阅读说明：本技术 一种筒类舱段自动化柔顺装配装置及方法 (Automatic flexible assembling device and method for barrel type cabin sections ) 是由 许家忠 陈继元 暴丁 于 2020-06-04 设计创作，主要内容包括：本发明提出了一种筒类舱段自动化柔顺装配装置及方法。本发明首先将筒类舱段放置于弹簧阻尼支臂上,通过弹簧阻尼减震器的自适应调节使舱段处于力平衡状态达到浮动效果,再通过激光轮廓仪测得两舱段相对位姿,然后横向移动机构根据所测相对位姿进行调整使两舱段轴线重合。最后驱动轴向进给机构,实现筒类舱段的柔顺装配,避免了筒类舱段在对接过程中产生的磕碰现象。(The invention provides an automatic flexible assembling device and method for a barrel type cabin section. The invention firstly places the barrel type cabin sections on the spring damping support arms, enables the cabin sections to be in a force balance state through self-adaptive adjustment of the spring damping shock absorbers to achieve a floating effect, measures the relative position and posture of the two cabin sections through a laser profile instrument, and then adjusts the transverse moving mechanism according to the measured relative position and posture to enable the axes of the two cabin sections to be coincident. And finally, the axial feeding mechanism is driven to realize the flexible assembly of the cylinder cabin sections, so that the collision phenomenon generated in the butt joint process of the cylinder cabin sections is avoided.)

1. An automatic flexible assembling device and method for a barrel cabin section are characterized by comprising an axial feeding mechanism, a transverse moving mechanism, a spring damping support arm, a control unit, a fixed clamping mechanism and a measuring unit; the axial feeding mechanism and the transverse moving mechanism drive the screw rod to rotate through the servo motor to realize the movement of the mechanism; the cabin section achieves force balance through the self-adaptive effect of the spring damping supporting arms, so that the barrel type cabin section is located at a balance point of the upper force and the lower force, and the floating effect is achieved.

2. The automated compliant assembly apparatus and method of a canister-like nacelle section of claim 1 comprising the steps of:

(1) the cabin section is placed on the spring damping support arms, the spring damping shock absorbers adapt to the gravity of the cabin section, when the force distributed to the support arms by the gravity of each spring damping support arm and the gravity of the cabin section is the same, the barrel type cabin section reaches a force balance point, and the cabin section is in a floating state;

(2) measuring profile information of the two cylinder type cabin sections by using a laser profiler to obtain relative pose deviation of axes of the two cylinder type cabin sections;

(3) according to the relative pose deviation of the axes of the two barrel-type cabin sections, the axes of the two cabin sections are superposed by adjusting the transverse moving mechanism;

(4) the axial feeding mechanism moves to enable the flange surfaces of the two barrel-type cabin sections to be overlapped, so that the flexible butt joint of the cabin sections is realized.

Technical Field

The invention belongs to the technical field of barrel type cabin section assembly, and particularly relates to an automatic flexible assembly device and method for barrel type cabin sections.

Background

In the final assembly process of the barrel type cabin sections, butt joint and separation operation of the cabin sections are required, and the butt joint of the cabin sections is a key process in the final assembly process. At present, the cabin section butt joint technology in China mainly adopts a manual vertical butt joint process method, but as the weight and the height of the cabin section are continuously increased, the required vertical installation space is large, the implementation is difficult, the problems that the danger coefficient of manual high-altitude high-precision measurement is high, the operation precision cannot be uniformly guaranteed and the like exist, and the high-precision and high-automation modernization requirements of barrel-type cabin section butt joint cannot be met.

The existing butt joint device has two types, and the first type adopts a POGO column as a butt joint positioning device. The positioning device has the advantages of large posture adjustment range, high precision, stability, reliability and high efficiency, but the structure and the control are relatively complex, and the cost is high. And the phenomena of collision and the like of the two cabin sections caused by the misalignment of the axes of the cabin sections cannot be eliminated.

The second form is to adopt a multi-robot system, and the positioning device of the multi-robot system has large bearing capacity and strong adaptability, but has large control technical difficulty and lower precision relative to a parallel mechanism. And the phenomenon of collision and the like of the two cabin sections caused by the misalignment of the axes of the cabin sections cannot be eliminated.

In view of the above problems, there is a need for further solutions.

Disclosure of Invention

The invention aims to provide an automatic assembly device and method capable of avoiding the collision phenomenon of a barrel type cabin section caused by collision and extrusion in the assembly process, improving the butt joint efficiency of the barrel type cabin section and reducing the loss of the barrel type cabin section caused by collision in the butt joint process.

The technical scheme adopted by the invention for solving the technical problems is as follows: the method comprises the steps of firstly placing a barrel type cabin section on a spring damping support arm, then enabling the cabin section to be in a force balance state through self-adaptive adjustment of a spring damping shock absorber to achieve a floating effect, and enabling the axes of the two cabin sections to coincide through adjustment of a transverse moving mechanism after a laser tracker measures the relative pose of the cabin section. And finally, the axial feeding mechanism is operated, so that the flexible assembly of the barrel type cabin section is realized. The method comprises the following specific steps:

(1) the cabin section is placed on the spring damping support arms, the spring damping shock absorbers adapt to the gravity of the cabin section, when the force distributed to the support arms by the gravity of each spring damping support arm and the gravity of the cabin section is the same, the barrel type cabin section reaches the balance point of the force, and the cabin section is in a floating state.

(2) And measuring profile information of the two cylinder type cabin sections by using a laser profiler to obtain the relative pose deviation of the axes of the two cylinder type cabin sections.

(3) And according to the relative pose deviation of the axes of the two cabin sections, the axes of the two cabin sections are overlapped by adjusting the transverse moving mechanism.

(4) The axial feeding mechanism moves to enable the flange surfaces of the two barrel-type cabin sections to be overlapped, so that the flexible butt joint of the cabin sections is realized.

An automatic flexible assembling device and method for a barrel type cabin section comprises an axial feeding mechanism, a transverse moving mechanism, a spring damping support arm, a control unit, a fixed clamping mechanism and a measuring unit.

The axial feeding mechanism comprises an axial sliding block, an axial guide rail, an aluminum profile base, an axial servo motor, an axial ball screw nut and an axial feeding chassis. The axial guide rail and the axial servo motor are installed on the aluminum profile base, the axial ball screw is connected with the axial sliding block and the axial chassis, the axial ball screw is connected with the axial chassis through the axial ball screw, the axial servo motor is connected with the axial ball screw, and when the servo motor rotates, the axial chassis can move on the axial guide rail, so that the axial movement of the axial chassis is realized.

The transverse moving mechanism comprises a transverse sliding block, a transverse guide rail, a transverse servo motor, a transverse ball screw, a transverse ball nut, a transverse moving platform and a transverse chassis. The transverse guide rail is installed on the transverse chassis along the direction perpendicular to the aluminum profile base, the transverse sliding block and the transverse ball screw are connected with the transverse moving platform, the transverse ball screw is connected with the transverse moving platform through the transverse ball screw nut, the transverse servo motor is connected with the transverse ball screw, and when the transverse servo motor rotates, the transverse moving platform can move on the transverse track.

The spring damping support arm comprises a support arm, a roller, a stepping motor, a spring damping shock absorber, a support seat and a hinge. One end of the hinge is fixed on the transverse moving platform, the other end of the hinge is connected with the support arm, the spring damping shock absorber is installed on the support arm and is connected with the support seat, when the cabin section is placed on the spring damping support arm, the supporting and floating effects on the cabin section are achieved through the self-adaptive adjusting function of the spring damping shock absorber, the roller and the stepping motor are installed on the support arm, the roller is rotated by controlling the stepping motor, and the rotation of the rolling angle of the cabin section is achieved.

Compared with the prior art, the invention has the following beneficial effects:

1. the automatic flexible assembling device and method for the cylindrical cabin section replace a manual operation working mode, improve the working efficiency and the butt joint quality of the assembly of the cylindrical cabin section and reduce the production cost;

2. the automatic flexible assembling device and method for the barrel-type cabin section adopt a supporting mode of the spring damping support arm, solve the extrusion phenomenon caused by incorrect posture in the butt joint process of the barrel-type cabin section, and avoid the impact of the barrel-type cabin section in the butt joint process to influence the quality of the barrel-type cabin section.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of an automated compliant assembly apparatus and method for a cartridge type cabin segment.

FIG. 2 is a schematic diagram of the spring damping arm and the lateral movement mechanism.

Fig. 3 is a schematic structural diagram of the axial feeding mechanism.

In the figure: (1) a control unit, (2) a spring damping support arm, (3) a transverse moving mechanism, (4) an axial feeding mechanism (5) a fixed clamping unit, (6) a laser profilometer, (1-1) a control cabinet main body, (1-2) a display, (1-3) a keyboard, (2-1) a support arm, (2-2) a roller, (2-3) a stepping motor, (2-4) a hinge, (2-5) a spring damping shock absorber, (2-6) a support seat, (3-1) a transverse moving platform, (3-2) a transverse guide rail, (3-3) a transverse servo motor, (3-4) a motor fixing seat, (3-5) a transverse screw, (3-6) a transverse ball screw nut, (3-7) a transverse sliding block, (3-8) a transverse chassis, (4-1) an axial guide rail, (4-2) an axial sliding block, (4-3) an axial chassis, (4-4) an axial ball screw nut, (4-5) an axial ball screw, (4-6) an axial servo motor, (4-7) an aluminum profile base, (5-1) a clamping mechanism, (5-2) a fixed chassis, and (5-3) an aluminum profile base.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

The embodiment is described by referring to fig. 1, fig. 2 and fig. 3, and the automatic flexible assembling device and method for the barrel-type cabin section comprise a control unit (1), a spring damping support arm (2), a transverse moving mechanism (3), an axial feeding mechanism (4), a fixed clamping unit (5) and a measuring unit (6).

The axial feeding mechanism (4) is connected with the fixed clamping unit (5) through an aluminum profile base and is kept on the same axis.

The spring damping support arm (2) is connected with the transverse moving mechanism (3) through a hinge, and the spring damping support arm is arranged at the upper end of the transverse moving mechanism.

The two groups of spring damping support arms (2) and the transverse moving mechanism (3) are in one group and are placed at the groove of the axial feeding mechanism (4).

The control unit (1) comprises a control cabinet main body (1-1), a display (1-2) and a keyboard (1-3).

The spring damper comprises (2-1) a support arm, (2-2) a roller, (2-3) a stepping motor, (2-4) a hinge, (2-5) a spring damping shock absorber and (2-6) a support seat. One end of a hinge (2-4) is fixed on the transverse moving platform, the other end of the hinge (2-4) is connected with the support arm, a spring damping shock absorber (2-5) is installed on the support arm (2-1) and connected with a support seat (2-6), the supporting and floating effects on the cabin section are achieved through the self-adaption function of the spring damping shock absorber (2-5), a roller (2-2) and a stepping motor (2-3) are installed on the support arm, the roller is rotated by controlling the stepping motor (2-3), and the rotation of the rolling angle of the pipeline is achieved.

The transverse moving mechanism comprises (3-1) a transverse moving platform, (3-2) a transverse guide rail, (3-3) a transverse servo motor, (3-4) a motor fixing seat, (3-5) a transverse ball screw, (3-6) a transverse ball screw nut, (3-7) a transverse sliding block and (3-8) a transverse chassis. The transverse guide rail (3-2) is arranged on a transverse chassis (3-8) along the direction vertical to the aluminum profile base, a transverse sliding block (3-7) and a transverse ball screw (3-5) are connected with the transverse moving platform (3-1), the transverse ball screw (3-5) is connected with the transverse moving platform (3-1) through a transverse ball screw nut (3-6), a transverse servo motor (3-3) is connected with the transverse ball screw (3-5), and when the transverse servo motor (3-3) rotates, the transverse moving platform (3-1) can move on the transverse rail (3-2).

The axial feeding mechanism comprises (4-1) an axial guide rail, (4-2) an axial sliding block, (4-3) an axial chassis, (4-4) an axial ball screw nut, (4-5) an axial ball screw, (4-6) an axial servo motor and (4-7) an aluminum profile base. The axial guide rail (4-1) and the axial servo motor (4-6) are installed on an aluminum profile base (4-7), the axial ball screw nut (4-4) and the axial sliding block (4-2) are connected with the axial chassis (4-3), the axial ball screw (4-5) is connected with the axial chassis (4-3) through the axial ball screw nut (4-4), the axial servo motor (4-6) is connected with the axial ball screw (4-5), when the axial servo motor (4-6) rotates, the axial chassis (4-3) can move on the axial guide rail (4-1), and axial movement of the axial chassis (4-3) is achieved.

The fixed clamping unit (5) comprises (5-1) a clamping mechanism, (5-2) a fixed chassis and (5-3) an aluminum profile base. The fixed chassis (5-2) is arranged at the upper end of the aluminum profile base (5-3), and the clamping mechanism (5-1) is arranged at the upper end of the chassis.

The operation process of the application is as follows, and the specific steps are as follows:

(1) the spring damping shock absorber balances the gravity of the cabin section, when the upward force of the four spring damping support arms supporting the barrel type cabin section and the downward gravity of the barrel type cabin section reach balance, the barrel type cabin section reaches a force balance point, and the cabin section is in a floating state.

(2) And measuring profile information of the two cylindrical cabin sections by using a laser profiler (6) to obtain the relative pose deviation of the axes of the two cylindrical cabin sections.

(3) And according to the relative pose deviation of the axes of the two cylindrical cabin sections, the axes of the two cabin sections are superposed through the adjustment of the transverse moving mechanism. The Y-axis displacement adjustment of the pipeline is completed by the four groups of transverse moving mechanisms (3) moving in the same direction and the same displacement, the yaw angle adjustment of the pipeline is completed by the reverse movement or the different displacement movement in the same direction of the front and rear groups of transverse moving mechanisms (3), the Z-axis displacement adjustment and the pitch angle adjustment of the pipeline can be realized by adjusting the motion coordination of the left and right groups of transverse moving mechanisms (3), and the pipelines with different diameters can be clamped.

(4) The axial servo motor works to drive the axial feeding mechanism to move forwards, the roller at the upper end of the spring damping support arm rotates, and the rolling angle of the cylindrical cabin section is adjusted to enable the flange surfaces of the two types of cabin sections to be superposed, so that the flexible butt joint of the cylindrical cabin sections is realized.