CN115502698B - Automatic butt joint device - Google Patents
Automatic butt joint device Download PDFInfo
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- CN115502698B CN115502698B CN202211462965.3A CN202211462965A CN115502698B CN 115502698 B CN115502698 B CN 115502698B CN 202211462965 A CN202211462965 A CN 202211462965A CN 115502698 B CN115502698 B CN 115502698B
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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Abstract
The invention belongs to the field of docking devices, and particularly relates to an automatic docking device which comprises a transfer AGV, a fixed transfer platform, a posture adjusting platform, a plurality of groups of transfer parts and transfer trolleys, wherein the transfer parts and the transfer trolleys are arranged in a matched mode, each group of transfer trolleys are used for supporting and transferring a fixed cabin section and driving the fixed cabin section and a follow-up cabin section to complete docking, and the posture adjusting platform is used for supporting the follow-up cabin section and adjusting the posture of the follow-up cabin section. Each group of transfer parts respectively drives the transfer trolleys in the same group to move on the transfer AGV or the fixed transfer platform. The fixed cabin section can be automatically transferred to the fixed transfer platform and is butted with the follow-up cabin section on the attitude adjusting platform, so that the butt joint transfer efficiency and safety of the cabin section are improved. The invention realizes the automatic measurement and the automatic butt joint of the position and the attitude in the butt joint process of the cabin section, improves the precision and the efficiency of the butt joint operation, configures auxiliary facilities for lean assembly operation, reduces the auxiliary time and the useless time and improves the efficiency of the assembly operation.
Description
Technical Field
The invention belongs to the field of butt joint devices, and particularly relates to an automatic butt joint device.
Background
At present, for some products with a plurality of large cabin sections, such as large-volume ammunition, a manual experience mode is often adopted in the butt joint process of the cabin sections. The workman uses the instrument to adjust the cabin section butt joint through the mode that the vision is adjusted well, and this is higher to workman's technical merit requirement, and the cabin section quality is heavier can increase workman intensity of labour, and measuring device's inadequately also makes feedback information less, causes the butt joint quality difference obvious. The existing butt joint device is usually used for small-sized cabin sections, and the research on the butt joint device for large-sized cabin sections is less.
Disclosure of Invention
The invention aims to provide an automatic butt joint device for large cabin sections, aiming at the problem that manual operation of the large cabin sections is difficult to realize automation.
The purpose of the invention is realized by the following technical scheme:
an automatic butt joint device comprises a transfer AGV, a fixed transfer platform, a posture adjusting platform, a plurality of groups of transfer parts and transfer trolleys which are arranged in a matched mode, wherein each group of transfer trolleys are used for supporting and transferring a fixed cabin section and driving the fixed cabin section to be in butt joint with a follow-up cabin section, and the posture adjusting platform is used for supporting the follow-up cabin section and adjusting the posture of the follow-up cabin section;
the top of transporting the AGV reaches the top of fixed reprinting platform all is equipped with top open-ended reprinting part mounting groove along length direction, reach in the reprinting part mounting groove of transporting the AGV reach be equipped with a plurality of groups along length direction respectively in the reprinting part mounting groove of fixed reprinting platform the reprinting part, every group the reprinting part drives the same group respectively the transportation dolly is in transport AGV or fixed reprinting platform are gone up and are removed.
Every group the transportation dolly all includes transportation dolly main part, rotating basis and is used for the bracket A of the fixed cabin section of direct support, the transportation dolly main part is in transport AGV or fixed reprinting platform and go up the removal, bracket A set up in rotating basis is last, rotating basis rotate install in transport dolly main part is last, rotating basis's axis of rotation perpendicular to horizontal plane.
The transfer component mounting grooves are internally provided with racks and guide rails A along the length direction;
the transfer trolley of each group is provided with a driving wheel;
the transshipment component of each group comprises a transshipment component substrate, a horizontal driving piece, a lifting driving piece A, a spiral elevator A, a lifting support fork and a driving wheel clamping assembly, a sliding block A which is in sliding connection with the guide rail A is arranged on the transshipment component substrate, the horizontal driving piece, the lifting driving piece A and the spiral elevator A are respectively arranged on the transshipment component substrate, a driving gear which is meshed with the rack is arranged on a driving end of the horizontal driving piece, an input end of the spiral elevator A is connected with a driving end of the lifting driving piece A, an output end of the spiral elevator A is connected with the lifting support fork, and the driving wheel clamping assembly is arranged on the lifting support fork and is clamped with the driving wheel; and the driving wheel clamping assembly of the transshipment component in each group drives the corresponding transshipment trolley to move through the driving wheel in clamping connection.
The driving wheel clamping assembly comprises a fixed baffle seat, a locking air cylinder mounting seat, a locking air cylinder and a rotating baffle, wherein the fixed baffle seat and the locking air cylinder mounting seat are respectively mounted on the lifting support fork, a fixed baffle part is convexly arranged on the fixed baffle seat, the rotating baffle is divided into a hinged part and a rotating baffle part which are connected together, a cylinder body of the locking air cylinder is hinged to the locking air cylinder mounting seat, a piston rod of the locking air cylinder is hinged to the hinged part of the rotating baffle, the left side and the right side of the rotating baffle part of the rotating baffle are respectively hinged to the fixed baffle seat, and a locking guide groove for clamping the driving wheel is formed between the end face, away from the hinged part of the rotating baffle, of the rotating baffle and the fixed baffle part.
The top of transporting the AGV reaches the top of fixed reprinting platform all is equipped with and is used for covering reprinting part mounting groove top open-ended cover plate, the confession has been seted up to the cover plate the driving wheel shaft guide way that the shaft of drive wheel passed.
The posture adjusting platform comprises a posture adjusting platform base, a posture adjusting platform sliding seat, a fixed base station, a distance adjusting sliding table and a posture adjusting support assembly;
the posture adjustment platform base is provided with an axial driving piece for driving the posture adjustment platform sliding seat to slide along the length direction of the posture adjustment platform base, the fixed base station and the distance adjustment sliding table are sequentially arranged on the posture adjustment platform sliding seat along the length direction of the posture adjustment platform base, the fixed base station is fixedly connected with the posture adjustment platform sliding seat, the posture adjustment platform sliding seat is provided with a manual driving assembly for driving the distance adjustment sliding table to slide along the length direction of the posture adjustment platform base, and the fixed base station and the distance adjustment sliding table are respectively provided with a group of posture adjustment supporting assemblies;
every group adjust appearance supporting component and all include lift adjustment mechanism, radial adjustment mechanism, angle adjustment mechanism and bracket B, lift adjustment mechanism install in corresponding fixed base station or roll adjustment slip table, radial adjustment mechanism install in lift adjustment mechanism's drive end, angle adjustment mechanism install in radial adjustment mechanism's drive end, angle adjustment mechanism drives bracket B rotates around horizontal axis.
The manual driving assembly comprises a lead screw A and a guide rail B which are arranged on a sliding seat of the attitude adjusting platform, one end of the lead screw A is connected with a hand wheel, a nut A in threaded connection with the lead screw A is arranged on the distance adjusting sliding table, and a sliding block B in sliding connection with the guide rail B is also arranged on the distance adjusting sliding table;
the base of the attitude adjusting platform is provided with a lead screw B and a guide rail C, one end of the lead screw B is connected with the output end of the axial driving piece, a nut B in threaded connection with the lead screw B is arranged on the sliding seat of the attitude adjusting platform, and a sliding block C in sliding connection with the guide rail C is further arranged on the sliding seat of the attitude adjusting platform.
The lifting adjusting mechanism comprises a lifting driving piece B, a spiral lifter B, a supporting column guide seat and a lifting plate, the lifting driving piece B, the spiral lifter B and the supporting column guide seat are respectively installed on the corresponding fixed base station or distance-adjusting sliding table, the output end of the lifting driving piece B drives the input end of the spiral lifter B, the output end of the spiral lifter B is connected with the bottom end of the supporting column and drives the supporting column to lift, the top end of the supporting column penetrates through the supporting column guide seat and is connected with the lifting plate, and the lifting plate is used as the driving end of the lifting adjusting mechanism;
the radial adjusting mechanism comprises a radial adjusting driving piece, a lead screw C, a guide rail D and a radial sliding plate, the radial adjusting driving piece, the lead screw C and the guide rail D are respectively installed on the lifting plate, the output end of the radial adjusting driving piece is connected with one end of the lead screw C, the radial sliding plate is provided with a nut C in threaded connection with the lead screw C, the radial sliding plate is further provided with a sliding block D in sliding connection with the guide rail D, and the radial sliding plate is used as a driving end of the radial adjusting mechanism;
the angle adjusting mechanism comprises a bracket B supporting seat, an angle adjusting driving piece and a worm gear speed reducer, the bracket B supporting seat is installed on the radial sliding plate, the angle adjusting driving piece and the worm gear speed reducer are respectively installed on the inner side of the bracket B supporting seat, the input end of the worm gear speed reducer is connected with the output end of the angle adjusting driving piece, the output end of the worm gear speed reducer is connected with the bracket B and drives the bracket B to rotate around a horizontal axis, and the bracket B supporting seat supports the bracket B from the lower side.
The invention also comprises an alignment measuring component, wherein the alignment measuring component comprises an upright post, a rotating arm, a measuring part mounting frame and a measuring part, the upright post is arranged at the outer sides of the fixed transfer platform and the attitude adjusting platform, the rotating arm is rotatably arranged at the top end of the upright post, the measuring part mounting frame is connected with the rotating arm, and the measuring part is arranged on the measuring part mounting frame; the rotating arm rotates to drive the measuring piece installing frame to move to a position corresponding to the position between the fixed transfer platform and the posture adjusting platform.
The rotating arm is connected with a rotating locking piece which rotates together with the rotating arm, and the rotating locking piece is connected with the upright post through a positioning pin for positioning.
The invention has the advantages and positive effects that:
1. the automatic butt joint device has the main function of realizing the intelligent butt joint of two cabin sections, wherein the cabin section with smaller mass is a follow-up cabin section needing posture adjustment, the other cabin section is a fixed cabin section without posture adjustment, and the fixed cabin section is a single cabin section or a multi-cabin-section combination. The fixed cabin section can be automatically transferred to the fixed transfer platform and is butted with the follow-up cabin section on the attitude adjusting platform, so that the butt joint transfer efficiency and safety of the cabin section are improved.
2. The invention realizes the automatic measurement and the automatic butt joint of the position and the attitude in the butt joint process of the cabin section, improves the precision and the efficiency of the butt joint operation, configures auxiliary facilities for lean assembly operation, reduces the auxiliary time and the useless time and improves the efficiency of the assembly operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is a schematic structural view of a fixed transfer platform according to the present invention;
FIG. 4 is an enlarged view of FIG. 3 at B;
FIG. 5 is a schematic perspective view of a transfer member according to the present invention;
FIG. 6 is a rear view of the transfer member of the present invention;
FIG. 7 is a schematic side view of a transfer member of the present invention;
FIG. 8 is a schematic structural diagram of an attitude adjustment platform according to the present invention;
FIG. 9 is an enlarged view at C of FIG. 8;
FIG. 10 is a schematic view of the arrangement of the fixed base and the posture-adjusting support assembly according to the present invention;
FIG. 11 is a schematic view of an alignment measurement section of the present invention;
fig. 12 is an enlarged view of fig. 11 at D.
In the figure: 1 is a transfer AGV;2 is a fixed transfer platform;
3 is a posture adjustment platform, 301 is a posture adjustment platform base, 302 is a posture adjustment platform sliding seat, 303 is a fixed base station, 304 is a distance adjusting sliding table, 305 is an axial driving piece, 306 is a bracket B, 307 is a hand wheel, 308 is a lifting driving piece B, 309 is a spiral lifter B, 310 is a supporting column, 311 is a supporting column guide seat, 312 is a lifting plate, 313 is a radial adjusting driving piece, 314 is a radial sliding plate, 315 is a bracket B supporting seat, and 316 is an angle adjusting driving piece;
4 is a transfer trolley, 401 is a transfer trolley main body, 402 is a rotating base, 403 is a bracket A, 404 is a driving wheel;
5 is a rack; 6 is a guide rail A;
701 is a transshipment component substrate, 702 is a horizontal driving piece, 703 is a lifting driving piece A, 704 is a spiral lifter A, 705 is a lifting supporting fork, 706 is a driving gear, 707 is a fixed baffle seat, 708 is a locking cylinder mounting seat, 709 is a locking cylinder, 710 is a rotating baffle, 711 is a cover plate, and 712 is a vertical guide plate;
8 is alignment measuring part, 801 is upright column, 802 is rotating arm, 803 is measuring piece mounting frame, 804 is rotation locking piece, 805 is positioning pin, 806 is handle;
9 is an operation pedal platform; and 10 is an operation terminal.
Detailed Description
The invention is described in further detail below with reference to figures 1-12.
An automatic docking device is shown in fig. 1-12, and includes a transfer AGV1, a fixed transfer platform 2, a posture adjustment platform 3, a plurality of groups of transfer components and transfer trolleys 4 which are arranged in a matched manner, wherein each group of transfer trolleys 4 is used for supporting and transferring a fixed cabin section and driving the fixed cabin section and a follow-up cabin section to complete docking, and the posture adjustment platform 3 is used for supporting the follow-up cabin section and adjusting the posture of the follow-up cabin section. In the present embodiment, the AGV1 is transferred in the prior art, and is controlled by the operation terminal 10; the fixed transshipment platform 2 is fixed on the working ground.
The top of transporting AGV1 and the top of fixed reprinting platform 2 all are equipped with top open-ended reprinting part mounting groove along length direction, are equipped with a plurality of groups reprinting part in transporting AGV 1's reprinting part mounting groove and fixed reprinting platform 2's reprinting part mounting groove along length direction respectively, and every group reprinting part drives transport dolly 4 of the same group respectively and removes on transporting AGV1 or fixed reprinting platform 3.
Specifically, as shown in fig. 2, each set of transfer cart 4 in this embodiment includes a transfer cart main body 401, a rotary base 402, and a bracket a 403 for directly supporting a fixed cabin, the transfer cart main body 401 moves on the transfer AGV1 or the fixed transfer platform 2, the bracket a 403 is disposed on the rotary base 402, the rotary base 402 is rotatably mounted on the transfer cart main body 401, and a rotation axis of the rotary base 402 is perpendicular to a horizontal plane. The arrangement of the transfer cart body 401 in this embodiment is prior art. The rotating base 402 can rotate around a vertical axis relative to the transfer trolley body 401 to facilitate fine adjustment of the angle of the bracket a 403 and stable support of the fixed cabin segment.
Specifically, as shown in fig. 2 to 7, in the embodiment, the rack 5 and the guide rail A6 are provided in the loading component mounting groove along the length direction; the transfer trolley 4 of each group is provided with a driving wheel 404, the arrangement structure of the driving wheel 404 is the prior art, and the wheel shaft of the driving wheel 404 is connected with the transfer trolley main body 401 through a deep groove ball bearing; each group of transfer parts comprises a transfer part substrate 701, a horizontal driving part 702, a lifting driving part A703, a spiral lifter A704, a lifting supporting fork 705 and a driving wheel clamping assembly, wherein a sliding block A in sliding connection with a guide rail A6 is arranged on the transfer part substrate 701, the horizontal driving part 702, the lifting driving part A703 and the spiral lifter A704 are respectively arranged on the transfer part substrate 701, a driving gear 706 meshed with a rack 5 is arranged at the driving end of the horizontal driving part 702, the input end of the spiral lifter A704 is connected with the driving end of the lifting driving part A703, the output end of the spiral lifter A704 is connected with the lifting supporting fork 705, and the driving wheel clamping assembly is arranged on the lifting supporting fork 705 and clamped with a driving wheel 404; the driving wheel clamping assembly of each group of transfer component drives the corresponding group of transfer trolleys 4 to move through the clamped driving wheel 404. In this embodiment, a vertical guide plate 712 is further arranged on the transfer component substrate 701, a guide rail E is arranged on the vertical guide plate 712, and a slide block E slidably connected with the guide rail E is arranged on the lifting support fork 705; the guide rail E and the slider E are provided to stably lift the lift fork 705. In this embodiment, the horizontal driving member 702 and the lifting driving member a 703 are respectively motor components in the prior art, and are controlled by the operation terminal 10 to operate; spiral elevator a 704 is also a commercially available product. The horizontal driving unit 702 drives the driving gear 706 to rotate, and moves the transfer member substrate 701 along the rack 5 and the guide rail A6. The lifting driving member a 703 drives the spiral lifter a 704 to drive the lifting fork 705 to lift. The drive wheel engagement assembly may be fully disengaged from the drive wheel 404 as the lift fork 705 is lowered, thereby disengaging the transfer cart 4 from the transfer component drive.
Specifically, as shown in fig. 5 to 7, the driving wheel clamping assembly in this embodiment includes a fixed baffle seat 707, a locking cylinder mounting seat 708, a locking cylinder 709 and a rotating baffle 710, the fixed baffle seat 707 and the locking cylinder mounting seat 708 are respectively mounted on the lifting fork 705, the fixed baffle seat 707 is provided with a fixed baffle portion in a protruding manner, the rotating baffle 710 is divided into a hinge portion and a rotating baffle portion which are connected together, a cylinder body of the locking cylinder 709 is hinged to the locking cylinder mounting seat 708, a piston rod of the locking cylinder 709 is hinged to the hinge portion of the rotating baffle 710, left and right sides of the rotating baffle portion of the rotating baffle 710 are hinged to the fixed baffle seat 707, and a locking guide groove for clamping the driving wheel 404 is formed between an end surface of the rotating baffle portion of the rotating baffle 710, which is far away from the hinge portion of the rotating baffle 710, and the fixed baffle portion. In this embodiment, the hinge portion of the rotating baffle 710 and the rotating baffle portion are an integral structure. In this embodiment, the locking cylinder 709 is a commercially available product and is controlled by the operation terminal 10. The locking cylinder 709 can drive the hinged rotating baffle 710 to tilt; when the piston rod of the locking cylinder 709 contracts, the rotating baffle 710 is driven to tilt towards the rear side, so that the driving wheel 404 can conveniently enter the locking guide groove; when the piston rod of the locking cylinder 709 extends out, the rotating baffle 710 is driven to tilt to the front side, and the rotating baffle and the fixed baffle part of the fixed baffle seat 707 clamp the driving wheel 404 in the locking guide groove together, so that the transfer component can stably drive the transfer trolley 4 to move. The top of transporting AGV1 and the top of fixed reprinting platform 2 all are equipped with and are used for covering reprinting part mounting groove top open-ended cover plate 711, and the driving wheel axle guide way that supplies the shaft of drive wheel 404 to pass is seted up to cover plate 711. The cover plate 711 serves to protect the inner member of the transfer member mounting groove and ensure the inside of the transfer member mounting groove to be clean, and also serves to guide the movement of the cart 4.
Specifically, as shown in fig. 8-10, the posture adjustment platform 3 of the present embodiment includes a posture adjustment platform base 301, a posture adjustment platform sliding seat 302, a fixed base 303, a distance adjustment sliding platform 304, and a posture adjustment support assembly. In this embodiment, one fixed base 303 and one adjustable sliding table 304 are provided. In this embodiment, the attitude adjustment platform 3 is disposed in a pit formed in the working ground, so that the height position of the servo cabin section on the attitude adjustment platform 3 corresponds to the height position of the fixed cabin section on the fixed transfer platform 2.
The posture adjustment platform base 301 is provided with an axial driving piece 305 for driving the posture adjustment platform sliding seat 302 to slide along the length direction of the posture adjustment platform base 301, the fixed base station 303 and the distance adjustment sliding table 304 are sequentially arranged on the posture adjustment platform sliding seat 302 along the length direction of the posture adjustment platform base 301, the fixed base station 303 is fixedly connected with the posture adjustment platform sliding seat 302, the posture adjustment platform sliding seat 302 is provided with a manual driving assembly for driving the distance adjustment sliding table 304 to slide along the length direction of the posture adjustment platform base 301, and the fixed base station 303 and the distance adjustment sliding table 304 are respectively provided with a group of posture adjustment supporting assemblies.
Each group of posture adjusting supporting components comprises a lifting adjusting mechanism, a radial adjusting mechanism, an angle adjusting mechanism and a bracket B306, wherein the lifting adjusting mechanism is installed on the corresponding fixed base station 303 or the corresponding distance adjusting sliding table 304, the radial adjusting mechanism is installed at the driving end of the lifting adjusting mechanism, the angle adjusting mechanism is installed at the driving end of the radial adjusting mechanism, and the angle adjusting mechanism drives the bracket B306 to rotate around the horizontal axis.
Specifically, in this embodiment, the manual driving assembly includes a screw a and a guide rail B that are disposed on the attitude adjustment platform sliding seat 302, one end of the screw a is connected with a hand wheel 307, a nut a that is in threaded connection with the screw a is disposed on the distance adjustment sliding table 304, and a slider B that is in sliding connection with the guide rail B is further disposed on the distance adjustment sliding table 304. By rotating the handwheel 307, the function of driving the distance adjusting sliding table 304 to move and further adjusting the distance between the distance adjusting sliding table 304 and the fixed base 303 is achieved, and the distance adjusting sliding table is used for adjusting according to the follow-up cabin sections with different lengths.
The attitude adjustment platform base 301 is provided with a screw rod B and a guide rail C, one end of the screw rod B is connected with the output end of the axial driving piece 305, the attitude adjustment platform sliding seat 302 is provided with a nut B in threaded connection with the screw rod B, and the attitude adjustment platform sliding seat 302 is further provided with a slide block C in sliding connection with the guide rail C. The axial drive member 305 in this embodiment is a prior art motor assembly controlled by the operator terminal 10. The axial driving component 305 drives the attitude adjusting platform sliding seat 302 to move along the length direction of the attitude adjusting platform base 301, so as to drive the servo cabin segment to move integrally.
Specifically, in this embodiment, the lifting adjustment mechanism includes a lifting driving element B308, a screw elevator B309, a support pillar 310, a support pillar guide seat 311, and a lifting plate 312, where the lifting driving element B308, the screw elevator B309, and the support pillar guide seat 311 are respectively installed on the corresponding fixed base 303 or the distance-adjusting sliding table 304, an output end of the lifting driving element B308 drives an input end of the screw elevator B309, an output end of the screw elevator B309 is connected with a bottom end of the support pillar 310 and drives the support pillar 310 to lift, a top end of the support pillar 310 passes through the support pillar guide seat 311 and is connected with the lifting plate 312, and the lifting plate 312 serves as a driving end of the lifting adjustment mechanism. In this embodiment, the lifting driving member B308 is a motor assembly in the prior art, and is controlled by the operation terminal 10 to operate; screw lift B309 is a commercially available product. In this embodiment, each lifting adjustment mechanism is provided with two sets of screw lifters B309, support columns 310 and support column guide bases 311 which are arranged in a matching manner, wherein one screw lifter B309 has two input ends, one input end of the screw lifter B309 is connected with the output end of the lifting driving member B308, the other input end of the screw lifter B309 is connected with the input end of the other screw lifter B309 through a transmission shaft, and the lifting driving member B308 simultaneously drives the two screw lifters B309 to move; the two groups of support columns 310 support the lifting plate 312 together, and the support column guide holder 311 is provided with a linear bearing through which the support columns 310 pass, so that the support columns 310 stably drive the lifting plate 312 to lift.
Radial adjustment mechanism includes radial regulation driving piece 313, lead screw C, guide rail D and radial sliding plate 314, radial regulation driving piece 313, lead screw C and guide rail D install respectively on lifter plate 312, the output of radial regulation driving piece 313 is connected with lead screw C's one end, be equipped with the nut C with lead screw C threaded connection on the radial sliding plate 314, still be equipped with the slider D with guide rail D sliding connection on the radial sliding plate 314, radial sliding plate 314 is as radial adjustment mechanism's drive end. The radial adjustment driving member 313 in this embodiment is a prior art motor assembly, and is controlled by the operation terminal 10. The radial adjustment driving member 313 drives the radial sliding plate 314 to move horizontally along a direction perpendicular to the axis of the following cabin section, so as to be accurately butted with the fixed cabin section.
The angle adjusting mechanism comprises a bracket B supporting seat 315, an angle adjusting driving piece 316 and a worm gear speed reducer, the bracket B supporting seat 315 is installed on the radial sliding plate 314, the angle adjusting driving piece 316 and the worm gear speed reducer are respectively installed on the inner side of the bracket B supporting seat 315, the input end of the worm gear speed reducer is connected with the output end of the angle adjusting driving piece 316, the output end of the worm gear speed reducer is connected with the bracket B306 and drives the bracket B306 to rotate around the horizontal axis, and the bracket B supporting seat 315 supports the bracket B306 from the lower side. The angle adjustment driving member 316 in this embodiment is a motor assembly in the prior art, and is controlled by the operation terminal 10 to operate; the worm gear speed reducer is a commercially available product, and the connecting structure between the worm gear speed reducer and the bracket B306 adopts the prior art. The angle adjusting driving part 316 drives the bracket B306 supporting the servo cabin section to rotate around a horizontal axis (namely, the axis of the servo cabin section) through a worm gear reducer, so as to adjust the angular position of the servo cabin section. In this embodiment, the bracket B support seat 315 is rotatably mounted on the radial sliding plate 314, and the rotation axis of the bracket B support seat 315 relative to the radial sliding plate 314 is perpendicular to the horizontal plane, thereby achieving fine adjustment of the angle of the bracket B306.
Specifically, the automatic docking apparatus in this embodiment further includes an alignment measuring part 8, the alignment measuring part 8 includes a vertical column 801, a rotating arm 802, a measuring piece mounting frame 803, and a measuring piece, the vertical column 801 is disposed outside the fixed transfer platform 2 and the attitude adjustment platform 3, the rotating arm 802 is rotatably mounted on the top end of the vertical column 801, the measuring piece mounting frame 803 is connected to the rotating arm 802, and the measuring piece is mounted on the measuring piece mounting frame 803. The rotation mounting structure of the upright 801 and the rotating arm 802 in the present embodiment adopts the prior art. The rotating arm 802 rotates to drive the measuring member mounting frame 803 to move to a position corresponding to the position between the fixed transfer platform 2 and the attitude adjustment platform 3. The rotating arm 802 is connected with a rotating locking piece 804 which rotates together with the rotating arm 802, the rotating locking piece 804 is connected with the upright post 801 through a positioning pin 805 for positioning, and positioning holes for passing through the positioning pin 805 are respectively arranged on the rotating locking piece 804 and the upright post 801. The rotation locking member 804 is further provided with a rotatable handle 805, so that the rotation locking member 804 can be pulled by the handle 805 to further pull the rotating arm 802 to rotate. Two measuring pieces are installed to measuring piece installation frame 803 in this embodiment, and the measuring piece is the visual camera of market, and the measuring piece respectively with operation terminal 10.
Specifically, in the present embodiment, the operation platform 9 on which the operator stands is provided on the work floor between the fixed transfer platform 2 and the posture adjustment platform 3, and the operation terminal 10 is provided on the operation platform 9. The arrangement of the operation terminal 10 adopts the prior art. An operator stands on the operation pedal 9 and sends a command to the attitude adjustment platform 3 through the feedback of the measuring piece to the operation terminal 10, so that the following cabin section adjusts the pose to reach the optimal butt joint position; the operation terminal 10 can control the fixed transshipment platform 2 and the attitude adjustment platform 3 to automatically act, and automatic butt joint of the follow-up cabin section and the fixed cabin section is realized.
The working principle is as follows:
when the device is used, a fixed cabin section with heavy mass is placed on a transfer trolley 4 on a transfer AGV1 through a crane, a follow-up cabin section is placed on a posture adjusting platform 3, then the transfer AGV1 transfers the fixed cabin section to the position near a fixed transfer platform 2, and the fixed cabin section is transferred to the transfer trolley 4 on the fixed transfer platform 2 through the action of a transfer part and the transfer trolley 4; adjusting the alignment measuring component 8 to enable the measuring component to reach a specified position so as to detect the relative condition between the fixed cabin section and the follow-up cabin section; then, an operator adjusts the action of the attitude adjusting platform 3 on the operation terminal 10 on the operation pedal 9 according to the feedback information of the measuring piece so as to adjust the attitude of the follow-up cabin section, and then the fixed cabin section is slowly pushed by the transfer trolley 4 on the fixed transfer platform 2 so as to complete the butt joint with the follow-up cabin section.
Claims (6)
1. An automatic interfacing apparatus, its characterized in that: the device comprises a transfer AGV (1), a fixed transfer platform (2), a posture adjusting platform (3), a plurality of groups of transfer parts and transfer trolleys (4) which are arranged in a matched mode, and alignment measuring parts (8), wherein each group of transfer trolleys (4) are used for supporting and transferring a fixed cabin section and driving the fixed cabin section to be in butt joint with a follow-up cabin section, and the posture adjusting platform (3) is used for supporting the follow-up cabin section and adjusting the posture of the follow-up cabin section;
the top end of the transfer AGV (1) and the top end of the fixed transfer platform (2) are provided with transfer component mounting grooves with openings in the upper part along the length direction, a plurality of groups of transfer components are arranged in the transfer component mounting grooves of the transfer AGV (1) and the transfer component mounting grooves of the fixed transfer platform (2) along the length direction respectively, and each group of transfer components drives the transfer trolley (4) in the same group to move on the transfer AGV (1) or the fixed transfer platform (3) respectively;
a rack (5) and a guide rail A (6) are arranged in the transshipment component mounting groove along the length direction; the transfer trolley (4) of each group is provided with a driving wheel (404); the transshipment component of each group comprises a transshipment component substrate (701), a horizontal driving part (702), a lifting driving part A (703), a spiral elevator A (704), a lifting support fork (705) and a driving wheel clamping component, a sliding block A which is in sliding connection with the guide rail A (6) is arranged on the transshipment component substrate (701), the horizontal driving part (702), the lifting driving part A (703) and the spiral elevator A (704) are respectively arranged on the transshipment component substrate (701), a driving gear (706) which is meshed with the rack (5) is arranged on the driving end of the horizontal driving part (702), the input end of the spiral elevator A (704) is connected with the driving end of the lifting driving part A (703), the output end of the spiral elevator A (704) is connected with the lifting support fork (705), and the driving wheel clamping component is arranged on the lifting support fork (705) and is clamped with the driving wheel (404); the driving wheel clamping assembly of each group of transshipment components drives the corresponding group of transfer trolleys (4) to move through the clamped driving wheels (404);
the driving wheel clamping assembly comprises a fixed baffle seat (707), a locking cylinder mounting seat (708), a locking cylinder (709) and a rotating baffle (710), wherein the fixed baffle seat (707) and the locking cylinder mounting seat (708) are respectively mounted on the lifting supporting fork (705), the fixed baffle seat (707) is convexly provided with the fixed baffle, the rotating baffle (710) is divided into a hinged part and a rotating baffle part which are connected together, a cylinder body of the locking cylinder (709) is hinged with the locking cylinder mounting seat (708), a piston rod of the locking cylinder (709) is hinged with the hinged part of the rotating baffle (710), the left side and the right side of the rotating baffle part of the rotating baffle (710) are respectively hinged with the fixed baffle seat (707), and a locking guide groove for clamping the driving wheel (404) is formed between the end surface of the rotating baffle part of the rotating baffle (710), which is far away from the hinged part of the rotating baffle (710), and the fixed baffle part;
the attitude adjusting platform (3) comprises an attitude adjusting platform base (301), an attitude adjusting platform sliding seat (302), a fixed base station (303), a distance adjusting sliding table (304) and an attitude adjusting support component; the automatic adjusting device is characterized in that an axial driving piece (305) used for driving the posture adjusting platform sliding seat (302) to slide along the length direction of the posture adjusting platform base (301) is arranged on the posture adjusting platform base (301), the fixed base station (303) and the distance adjusting sliding table (304) are sequentially arranged on the posture adjusting platform sliding seat (302) along the length direction of the posture adjusting platform base (301), the fixed base station (303) is fixedly connected with the posture adjusting platform sliding seat (302), a manual driving assembly used for driving the distance adjusting sliding table (304) to slide along the length direction of the posture adjusting platform base (301) is arranged on the posture adjusting platform sliding seat (302), and a group of posture adjusting supporting assemblies are respectively arranged on the fixed base station (303) and the distance adjusting sliding table (304); each group of posture adjusting support assemblies comprises a lifting adjusting mechanism, a radial adjusting mechanism, an angle adjusting mechanism and a bracket B (306), wherein the lifting adjusting mechanism is mounted on the corresponding fixed base station (303) or the corresponding distance adjusting sliding table (304), the radial adjusting mechanism is mounted at the driving end of the lifting adjusting mechanism, the angle adjusting mechanism is mounted at the driving end of the radial adjusting mechanism, and the angle adjusting mechanism drives the bracket B (306) to rotate around a horizontal axis;
the alignment measuring part (8) comprises a vertical column (801), a rotating arm (802), a measuring piece mounting frame (803) and a measuring piece, wherein the vertical column (801) is arranged on the outer sides of the fixed transfer platform (2) and the posture adjusting platform (3), the rotating arm (802) is rotatably mounted at the top end of the vertical column (801), the measuring piece mounting frame (803) is connected with the rotating arm (802), and the measuring piece is mounted on the measuring piece mounting frame (803); the rotating arm (802) rotates to drive the measuring piece mounting frame (803) to move to a position corresponding to the position between the fixed transshipment platform (2) and the posture adjusting platform (3).
2. An automatic docking device according to claim 1, characterized in that: every group transport dolly (4) all include transport dolly main part (401), rotating base (402) and be used for directly supporting bracket A (403) of fixed cabin section, transport dolly main part (401) move on transporting AGV (1) or fixed transshipment platform (2), bracket A (403) set up in on rotating base (402), rotating base (402) rotate install in on transporting dolly main part (401), the axis of rotation perpendicular to horizontal plane of rotating base (402).
3. An automatic docking device according to claim 1, characterized in that: the top of transporting AGV (1) reaches the top of fixed reprinting platform (2) all is equipped with and is used for covering reprinting part mounting groove top open-ended cover plate (711), the confession is seted up to cover plate (711) the driving wheel shaft guide way that the shaft of drive wheel (404) passed.
4. An automatic docking device according to claim 1, characterized in that: the manual driving assembly comprises a lead screw A and a guide rail B which are arranged on the posture adjusting platform sliding seat (302), one end of the lead screw A is connected with a hand wheel (307), a nut A in threaded connection with the lead screw A is arranged on the distance adjusting sliding table (304), and a sliding block B in sliding connection with the guide rail B is further arranged on the distance adjusting sliding table (304);
the novel adjustable-posture mechanism is characterized in that a lead screw B and a guide rail C are arranged on the posture adjusting platform base (301), one end of the lead screw B is connected with the output end of the axial driving piece (305), a nut B in threaded connection with the lead screw B is arranged on the posture adjusting platform sliding seat (302), and a sliding block C in sliding connection with the guide rail C is further arranged on the posture adjusting platform sliding seat (302).
5. An automatic docking device according to claim 1, characterized in that: the lifting adjusting mechanism comprises a lifting driving piece B (308), a spiral lifter B (309), a supporting column (310), a supporting column guide seat (311) and a lifting plate (312), wherein the lifting driving piece B (308), the spiral lifter B (309) and the supporting column guide seat (311) are respectively installed on the corresponding fixed base station (303) or distance adjusting sliding table (304), the output end of the lifting driving piece B (308) drives the input end of the spiral lifter B (309), the output end of the spiral lifter B (309) is connected with the bottom end of the supporting column (310) and drives the supporting column (310) to lift, the top end of the supporting column (310) penetrates through the supporting column guide seat (311) and is connected with the lifting plate (312), and the lifting plate (312) serves as the driving end of the lifting adjusting mechanism;
the radial adjusting mechanism comprises a radial adjusting driving piece (313), a lead screw C, a guide rail D and a radial sliding plate (314), the radial adjusting driving piece (313), the lead screw C and the guide rail D are respectively installed on the lifting plate (312), the output end of the radial adjusting driving piece (313) is connected with one end of the lead screw C, a nut C in threaded connection with the lead screw C is arranged on the radial sliding plate (314), a sliding block D in sliding connection with the guide rail D is further arranged on the radial sliding plate (314), and the radial sliding plate (314) serves as a driving end of the radial adjusting mechanism;
the angle adjusting mechanism comprises a bracket B supporting seat (315), an angle adjusting driving piece (316) and a worm gear speed reducer, the bracket B supporting seat (315) is installed on the radial sliding plate (314), the angle adjusting driving piece (316) and the worm gear speed reducer are respectively installed on the inner side of the bracket B supporting seat (315), the input end of the worm gear speed reducer is connected with the output end of the angle adjusting driving piece (316), the output end of the worm gear speed reducer is connected with the bracket B (306) and drives the bracket B (306) to rotate around a horizontal axis, and the bracket B supporting seat (315) supports the bracket B (306) from the lower side.
6. An automatic docking device according to claim 1, characterized in that: the rotating arm (802) is connected with a rotating locking piece (804) which rotates together with the rotating arm (802), and the rotating locking piece (804) is connected with and positioned on the upright post (801) through a positioning pin (805).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211462965.3A CN115502698B (en) | 2022-11-22 | 2022-11-22 | Automatic butt joint device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211462965.3A CN115502698B (en) | 2022-11-22 | 2022-11-22 | Automatic butt joint device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115502698A CN115502698A (en) | 2022-12-23 |
| CN115502698B true CN115502698B (en) | 2023-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211462965.3A Active CN115502698B (en) | 2022-11-22 | 2022-11-22 | Automatic butt joint device |
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| Country | Link |
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| CN (1) | CN115502698B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116441877B (en) * | 2023-04-03 | 2024-04-19 | 深圳市三雅科技有限公司 | Intelligent assembling equipment for linear motor sliding table |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190912031A (en) * | 1909-05-21 | 1910-05-19 | Thomas Sloper | Improvements in or relating to the Manufacture of Pneumatic Tyres and Mechanism therefor. |
| GB886909A (en) * | 1959-01-01 | 1962-01-10 | Tatra Np | Improvements in and relating to adjustable joints for radius rods for vehicles |
| CN102001451B (en) * | 2010-11-12 | 2013-05-29 | 浙江大学 | Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method |
| CN102730197A (en) * | 2012-05-16 | 2012-10-17 | 中国商用飞机有限责任公司 | Machine body positioning and posture adjusting device and method |
| CN104627386B (en) * | 2014-12-09 | 2016-12-07 | 上海航天精密机械研究所 | Aircraft cabin section docking hold down gag |
| CN105629944B (en) * | 2016-03-16 | 2018-01-23 | 西安电子科技大学 | A kind of control system and method for cylindrical bay section flexible docking device |
| CN107161623B (en) * | 2017-05-19 | 2019-02-15 | 西安电子科技大学 | A kind of alternately traction brace type cylindrical parts translation turnover device |
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