisting the X-direction side surface of the correction insulation box at the movable end of the X-direction positioning correction component 123.
  • the X-direction positioning correction assembly 123 includes a second guide assembly 125 passing through the lifting plate 122 in the Y direction, and X-direction positioning correction blocks 124 respectively connected to the inner and outer ends of the second guide assembly 125 ⁇ X-direction positioning correction drive 126.
  • the lifting assembly includes two parts: a lifting drive assembly and a lifting guide assembly.
  • the lifting guide assembly adopts a linear guide rail, a linear bearing or other linear guide components, and the lifting plate 122 is slidably arranged on the lifting guide assembly and is moved by the lifting
  • the driving component (which can adopt a structure such as a lifting cylinder) drives up and down along the lifting guide component.
  • the second guide assembly 125 may adopt a structure such as a guide column passing through the lifting plate 122, and the X-direction positioning correction driving member 126 may also adopt a linear drive structure such as a cylinder, a servo motor, a stepping motor, a common motor, or a hydraulic cylinder.
  • the splint correction mechanism 13 includes a splint correction drive assembly 131, a splint guide assembly 132, a turnover drive assembly 133, and a splint correction block 134, wherein the splint correction drive
  • the assembly 131 is arranged next to the material conveying mechanism 20.
  • the splint guide assembly 132 is arranged along the Y direction.
  • the splint guide assembly 132 is provided with a splint correction support plate guided and slid by it and connected to the splint correction drive assembly 131.
  • the splint correction support plate is hinged on the upper end of the splint correction block 134 that can rotate in a vertical Y-direction plane, and the splint correction support plate is also provided with a flip driving assembly 133 drivingly connected to the splint correction block 134.
  • the turning drive assembly 133 can adopt a structure such as an air cylinder, a servo motor, a stepping motor, a common motor, or a hydraulic cylinder.
  • two ends are provided between the turning drive assembly 133 and the clamping plate correction block 134, respectively.
  • the hinged transmission rod cooperates to realize the rotational driving of the splint correction block 134.
  • the splint correction block 134 In the initial state, the splint correction block 134 is placed horizontally along the X direction.
  • the turning drive assembly 133 first drives the splint correction block 134 to rotate 90° to the vertical arrangement state ( That is to say coaxially with the splint guide assembly 132), then, the splint correction drive assembly 131 drives the two sets of splint correction support plates to move relative to the splint guide assembly 132, so that the splint correction blocks 134 on the two sets of splint correction support plates are respectively compressed And correct two adjacent right-angle splints 46 on the same side of the insulation box.
  • the buffer assembly 33 for adding upper components.
  • the buffer assembly 33 can use the existing commonly used jacking buffer, sensor in place control buffer, and accumulation buffer. Or other caching methods.
  • the upper part conveying line 31 is used to feed the glued upper part to the upper part turning device 32 or the additional buffer assembly 33 one by one.
  • the upper-layer component turning device 32 is used to turn the upper-layer components sequentially to the state where the glued surface is downward, and then bond and fix the components with the assembled insulation box on the insulation box assembly station 10.
  • the upper-layer component turning device 32 includes an upper-layer component turning assembly 321, and is used to send the upper-layer components through the upper-layer component conveying line 31 piece by piece.
  • the upper part feeding assembly 322 sent to the upper part turning assembly 321 includes an upper part turning unit 323 and an upper part height adjusting unit 324 rotatably connected to the upper part turning unit 323.
  • the component height adjustment unit 324 is provided with a fixing member 325 for positioning the upper component to be turned over.
  • the main function of the upper part turning unit 323 is to turn the upper part fixed and clamped on the upper part fixing part 325 from the position where the glue surface is upward to the insulating box assembly station 10 and present the glue surface downward.
  • the upper part height adjustment unit 324 works, moves downward and presses and fixes the upper part on the part of the insulating box assembled on the insulating box assembly station 10.
  • the upper part height adjustment unit 324 includes a height adjustment frame 3241 connected to the turnover output end of the upper part turnover unit 323 and is slidably installed at the height.
  • the turning positioning table 3242 on the adjusting frame 3241, and the height adjusting driving member fixed on the height adjusting frame 3241 and used to connect the turning positioning table 3242 to move up and down along the height adjusting frame 3241 are provided on the turning positioning table 3242.
  • the upper component fixing member 325 is provided on the turning positioning table 3242.
  • the upper member fixing member 325 includes a reversing positioning lifting unit 3251, a reversing positioning plate 3252 provided on the reversing positioning lifting member 3252, respectively.
  • Both sides of the upper component fixing member 325 are also provided with X-direction positioning units 326 respectively, and the X-direction positioning units 326 include movable up and down along Z The Z-direction lifting part, and the X-direction positioning part arranged on the Z-direction lifting part and movable back and forth along the X direction;
  • the X-direction positioning unit 326 is activated, the Z-direction lifting part rises to a certain height, and the position of the upper part on the upper part fixing part 325 is adjusted by the X-direction positioning part. X-direction position.
  • the structure of the insulating box 40 in the form of L03 or L03+ is shown in Fig. 1 to Fig. 5 respectively.
  • the structure of the K1 box type is shown in Fig. 1 and Fig. 3, including the No. 1 plate 41 which is compounded in sequence from bottom to top. (Plywood), No. 2 Board 42 (Polyurethane Board), No. 3 Board 43 (Plywood), No. 4 Board 44 (Polyurethane Board) and No. 5 Board 45 (Plywood), the four end corners of No. 2 Board 42 are arranged in coordination There are wooden right-angle splints 46.
  • the structure of the K2 or K5 box type is shown in Figures 2 and 4. Compared with the K1 box type, the No. 4 board 44 and the No. 5 board 45 are omitted, and the rest of the structure remains unchanged.
  • the first step is to assemble the bottom part.
  • the upper surface of the No. 1 board 41 is coated with glue to form the No. 1 glued surface 51, and the No. 2 board 42 is not glued, and the two are pressed and bonded together;
  • the right-angle splint 46 is assembled. At this time, four right-angle splints 46 are assembled to the four corner positions of the second plate 42;
  • the third part is to assemble the upper parts.
  • the glued surfaces of the upper parts (such as the third glued surface 52, the fourth glued surface 53 and the fifth glued surface 54) are respectively in a downward state, They are adhered and fixed to the No. 2 board 42, the No. 3 board 43 and the No. 4 board 44 respectively in sequence.
  • the assembly process of the fourth board 44 and the fifth board 45 is omitted, and the rest remains unchanged.
  • this embodiment proposes a box assembly system for the polyurethane insulation box for LNG ships.
  • the structure is shown in Figures 6 and 7, including:
  • Insulation box assembly station 10 used to assemble the bottom part and the upper part to form an insulation box;
  • Material conveying mechanism 20 used to convey the bottom layer components to the insulating box assembly station 10, and send out the insulating box completed from the insulating box assembly station 10;
  • Upper component conveying mechanism 30 includes the upper component conveying line 31 arranged next to the material conveying mechanism 20, and the upper layer that receives the end of the upper component conveying line 31 and is used to turn the conveyed upper component to the insulating box assembly station 10 for assembly Component turning device 32.
  • the material conveying mechanism 20 can adopt conveying equipment commonly used in the field of chain conveying, plate chain conveying, roller conveyor or roller conveying.
  • the insulating box assembly station 10 includes a Y-direction positioning correction mechanism 11 arranged along the conveying direction of the material conveying mechanism 20, and an X-direction positioning correction mechanism 12 arranged perpendicular to the conveying direction of the material conveying mechanism 20 and capable of up and down. , And a splint correction mechanism 13 arranged along the conveying direction of the material conveying mechanism 20 and used to compress and correct the right-angle splint 46 on the insulating box.
  • the Y-direction positioning correction mechanism 11 includes a Y-direction mounting plate 111 fixed under the material conveying mechanism 20 with two ends exposed on both sides of the material conveying mechanism 20, and arranged on both sides of the Y-direction mounting plate 111 and along the The X-direction first guide assembly 112, and the positioning correction arm 113 that is slidably installed at both ends of the Y-direction mounting plate 111 and respectively driven by the first guide assembly 112 to move back and forth in the X direction.
  • the positioning correction arm 113 is also provided inside There is a Y-direction positioning correction block 114 for abutting the Y-direction side surface of the correction insulation box.
  • the first guide assembly 112 may include components such as a guide cylinder and an X-direction guide rail. Accordingly, the positioning correction arm 113 can be slidably mounted on the X-direction guide rail, and is connected and driven by the guide cylinder to move.
  • the Y-direction positioning correction block 114 can be used to compress all the panels after assembly, and it can be made of materials that are not bonded with glue, such as engineering plastics.
  • the Y-direction positioning correction block 114 can be divided into Y-up positioning correction blocks, Y-direction middle positioning correction blocks, and Y-direction positioning correction blocks arranged at intervals from top to bottom.
  • the Y-up positioning correction block can be attached to the third board 43, the fourth board 44 and the fifth board 45 to achieve positioning, and the Y-direction middle positioning correction block can be attached to the second board 42 to achieve positioning.
  • the lower positioning correction block can be attached to the first board 41 and the second board 42 to achieve positioning.
  • the X-direction positioning correction mechanism 12 includes an X-direction mounting plate 121 fixedly arranged below the material conveying mechanism 20, a lifting assembly provided on the X-direction mounting plate 121, and slidingly mounted on the X-direction mounting plate 121 and The lifting plate 122 that is connected to drive the lifting plate 122 to move up and down along the X-direction mounting plate 121, and the X-direction positioning correction assembly 123 that is installed on the lifting plate 122 and can move back and forth in the Y direction are connected to the movable end of the X-direction positioning correction assembly 123 An X-direction positioning correction block 124 for resisting the X-direction side of the correction insulation box is also provided.
  • the X-direction positioning correction assembly 123 includes a second guide assembly 125 passing through the lifting plate 122 along the Y direction, and an X-direction positioning correction block 124 and an X-direction positioning correction driving member 126 respectively connected to the inner and outer ends of the second guide assembly 125.
  • the lift assembly includes two parts: a lift drive assembly and a lift guide assembly.
  • the lift guide assembly adopts linear guide rails, linear bearings or other linear guide components.
  • the lift plate 122 is slidably arranged on the lift guide assembly and is
  • the lifting drive assembly (which can adopt a structure such as a lifting cylinder) drives up and down along the lifting guide assembly.
  • the second guide assembly 125 may adopt a structure such as a guide column passing through the lifting plate 122, and the X-direction positioning correction driving member 126 may also adopt a linear drive structure such as a cylinder, a servo motor, a stepping motor, a common motor, or a hydraulic cylinder.
  • the splint correction mechanism 13 includes a splint correction drive assembly 131, a splint guide assembly 132, an overturning drive assembly 133, and a splint correction block 134.
  • the splint correction drive assembly 131 is arranged next to the material conveying mechanism 20, and the splint guides
  • the assembly 132 is arranged along the Y direction.
  • the splint guide assembly 132 is provided with a splint correction support plate guided by the splint guide assembly 132 and connected to the splint correction drive assembly 131.
  • the upper end of the splint correction support plate is hinged and can rotate in a plane perpendicular to the Y direction.
  • the splint correction block 134 is provided on the splint correction support plate and is also provided with an overturning drive assembly 133 drivingly connected to the splint correction block 134.
  • the turning drive assembly 133 can adopt a structure such as an air cylinder, a servo motor, a stepping motor, a common motor, or a hydraulic cylinder.
  • two ends are provided between the turning drive assembly 133 and the clamping plate correction block 134.
  • the hinged transmission rod cooperates to realize the rotational drive of the splint correction block 134. In the initial state, the splint correction block 134 is placed horizontally along the X direction.
  • the turning drive assembly 133 first drives the splint correction block 134 to rotate 90° to the vertical arrangement state ( That is to say coaxially with the splint guide assembly 132), then, the splint correction drive assembly 131 drives the two sets of splint correction support plates to move relative to the splint guide assembly 132, so that the splint correction blocks 134 on the two sets of splint correction support plates are respectively compressed And correct two adjacent right-angle splints 46 on the same side of the insulation box.
  • the buffer assembly 33 for adding upper components.
  • the buffer assembly 33 can adopt the existing common jacking buffer, sensor in place control buffer, and accumulation type. Caching or other caching methods.
  • the upper part conveying line 31 is used to feed the glued upper part to the upper part turning device 32 or the additional buffer assembly 33 one by one.
  • the upper-layer component turning device 32 is used to turn the upper-layer components sequentially to the state where the glued surface is downward, and then bond and fix the components with the assembled insulation box on the insulation box assembly station 10.
  • the upper part turning device 32 includes an upper part turning assembly 321, and an upper part feeding assembly for sending the upper parts sent via the upper part conveying line 31 to the upper part turning assembly 321 one by one.
  • the upper part turning assembly 321 includes an upper part turning unit 323 and an upper part height adjustment unit 324 rotatably connected to the upper part turning unit 323.
  • the upper part height adjustment unit 324 is provided with a fixing member 325 for positioning the upper part to be turned over. .
  • the main function of the upper part turning unit 323 is to turn the upper part fixed and clamped on the upper part fixing part 325 from the position where the glue surface is upward to the insulating box assembly station 10 and present the glue surface downward.
  • the upper part height adjustment unit 324 works, moves downward and presses and fixes the upper part on the part of the insulating box assembled on the insulating box assembly station 10.
  • the upper component height adjustment unit 324 includes a height adjustment frame 3241 connected to the flip output end of the upper component flip unit 323, a flip positioning table 3242 slidably mounted on the height adjustment frame 3241, and a flip positioning table 3242 fixed at the height
  • the adjusting frame 3241 is connected with a height adjustment driving member that drives the turning positioning table 3242 to move up and down along the height adjusting bracket 3241, and an upper component fixing member 325 is provided on the turning positioning table 3242.
  • the upper component fixing member 325 includes a turning positioning lifting unit 3251, a turning positioning plate 3252 provided on the turning positioning lifting member 3252, a Y-direction positioning reference member 3253 respectively provided at both ends of the turning positioning plate 3252 And the Y-direction clamping member 3254, and the suction cup set 3255 installed on the upper surface of the turning positioning plate 3252, the Y-direction clamping member 3254 can move back and forth along the Y direction on the turning positioning plate 3252, and is in contact with the Y-direction positioning reference member 3253 A clamping space is formed between the two upper parts.
  • the X-direction positioning unit 326 includes a Z-direction lifting member that can move up and down along the Z direction, and is arranged in the Z-direction lifting X-direction positioning parts on the parts that can move back and forth along the X-direction;
  • the X-direction positioning unit 326 is activated, the Z-direction lifting part rises to a certain height, and the position of the upper part on the upper part fixing part 325 is adjusted by the X-direction positioning part. X-direction position.
  • right-angle splints 46 are pre-assembled at the pre-assembly station, they are sent to the insulating box assembly station 10 by the material conveying mechanism 20, and are assembled by the insulating box
  • the X-direction positioning correction mechanism 12 and the Y-direction positioning correction mechanism 11 of the station 10 perform pre-positioning;
  • the plywood or polyurethane boards of the upper parts to be assembled ie No. 3 boards 43, No. 4 boards 44, No. 5 boards 45, etc.
  • the plywood or polyurethane boards of the upper parts to be assembled ie No. 3 boards 43, No. 4 boards 44, No. 5 boards 45, etc.
  • the two sets of X-direction positioning units 326 located below the assembly reference surface rise, and according to the different board numbers of different box types, act according to the set program to perform the X-direction on the board. Positioning; after the X-direction positioning is completed, the two X-direction positioning units 326 are lowered back into position;
  • the turning positioning plate 3252 of the upper turning device is lifted by the corresponding turning positioning lifting unit 3251, so that the plate is separated from the upper surface of the upper part feeding assembly 322;
  • the suction cup set 3255 on the flip positioning plate 3252 of the upper flip device rises and fits the uncoated surface of the plate.
  • the negative pressure control system of the suction cup group 3255 acts, and the suction cups in the suction cup group 3255 form negative pressure to absorb the plate to the assembly reference Face, the Y-direction clamping member 3254 moves to press the plate against the Y-direction positioning reference member 3253;
  • the upper part height adjustment unit 324 of the upper turnover device and the driving part of the upper part turnover unit 323 coordinate their actions, and automatically adjust the height according to the increase of the assembly height position change by layer, so that the glued surface of the polyurethane board or plywood reaches the assembled position.
  • the upper part height adjustment unit 324 presses down each polyurethane board or plywood to ensure that the polyurethane board or plywood to be assembled is reliably attached to the assembled polyurethane board or plywood;
  • the "overall correction" of the right-angle splint 46 four sets of independent splint correction mechanisms 13, which press the wooden splint correction block 134 on the exposed surface of the wooden right-angle splint 46, so that the wooden right-angle splint 46 and the second plate 42 can be Reliable fit;
  • the splint correction mechanism 13 of the assembly station is returned to the position, the X-direction positioning correction mechanism 12 and the Y-direction positioning correction mechanism 11 are respectively returned; the material conveying mechanism 20 of the assembly station sends the assembled insulation box out of the assembly station.
  • the driving parts or driving parts involved can be cylinders, servo motors, stepping motors, ordinary motors, or hydraulic cylinders that realize the corresponding functions;
  • the guide structures involved such as the guide components can be used to realize the corresponding functions.
  • the conveying mechanism or conveying line can use common chain conveying, plate chain conveying, roller conveyor or roller conveying. The remaining components or technologies that are not specified are indicated as commonly used components or technologies in the field that are used to achieve corresponding functions.

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Abstract

一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，包括：绝缘箱装配工位（10）：用于将底层部件和上层部件装配形成绝缘箱；物料输送机构（20）：用于输送底层部件至绝缘箱装配工位（10），以及送出从绝缘箱装配工位（10）完成的绝缘箱；上层部件输送机构（30）：包括设置在物料输送机构（30）旁的上层部件输送线（31），以及承接所述上层部件输送线（31）末端并用于将输送到位的上层部件翻转送至绝缘箱装配工位（10）进行组装的上层部件翻转装置（32）。该装配系统实现了多种箱型结构的绝缘箱的高可靠精准安装等。

Description

一种液化天然气船用聚氨酯绝缘箱的箱体装配系统 技术领域
本发明属于箱体装配技术领域，涉及一种液化天然气船用聚氨酯绝缘箱的箱体装配系统。
背景技术
增强型聚氨脂标准绝缘箱是大型液化天然气薄膜型LNG(Liquefied Natural Gas,简称LNG)船围护系统中的核心零部件，在NO.96围护系统中，增强型聚氨脂标准绝缘箱包括L03、L03+等形式，一艘NO.96围护系统的薄膜型LNG船，需求20000只N096-L03+系列的增强型聚氨脂标准绝缘箱；增强型聚氨脂标准绝缘箱具有高度标准化、高度车间预制化、工序复杂、制造精度高等特点；提高绝缘箱的自动化程度是改善绝缘箱生产效率的关键。
聚氨脂标准绝缘箱的特点是箱体由多块不同层的胶合板均与聚氨酯胶接装配而成，并经过一定压力和时间的压合过程、无压力条件下的时效固化等过程。韩国Hankuk Carbon、Dongsung Finetec、Kangrim Insulation以及英国Cannon Viking等公司在制造N096-L03+系列的增强型聚氨脂标准绝缘箱的工艺上，其制造方法是：胶合板或聚氨酯泡沫板经自动涂胶后，人工或半自动吊具逐层叠加码放到相应的装配台上进行装配，在装配后对箱体外形尺寸的控制上大多都是采用手工校正的方式。N096-L03+系列的绝缘箱一般分为K1，以及K2和K5等箱型结构，其中，参见图1和图3所示，K1箱型结构的包括由一号板(胶合板材质)和二号板(聚氨酯板材质)复合的底层部件，以及复合在二号板上方的上层部件，分别为依次复合的三号板(胶合板)、四号板(聚氨酯板材质)和五号板(胶合板)，二号板的四个角位置则设有直角凹槽，并在直角凹槽上对应装配有直角夹板(夹板外侧同样具有凹槽)，而K2和K5箱型结构参见图2和图4所示，相比于K1箱型结构而言，上层部件省去了四号板和五号板，其余均一样。
以上N096-L03+系列的增强型聚氨脂标准绝缘箱的人工装配和校正的制造方法存在以下不足：
(1)采用人工或半自动吊具逐层叠加码放涂胶后的胶合板或聚氨酯泡沫板，劳动强度大，生产效率较低。
(2)人工装配难免出现各层之间的错边等现象，一旦出现错边现象，大多靠手工或借助简单模具进行修正，制造精度难以有效控制；
(3)由于人工操作的偶发因素扰乱整个生产系统的整体节拍，造成待装配的部件在流水线上的积压，严重影响整个生产系统的统一性和协调性。
因此，有必要重新设计满足聚氨酯绝缘箱技术特点和技术要求、提高生产效率和产品制造精度的专用装备，提出确保生产过程稳定、可控的箱体装配精度控制系统及方法。
发明内容
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种液化天然气船用聚氨酯绝缘箱的箱体装配系统。
本发明的目的可以通过以下技术方案来实现：
一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，包括：
绝缘箱装配工位：用于将底层部件和上层部件装配形成绝缘箱；
物料输送机构：用于输送底层部件至绝缘箱装配工位，以及送出从绝缘箱装配工位完成的绝缘箱；
上层部件输送机构：包括设置在物料输送机构旁的上层部件输送线，以及承接所述上层部件输送线末端并用于将输送到位的上层部件翻转送至绝缘箱装配工位进行组装的上层部件翻转装置。
进一步的，所述绝缘箱装配工位包括沿物料输送机构输送方向布置的Y向定位校正机构、垂直于物料输送机构输送方向布置且可上下升降的X向定位校正机构，以及沿物料输送机构输送方向布置并用于压紧校正绝缘箱上的直角夹板的夹板校正机构。
更进一步的，所述Y向定位校正机构包括固定在物料输送机构下方且两端露出物料输送机构两侧的Y向安装板、布置在Y向安装板两侧上并沿X向导向的第一导向组件，以及滑动安装在Y向安装板两端并分别由所述第一导向组件连接驱动沿X向来回移动的定位校正臂，所述定位校正臂的内侧还设有用于连接校正绝缘箱的Y向侧面的Y向定位校正块。
更进一步的，所述X向定位校正机构包括固定设置在物料输送机构下方的X向安装板、设置在X向安装板上的升降组件、滑动安装在所述X向安装板并由所述升降组件连接驱动沿X向安装板上下移动的升降板，以及安装在所述升降板上并可沿Y向来回移动的X向定位校正组件，在X向定位校正组件的活动端还设有用于抵住校正绝缘箱的X向侧面的X向定位校正块。
更进一步优选的，所述X向定位校正组件包括沿Y向穿过所述升降板的第二导向组件，以及分别连接所述第二导向组件的内外两端的X向定位校正块和X向定位校正驱动件。
更进一步的，所述夹板校正机构包括夹板校正驱动组件、夹板导向组件、翻转驱动组件、夹板校正块，其中，所述夹板校正驱动组件设置在物料输送机构旁，所述夹板导向组件沿Y向布置，在夹板导向组件上设置有由其导向滑动并与所述夹板校正驱动组件连接的夹板校正支板，该夹板校正支板上端铰接有可在垂直Y向的平面内转动的所述夹板校正块，在夹板校正支板上还设有驱动连接所述夹板校正块的翻转驱动组件。
进一步的，所述上层部件翻转装置包括上层部件翻转组件，以及用于将经上层部件输送线送来的上层部件逐件送至上层部件翻转组件上的上层部件送进组件，所述上层部件翻转组件包括上层部件翻转单元、与所述上层部件翻转单元转动连接的上层部件高度调整单元，在上层部件高度调整单元上设有用于定位待翻转的上层部件固定件。
更进一步的，所述上层部件高度调整单元包括与所述上层部件翻转单元的翻转输出 端连接的高度调整架、滑动安装在所述高度调整架上的翻转定位台，以及固定在高度调整架上并用于连接驱动所述翻转定位台沿高度调整架上下移动的高度调整驱动件，在翻转定位台上设置有所述上层部件固定件。
更进一步的，所述上层部件固定件包括翻转定位升降单元、设置在翻转定位升降件上的翻转定位板、分别设置在翻转定位板两端的Y向定位基准件和Y向夹持件，以及安装在翻转定位板上表面的吸盘组，所述Y向夹持件可在翻转定位板上沿Y向来回移动，并与所述Y向定位基准件之间形成夹住位于两者之间上层部件的夹持空间。
更进一步的，所述上层部件固定件的两侧还分别设有X向定位单元，所述X向定位单元包括可沿Z向上下移动的Z向升降件，以及布置在Z向升降件上并可沿X向来回移动的X向定位件；
上层部件经上层部件松紧组件送至上层部件固定件上后，X向定位单元启动，并通过X向定位件调整上层部件在上层部件固定件上的X向位置。
与现有技术相比，本发明具有以下优点：
(1)本发明的箱体的自动装配系统及方法，可适用多种型号的N096-L03+系列的增强型聚氨脂标准绝缘箱的自动装配，满足不同生产条件下的装配需求；
(2)本发明的上层部件翻转装置，完成绝缘箱上层的聚氨酯板或胶合板的自动装配，对涂胶后的聚氨酯板或胶合板，通过可靠的X方向、Y方向、装配基准定位和伺服翻转等方法，实现了涂胶面由上向下的涂胶面向下的过程，便于装配；
(3)本发明的上层部件翻转装置的采用两套X向定位单元，可以配合程序控制动作，实现不同型号的绝缘箱箱型中不同长度的聚氨酯板或胶合板的定位；
(4)本发明的上层部件翻转装置中，结合Y向夹持件和带有升降件的吸盘组，实现了聚氨酯板或胶合板的翻转定位，其中，通过升降件带动弹性的吸盘组上升，使吸盘组吸附在板材的未涂胶面，并通过升降件的下降，将板材的未涂胶面贴紧在装配基准定面上，然后再对板材进行Y向夹持，解决了板材表面变形对装配位置精度的误差；
(5)本发明的上层部件翻转装置的上层部件高度调整单元(主要为其所包括的高度调整伺服电机)和上层部件翻转单元(即其所包括的回转伺服电机)协调动作，依据逐层增加的装配高度位置变化自动调整高度，使聚氨酯板或胶合板的涂胶面向下并到达已装配位置的上方；高度调整伺服电机机构将每个聚氨酯板或胶合板进行下压，确保待装配的聚氨酯板或胶合板与已装配的聚氨酯板或胶合板可靠贴合；
(6)本发明的装配工位通过Y向定位校正机构、X向定位校正机构和夹板校正机构等，对装配后的绝缘箱板材和直角夹板分别进行整体校正，可靠控制了装配后的尺寸精度和直角夹板的装配质量。
附图说明
图1为本发明的L03的K1箱型的结构示意图；
图2为本发明的L03+的K2、K5箱型的结构示意图；
图3为K1箱型装配后的示意图；
图4为K2、K5箱型装配后的示意图；
图5为绝缘箱各部件的涂胶面的示意图；
图6为聚氨酯绝缘箱的箱体自动装配系统的布局示意图；
图7为聚氨酯绝缘箱的箱体自动装配系统的结构示意图；
图8为绝缘箱的装配工位的结构示意图；
图9为Y向定位校正机构的示意图；
图10为X向定位校正机构的示意图；
图11为夹板校正机构的示意图；
图12为上层部件翻转装置的示意图；
图13为上层部件固定件的示意图；
图14为上层部件固定件的仰视视角的示意图；
图15为绝缘箱装配后的各部件的校正状态示意图；
图中标记说明：
10-绝缘箱装配工位，11-Y向定位校正机构，111-Y向安装板，112-第一导向组件，113-定位校正臂，114-Y向定位校正块，12-X向定位校正机构，121-X向安装板，122-升降板，123-X向定位校正组件，124-X向定位校正块，125-第二导向组件，126-X向定位校正驱动件，13-夹板校正机构，131-夹板校正驱动组件，132-夹板导向组件，133-翻转驱动组件，134-夹板校正块，20-物料输送机构，30-上层部件输送机构，31-上层部件输送线，32-上层部件翻转装置，321-上层部件翻转组件，322-上层部件送进组件，323-上层部件翻转单元，324-上层部件高度调整单元，3241-高度调整架，3242-翻转定位台，325-上层部件固定件，3251-翻转定位升降单元，3252-翻转定位板，3253-Y向定位基准件，3254-Y向夹持件，3255-吸盘组，326-X向定位单元，33-缓存组件；
40-绝缘箱，41-一号板，42-二号板，43-三号板，44-四号板，45-五号板，46-直角夹板；
51-一号涂胶面，52-二号涂胶面，53-三号涂胶面，54-四号涂胶面，55-五号涂胶面；
60-底层部件预装工位。
具体实施方式
下面结合附图和具体实施例对本发明进行详细说明。本实施例以本发明技术方案为前提进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。
本发明提出了一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其结构参见图6和图7所示，包括：
绝缘箱装配工位10：用于将底层部件和上层部件装配形成绝缘箱；
物料输送机构20：用于输送底层部件至绝缘箱装配工位10，以及送出从绝缘箱装配工位10完成的绝缘箱；
上层部件输送机构30：包括设置在物料输送机构20旁的上层部件输送线31，以及 承接所述上层部件输送线31末端并用于将输送到位的上层部件翻转送至绝缘箱装配工位10进行组装的上层部件翻转装置32。
本发明中，物料输送机构20可以采用本领域常用的链条输送、板链输送、辊道或滚筒输送方式的输送设备。
在本发明的一种具体的实施方式中，请参见图8所示，所述绝缘箱装配工位10包括沿物料输送机构20输送方向布置的Y向定位校正机构11、垂直于物料输送机构20输送方向布置且可上下升降的X向定位校正机构12，以及沿物料输送机构20输送方向布置并用于压紧校正绝缘箱上的直角夹板46的夹板校正机构13。
以上更具体的实施方式中，请参见图9所示，所述Y向定位校正机构11包括固定在物料输送机构20下方且两端露出物料输送机构20两侧的Y向安装板111、布置在Y向安装板111两侧上并沿X向导向的第一导向组件112，以及滑动安装在Y向安装板111两端并分别由所述第一导向组件112连接驱动沿X向来回移动的定位校正臂113，所述定位校正臂113的内侧还设有用于抵接校正绝缘箱的Y向侧面的Y向定位校正块114。本发明中，第一导向组件112可包括导向气缸和X向导轨等部件，相应的，定位校正臂113可滑动安装在X向导轨上，并由导向气缸连接驱动移动。Y向定位校正块114可用于压紧装配后的所有板件，其可采用工程塑料等不与胶水粘合的材料制成。Y向定位校正块114可以分为从上到下间隔设置的Y向上层定位校正块、Y向中部定位校正块和Y向下层定位校正块等多块组成，当Y向定位校正机构11动作达到工作位置时，Y向上层定位校正块可与三号板43、四号板44和五号板45贴合实现定位，Y向中部定位校正块可与二号板42贴合实现定位，Y向下层定位校正块可与一号板41和二号板42贴合实现定位。
以上更具体的实施方式中，请参见图10所示，所述X向定位校正机构12包括固定设置在物料输送机构20下方的X向安装板121、设置在X向安装板121上的升降组件、滑动安装在所述X向安装板121并由所述升降组件连接驱动沿X向安装板121上下移动的升降板122，以及安装在所述升降板122上并可沿Y向来回移动的X向定位校正组件123，在X向定位校正组件123的活动端还设有用于抵住校正绝缘箱的X向侧面的X向定位校正块124。更优选的，所述X向定位校正组件123包括沿Y向穿过所述升降板122的第二导向组件125，以及分别连接所述第二导向组件125的内外两端的X向定位校正块124和X向定位校正驱动件126。本发明中，升降组件包括升降驱动组件和升降导向组件两个部分，其中，升降导向组件采用直线导轨、直线轴承或其他线性导向部件，升降板122则滑动布置在升降导向组件上，并由升降驱动组件(可以采用如升降气缸之类的结构)驱动沿升降导向组件上下升降。第二导向组件125则可以采用穿过升降板122的导向柱等结构，X向定位校正驱动件126也可以采用如气缸、伺服电机、步进电机、普通电机或液压油缸等直线驱动结构。
以上更具体的实施方式中，请参见图11所示，所述夹板校正机构13包括夹板校正驱动组件131、夹板导向组件132、翻转驱动组件133、夹板校正块134，其中，所述夹板校正驱动组件131设置在物料输送机构20旁，所述夹板导向组件132沿Y向布置， 在夹板导向组件132上设置有由其导向滑动并与所述夹板校正驱动组件131连接的夹板校正支板，该夹板校正支板上端铰接有可在垂直Y向的平面内转动的所述夹板校正块134，在夹板校正支板上还设有驱动连接所述夹板校正块134的翻转驱动组件133。本发明中，翻转驱动组件133可以采用气缸、伺服电机、步进电机、普通电机或液压油缸等结构，同时，在翻转驱动组件133与夹板校正块134之间还设有两端分别与两者铰接的传动杆，以配合实现对夹板校正块134的转动驱动。初始状态时，夹板校正块134呈沿X向的水平横置，当下层部件等到位后，夹板校正机构13工作时，翻转驱动组件133先驱动夹板校正块134转动90°至竖直布置状态(即与夹板导向组件132同轴向)，随后，夹板校正驱动组件131带动两组夹板校正支板沿夹板导向组件132相对移动，从而使得两组夹板校正支板上的夹板校正块134分别压紧并校正绝缘箱上同侧面的相邻两个直角夹板46。
本发明中，上层部件输送线31与上层部件翻转装置32之间还设有增设上层部件的缓存组件33，缓存组件33可以采用现有常用的顶升缓存、传感器到位控制缓存、积放式缓存或其他缓存方式。上层部件输送线31用于将涂胶后的上层部件逐件送进到上层部件翻转装置32或增设的缓存组件33上。而上层部件翻转装置32则用于将上层部件依次翻转至涂胶面向下的状态后，再与绝缘箱装配工位10上的已装配的绝缘箱的部件粘接固定。
在本发明的一种具体的实施方式中，请参见图12所示，所述上层部件翻转装置32包括上层部件翻转组件321，以及用于将经上层部件输送线31送来的上层部件逐件送至上层部件翻转组件321上的上层部件送进组件322，所述上层部件翻转组件321包括上层部件翻转单元323、与所述上层部件翻转单元323转动连接的上层部件高度调整单元324，在上层部件高度调整单元324上设有用于定位待翻转的上层部件固定件325。上层部件翻转单元323的主要作用为将固定装夹在上层部件固定件325上的上层部件从涂胶面向上的位置翻转至绝缘箱装配工位10处并呈涂胶面向下的状态，随后，上层部件高度调整单元324工作，向下运动并将上层部件压紧固定在绝缘箱装配工位10上已装配的绝缘箱的部件上。
以上更具体的实施方式中，请再参见图12所示，所述上层部件高度调整单元324包括与所述上层部件翻转单元323的翻转输出端连接的高度调整架3241、滑动安装在所述高度调整架3241上的翻转定位台3242，以及固定在高度调整架3241上并用于连接驱动所述翻转定位台3242沿高度调整架3241上下移动的高度调整驱动件，在翻转定位台3242上设置有所述上层部件固定件325。
以上更具体的实施方式中，请参见图13和图14所示，所述上层部件固定件325包括翻转定位升降单元3251、设置在翻转定位升降件上的翻转定位板3252、分别设置在翻转定位板3252两端的Y向定位基准件3253和Y向夹持件3254，以及安装在翻转定位板3252上表面的吸盘组3255，所述Y向夹持件3254可在翻转定位板3252上沿Y向来回移动，并与所述Y向定位基准件3253之间形成夹住位于两者之间上层部件的夹持空间。
以上更具体的实施方式中，请再参见图12所示，所述上层部件固定件325的两侧还分别设有X向定位单元326，所述X向定位单元326包括可沿Z向上下移动的Z向升降件，以及布置在Z向升降件上并可沿X向来回移动的X向定位件；
上层部件经上层部件松紧组件送至上层部件固定件325上后，X向定位单元326启动，Z向升降件上升至特定高度并通过X向定位件调整定位上层部件在上层部件固定件325上的X向位置。
以下结合具体实施例来对以上任一实施方式进行更进一步的说明。
实施例1
如L03或L03+形式的绝缘箱40的结构分别如图1-图5所示，其中，K1箱型的结构参见图1和图3所示，包括依次从下到上依次复合的一号板41(胶合板)、二号板42(聚氨酯板)、三号板43(胶合板)、四号板44(聚氨酯板)和五号板45(胶合板)，二号板42的四个端角处配合布置有木质的直角夹板46。而K2或K5箱型的结构则如图2和图4所示，相比于K1箱型，其省去了四号板44和五号板45，其余结构不变。
以上涂胶装配过程可参见图5，具体为：
第一步，进行底层部件的装配，此时，一号板41的上表面涂胶，形成一号涂胶面51，二号板42不涂胶，两者压合粘接固定；
第二步，进行直角夹板46的装配，此时，将四件直角夹板46装配到二号板42的四个端角位置；
第三部，进行上层部件的装配，此时，将各上层部件的涂胶面(如三号涂胶面52、四号涂胶面53和五号涂胶面54)分别呈向下状态，分别依次与二号板42、三号板43和四号板44贴合粘接固定。对于K2或K5箱型，则对应省去四号板44和五号板45的装配过程，其余不变。
为了实现上述L03或L03+形式的绝缘箱40的各部件的装配，本实施例提出了一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其结构参见图6和图7所示，包括：
绝缘箱装配工位10：用于将底层部件和上层部件装配形成绝缘箱；
物料输送机构20：用于输送底层部件至绝缘箱装配工位10，以及送出从绝缘箱装配工位10完成的绝缘箱；
上层部件输送机构30：包括设置在物料输送机构20旁的上层部件输送线31，以及承接上层部件输送线31末端并用于将输送到位的上层部件翻转送至绝缘箱装配工位10进行组装的上层部件翻转装置32。
本实施例中，物料输送机构20可以采用本领域常用的链条输送、板链输送、辊道或滚筒输送方式的输送设备。
请参见图8所示，绝缘箱装配工位10包括沿物料输送机构20输送方向布置的Y向定位校正机构11、垂直于物料输送机构20输送方向布置且可上下升降的X向定位校正机构12，以及沿物料输送机构20输送方向布置并用于压紧校正绝缘箱上的直角夹板46的夹板校正机构13。
请参见图9所示，Y向定位校正机构11包括固定在物料输送机构20下方且两端露 出物料输送机构20两侧的Y向安装板111、布置在Y向安装板111两侧上并沿X向导向的第一导向组件112，以及滑动安装在Y向安装板111两端并分别由第一导向组件112连接驱动沿X向来回移动的定位校正臂113，定位校正臂113的内侧还设有用于抵接校正绝缘箱的Y向侧面的Y向定位校正块114。本实施例中，第一导向组件112可包括导向气缸和X向导轨等部件，相应的，定位校正臂113可滑动安装在X向导轨上，并由导向气缸连接驱动移动。Y向定位校正块114可用于压紧装配后的所有板件，其可采用工程塑料等不与胶水粘合的材料制成。Y向定位校正块114可以分为从上到下间隔设置的Y向上层定位校正块、Y向中部定位校正块和Y向下层定位校正块等多块组成，当Y向定位校正机构11动作达到工作位置时，Y向上层定位校正块可与三号板43、四号板44和五号板45贴合实现定位，Y向中部定位校正块可与二号板42贴合实现定位，Y向下层定位校正块可与一号板41和二号板42贴合实现定位。
请参见图10所示，X向定位校正机构12包括固定设置在物料输送机构20下方的X向安装板121、设置在X向安装板121上的升降组件、滑动安装在X向安装板121并由升降组件连接驱动沿X向安装板121上下移动的升降板122，以及安装在升降板122上并可沿Y向来回移动的X向定位校正组件123，在X向定位校正组件123的活动端还设有用于抵住校正绝缘箱的X向侧面的X向定位校正块124。X向定位校正组件123包括沿Y向穿过升降板122的第二导向组件125，以及分别连接第二导向组件125的内外两端的X向定位校正块124和X向定位校正驱动件126。本实施例中，升降组件包括升降驱动组件和升降导向组件两个部分，其中，升降导向组件采用直线导轨、直线轴承或其他线性导向部件，升降板122则滑动布置在升降导向组件上，并由升降驱动组件(可以采用如升降气缸之类的结构)驱动沿升降导向组件上下升降。第二导向组件125则可以采用穿过升降板122的导向柱等结构，X向定位校正驱动件126也可以采用如气缸、伺服电机、步进电机、普通电机或液压油缸等直线驱动结构。
请参见图11所示，夹板校正机构13包括夹板校正驱动组件131、夹板导向组件132、翻转驱动组件133、夹板校正块134，其中，夹板校正驱动组件131设置在物料输送机构20旁，夹板导向组件132沿Y向布置，在夹板导向组件132上设置有由其导向滑动并与夹板校正驱动组件131连接的夹板校正支板，该夹板校正支板上端铰接有可在垂直Y向的平面内转动的夹板校正块134，在夹板校正支板上还设有驱动连接夹板校正块134的翻转驱动组件133。本实施例中，翻转驱动组件133可以采用气缸、伺服电机、步进电机、普通电机或液压油缸等结构，同时，在翻转驱动组件133与夹板校正块134之间还设有两端分别与两者铰接的传动杆，以配合实现对夹板校正块134的转动驱动。初始状态时，夹板校正块134呈沿X向的水平横置，当下层部件等到位后，夹板校正机构13工作时，翻转驱动组件133先驱动夹板校正块134转动90°至竖直布置状态(即与夹板导向组件132同轴向)，随后，夹板校正驱动组件131带动两组夹板校正支板沿夹板导向组件132相对移动，从而使得两组夹板校正支板上的夹板校正块134分别压紧并校正绝缘箱上同侧面的相邻两个直角夹板46。
本实施例中，上层部件输送线31与上层部件翻转装置32之间还设有增设上层部件 的缓存组件33，缓存组件33可以采用现有常用的顶升缓存、传感器到位控制缓存、积放式缓存或其他缓存方式。上层部件输送线31用于将涂胶后的上层部件逐件送进到上层部件翻转装置32或增设的缓存组件33上。而上层部件翻转装置32则用于将上层部件依次翻转至涂胶面向下的状态后，再与绝缘箱装配工位10上的已装配的绝缘箱的部件粘接固定。
请参见图12所示，上层部件翻转装置32包括上层部件翻转组件321，以及用于将经上层部件输送线31送来的上层部件逐件送至上层部件翻转组件321上的上层部件送进组件322，上层部件翻转组件321包括上层部件翻转单元323、与上层部件翻转单元323转动连接的上层部件高度调整单元324，在上层部件高度调整单元324上设有用于定位待翻转的上层部件固定件325。上层部件翻转单元323的主要作用为将固定装夹在上层部件固定件325上的上层部件从涂胶面向上的位置翻转至绝缘箱装配工位10处并呈涂胶面向下的状态，随后，上层部件高度调整单元324工作，向下运动并将上层部件压紧固定在绝缘箱装配工位10上已装配的绝缘箱的部件上。
请再参见图12所示，上层部件高度调整单元324包括与上层部件翻转单元323的翻转输出端连接的高度调整架3241、滑动安装在高度调整架3241上的翻转定位台3242，以及固定在高度调整架3241上并用于连接驱动翻转定位台3242沿高度调整架3241上下移动的高度调整驱动件，在翻转定位台3242上设置有上层部件固定件325。
请参见图13和图14所示，上层部件固定件325包括翻转定位升降单元3251、设置在翻转定位升降件上的翻转定位板3252、分别设置在翻转定位板3252两端的Y向定位基准件3253和Y向夹持件3254，以及安装在翻转定位板3252上表面的吸盘组3255，Y向夹持件3254可在翻转定位板3252上沿Y向来回移动，并与Y向定位基准件3253之间形成夹住位于两者之间上层部件的夹持空间。
请再参见图12所示，上层部件固定件325的两侧还分别设有X向定位单元326，X向定位单元326包括可沿Z向上下移动的Z向升降件，以及布置在Z向升降件上并可沿X向来回移动的X向定位件；
上层部件经上层部件松紧组件送至上层部件固定件325上后，X向定位单元326启动，Z向升降件上升至特定高度并通过X向定位件调整定位上层部件在上层部件固定件325上的X向位置。
本实施例的具体装配过程如下：
(1)底层部件(一号板41和二号板42)、直角夹板46等在预装工位完成预装后，由物料输送机构20送进到绝缘箱装配工位10，由绝缘箱装配工位10的X向定位校正机构12、Y向定位校正机构11进行预定位；
(2)上层部件翻转装置32的初始状态：上层部件固定件325的装配基准面低于上层部件送进组件322的上表面，吸盘组3255低于装配基准面；
随后，待装配的上层部件的胶合板或聚氨酯板(即三号板43、四号板44和五号板45等)由上层部件输送线31送进上层部件翻转装置32内；
当胶合板或聚氨酯板在专用翻转装置送进到位后，两组位于装配基准面下方的X向 定位单元326上升，并根据不同箱型的不同板号，按设定程序动作，对板材进行X向定位；X向定位完成后，两套X向定位单元326下降回位；
上层翻转装置的翻转定位板3252由对应的翻转定位升降单元3251带动上升，使板材与上层部件送进组件322的上表面脱离；
上层翻转装置的翻转定位板3252上的吸盘组3255上升并贴合板材的未涂胶面，吸盘组3255的负压控制系统动作，吸盘组3255内的吸盘形成负压，将板材吸附到装配基准面，Y向夹持件3254动作，将板材靠紧在Y向定位基准件3253上；
上层翻转装置的上层部件高度调整单元324和上层部件翻转单元323的驱动部分协调动作，依据逐层增加的装配高度位置变化自动调整高度，使聚氨酯板或胶合板的涂胶面向下并到达已装配位置的上方；上层部件高度调整单元324将每个聚氨酯板或胶合板进行下压，确保待装配的聚氨酯板或胶合板与已装配的聚氨酯板或胶合板可靠贴合；
(3)全部装配后的绝缘箱的“整体校正”：装配工位的X向定位校正机构12、Y向定位校正机构11同时动作，对已全部装配后的绝缘箱进行整体校正；
直角夹板46的“整体校正”：四套独立的夹板校正机构13，将木质的夹板校正块134压紧在木质的直角夹板46的外露表面，使木质的直角夹板46与二号板42的能够可靠贴合；
装配工位的夹板校正机构13回位，X向定位校正机构12、Y向定位校正机构11分别回位；由装配工位的物料输送机构20将装配后的绝缘箱送出装配工位。
以上各实施例中，所涉及的驱动件或驱动部分可以为实现对应功能的气缸、伺服电机、步进电机、普通电机或液压油缸等；所涉及的导向组件等导向结构，则可以为实现对应功能的直线导轨、直线轴承或其他线性导向部件，以及其他导向部件；输送机构或输送线则可以采用常用的链条输送、板链输送、辊道或滚筒输送。其余未具体说明的部件或技术，则表明为采用为实现对应功能的本领域的常用部件或技术。
上述的对实施例的描述是为便于该技术领域的普通技术人员能理解和使用发明。熟悉本领域技术的人员显然可以容易地对这些实施例做出各种修改，并把在此说明的一般原理应用到其他实施例中而不必经过创造性的劳动。因此，本发明不限于上述实施例，本领域技术人员根据本发明的揭示，不脱离本发明范畴所做出的改进和修改都应该在本发明的保护范围之内。

Claims (10)

  1. 一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，包括：
    绝缘箱装配工位：用于将底层部件和上层部件装配形成绝缘箱；
    物料输送机构：用于输送底层部件至绝缘箱装配工位，以及送出从绝缘箱装配工位完成的绝缘箱；
    上层部件输送机构：包括设置在物料输送机构旁的上层部件输送线，以及承接所述上层部件输送线末端并用于将输送到位的上层部件翻转送至绝缘箱装配工位进行组装的上层部件翻转装置。
  2. 根据权利要求1所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述绝缘箱装配工位包括沿物料输送机构输送方向布置的Y向定位校正机构、垂直于物料输送机构输送方向布置且可上下升降的X向定位校正机构，以及沿物料输送机构输送方向布置并用于压紧校正绝缘箱上的直角夹板的夹板校正机构。
  3. 根据权利要求2所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述Y向定位校正机构包括固定在物料输送机构下方且两端露出物料输送机构两侧的Y向安装板、布置在Y向安装板两侧上并沿X向导向的第一导向组件，以及滑动安装在Y向安装板两端并分别由所述第一导向组件连接驱动沿X向来回移动的定位校正臂，所述定位校正臂的内侧还设有用于抵接校正绝缘箱的Y向侧面的Y向定位校正块。
  4. 根据权利要求2所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述X向定位校正机构包括固定设置在物料输送机构下方的X向安装板、设置在X向安装板上的升降组件、滑动安装在所述X向安装板并由所述升降组件连接驱动沿X向安装板上下移动的升降板，以及安装在所述升降板上并可沿Y向来回移动的X向定位校正组件，在X向定位校正组件的活动端还设有用于抵住校正绝缘箱的X向侧面的X向定位校正块。
  5. 根据权利要求4所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述X向定位校正组件包括沿Y向穿过所述升降板的第二导向组件，以及分别连接所述第二导向组件的内外两端的X向定位校正块和X向定位校正驱动件。
  6. 根据权利要求2所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述夹板校正机构包括夹板校正驱动组件、夹板导向组件、翻转驱动组件、夹板校正块，其中，所述夹板校正驱动组件设置在物料输送机构旁，所述夹板导向组件沿Y向布置，在夹板导向组件上设置有由其导向滑动并与所述夹板校正驱动组件连接的夹板校正支板，该夹板校正支板上端铰接有可在垂直Y向的平面内转动的所述夹板校正块，在夹板校正支板上还设有驱动连接所述夹板校正块的翻转驱动组件。
  7. 根据权利要求1所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述上层部件翻转装置包括上层部件翻转组件，以及用于将经上层部件输送 线送来的上层部件逐件送至上层部件翻转组件上的上层部件送进组件，所述上层部件翻转组件包括上层部件翻转单元、与所述上层部件翻转单元转动连接的上层部件高度调整单元，在上层部件高度调整单元上设有用于定位待翻转的上层部件固定件。
  8. 根据权利要求7所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述上层部件高度调整单元包括与所述上层部件翻转单元的翻转输出端连接的高度调整架、滑动安装在所述高度调整架上的翻转定位台，以及固定在高度调整架上并用于连接驱动所述翻转定位台沿高度调整架上下移动的高度调整驱动件，在翻转定位台上设置有所述上层部件固定件。
  9. 根据权利要求7或8所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述上层部件固定件包括设置在翻转定位台上的翻转定位升降单元、设置在翻转定位升降件上的翻转定位板、分别设置在翻转定位板两端的Y向定位基准件和Y向夹持件，以及安装在翻转定位板上表面的吸盘组，所述Y向夹持件可在翻转定位板上沿Y向来回移动，并与所述Y向定位基准件之间形成夹住位于两者之间上层部件的夹持空间。
  10. 根据权利要求7或8所述的一种液化天然气船用聚氨酯绝缘箱的箱体装配系统，其特征在于，所述上层部件固定件的两侧还分别设有X向定位单元，所述X向定位单元包括可沿Z向上下移动的Z向升降件，以及布置在Z向升降件上并可沿X向来回移动的X向定位件；
    上层部件经上层部件松紧组件送至上层部件固定件上后，X向定位单元启动，并通过X向定位件调整上层部件在上层部件固定件上的X向位置。
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