阅读说明：本技术 一种筒形大部件斜向自动对接装配系统 (Automatic oblique butt joint assembly system for cylindrical large component ) 是由 黄顺舟 张春杰 祁佩 钱晨 余子开 张勇 任斐 郭立杰 于 2021-09-06 设计创作，主要内容包括：本发明实施例提供了一种筒形大部件斜向自动对接装配系统:所述筒形大部件抱箍安装于筒形大部件外表面,整体放置于架车上,用于筒形大部件在水平状态下进行滚动装配；所述固定侧架车用于被动侧筒形大部件的支撑和姿态调整；所述移动侧架车用于筒形大部件主动对接部分的支撑和插补对接姿态调整；所述监测单元根据固定侧架车上的被动侧筒形大部件和移动侧架车上的筒形大部件主动对接部分的相对位置关系,获取所述移动侧架车的插补对接信息；所述电控单元用于控制固定侧架车的初始姿态调整以及根据所述监测单元的插补对接信息控制移动侧架车的插补对接姿态调整,完成筒形大部件的对接装配。(The embodiment of the invention provides an oblique automatic butt-joint assembly system for a cylindrical large component, which is characterized in that a hoop for the cylindrical large component is arranged on the outer surface of the cylindrical large component, is integrally placed on a trolley and is used for rolling and assembling the cylindrical large component in a horizontal state; the fixed side frame vehicle is used for supporting and posture adjusting the driven side cylindrical large component; the movable side frame vehicle is used for supporting the active butt joint part of the cylindrical large component and adjusting the interpolation butt joint posture; the monitoring unit acquires interpolation butt joint information of the mobile side frame trolley according to the relative position relation of the active butt joint part of the driven side cylindrical large component on the fixed side frame trolley and the cylindrical large component on the mobile side frame trolley; the electronic control unit is used for controlling the initial attitude adjustment of the fixed side frame vehicle and controlling the interpolation butt joint attitude adjustment of the movable side frame vehicle according to the interpolation butt joint information of the monitoring unit, and the butt joint assembly of the large cylindrical component is completed.)

1. An automatic oblique butt joint assembly system for cylindrical large components is characterized by comprising: the device comprises a fixed side frame vehicle, a movable side frame vehicle, a monitoring unit, an electric control unit and a cylindrical large part hoop; wherein the content of the first and second substances,

the cylindrical large part hoop is arranged on the outer surface of the cylindrical large part, is integrally placed on the trolley and is used for rolling assembly of the cylindrical large part in a horizontal state;

the fixed side frame trolley is used for supporting and posture adjusting the driven side cylindrical large component;

a mobile sideframe vehicle for supporting the active docking portion of the cylindrical large component and adjusting the docking attitude;

the monitoring unit acquires interpolation butt joint information of the mobile side frame trolley according to the relative position relation of a driven side cylindrical large component on the fixed side frame trolley and an active butt joint part of the cylindrical large component on the mobile side frame trolley;

and the electric control unit is used for controlling the initial attitude adjustment of the fixed side frame vehicle and controlling the interpolation butt joint attitude adjustment of the movable side frame vehicle according to the interpolation butt joint information of the monitoring unit so as to finish the butt joint assembly of the cylindrical large component.

2. The large tubular component oblique automatic butt-joint assembling system according to claim 1, wherein the fixed side-mounting vehicle comprises two single-mounting vehicles which use six-degree-of-freedom motions for realizing the spatial position translation and posture adjustment of the large tubular component on the passive side in combination.

3. The large tubular component oblique automatic butt-joint assembling system according to claim 1, wherein the moving side-mounting vehicle comprises two single-mounting vehicles, and the two single-mounting vehicles are combined to realize six-degree-of-freedom motion of the large tubular component in the active side in terms of spatial position translation and attitude adjustment.

4. A two-wheeled carriage assembly as claimed in claim 2 or claim 3 wherein the method of achieving six degrees of freedom movement of the tubular large component comprises: the two single-frame vehicles move synchronously in the X direction to realize the X direction movement of the cylindrical large component; the two single-frame vehicles synchronously move in the Y direction to realize the Y direction movement of the cylindrical large component; the two single-frame vehicles move synchronously in the Z direction to realize the Z-direction movement of the cylindrical large component; the two single-frame vehicles A synchronously move towards the motor to drive the large cylindrical component A to roll around the X axis; the two single-frame vehicles move reversely in the Z direction to realize pitching motion of the cylindrical large component in the B direction, namely around the Y axis; the two single-frame vehicles move reversely in the Y direction to realize the C direction of the cabin section, namely the movement around the Z axis and the yawing movement.

5. The oblique automatic butt-joint assembly system for the large cylindrical component according to claim 1, wherein the hoop of the large cylindrical component is in a ring shape, and the ring shape comprises an integral ring and a multi-petal encircling ring.

6. The large tubular component oblique automatic butt assembling system according to claim 1, for automatic butt-jointing of large tubular components with oblique pipe members.

Technical Field

The invention relates to the field of automatic butt joint of cylindrical large components, in particular to an oblique automatic butt joint assembly system for the cylindrical large components.

Background

The final assembly and butt joint of the storage boxes of the carrier rocket is always a difficult point and a risk point in field production. The manual assembly mode is mostly adopted at present at home, and the countries adopting the advanced automatic flexible rocket assembly technology at home are mainly used as the America and Russia of the traditional aerospace strong country. Compared with the aerospace strong countries such as the America and the Russia, the rocket assembly technology in China has a larger gap. With the requirements of subsequent intensive and urgent emission, the manual assembly is difficult to adapt to a new assembly rhythm. Therefore, an automatic assembly frame vehicle system needs to be developed to assist manual butt joint and assembly of the higher storage tank.

The publication CN104308767A discloses a cooperative positioning device for automatic butt-joint assembly of large thin-wall cylindrical members, and the positioning mechanism provided in the patent can realize accurate butt-joint assembly of large cylindrical wall members; the publication CN106041799A discloses a six-degree-of-freedom positioning and resource adjusting device for automatic assembly of large components, which adopts a parallel mechanism, and combines a large component butt assembly and a process method to realize automatic precision assembly of the large components. Patent publication CN103303491A discloses a craft equipment for butt joint of large components of an airplane and a butt joint method thereof, which realizes butt joint of a front section and a middle section of the airplane through adjustment of a hand wheel of a movable part and movement along a track.

Similar patents mentioned in the published literature reports are mostly slightly improved on the basis of the original manual trolley lifting, the similar patents are mainly focused on the trolley lifting equipment body, the automatic butt joint requirements of a plurality of occasions are met, and the requirements cannot be well met aiming at the special process of oblique butt joint assembly. The oblique automatic butt joint assembly system for the cylindrical large component can effectively solve the problem, and is applied to the oblique automatic butt joint process of the cylindrical large component.

In all the storage tanks needing butt joint assembly, some of the storage tanks extend outwards with one inclined duct near the center of the end surface. When the storage tanks are in butt joint, the butt joint can be smoothly realized only by moving the storage tanks which are matched relatively along the direction of the inclined guide pipe. The mode that the current commonly adopts is that the side storage box with the oblique conduit moves along a guide rail with fixed inclination, and the other side storage box is kept still, thereby realizing the butt joint between the two. The traditional tool can only adapt to the butt joint of the storage boxes at one angle, and the whole process needs continuous manual intervention. Aiming at the subsequent multi-angle automatic docking requirement, a variable-angle inclined catheter automatic interpolation docking system is urgently needed.

Disclosure of Invention

The invention aims to provide an oblique automatic butt joint assembly system for a large cylindrical component, which comprises: the device comprises a fixed side frame vehicle, a movable side frame vehicle, a monitoring unit, an electric control unit and a cylindrical large part hoop; wherein the content of the first and second substances,

the cylindrical large part hoop is arranged on the outer surface of the cylindrical large part, is integrally placed on the trolley and is used for rolling assembly of the cylindrical large part in a horizontal state;

the fixed side frame trolley is used for supporting and posture adjusting the driven side cylindrical large component;

a mobile sideframe vehicle for supporting the active docking portion of the cylindrical large component and adjusting the docking attitude;

the monitoring unit acquires interpolation butt joint information of the mobile side frame trolley according to the relative position relation of a driven side cylindrical large component on the fixed side frame trolley and an active butt joint part of the cylindrical large component on the mobile side frame trolley;

and the electric control unit is used for controlling the initial attitude adjustment of the fixed side frame vehicle and controlling the interpolation butt joint attitude adjustment of the movable side frame vehicle according to the interpolation butt joint information of the monitoring unit so as to finish the butt joint assembly of the cylindrical large component.

Preferably, the fixed side frame vehicle comprises two single frame vehicles, and the two single frame vehicles are combined to use six-degree-of-freedom movement for realizing the space position translation and the posture adjustment of the driven side cylindrical large component.

Preferably, the movable side frame vehicle comprises two single frame vehicles, and the two single frame vehicles are combined to use six-degree-of-freedom movement for realizing the space position translation and the posture adjustment of the driving side cylindrical large component.

Preferably, the two single-frame vehicles are combined to realize six-degree-of-freedom motion of the cylindrical large component, and the specific implementation process is as follows: the two single-frame vehicles move synchronously in the X direction to realize the X direction movement of the cylindrical large component; the two single-frame vehicles synchronously move in the Y direction to realize the Y direction movement of the cylindrical large component; the two single-frame vehicles move synchronously in the Z direction to realize the Z-direction movement of the cylindrical large component; the two single-frame vehicles A move synchronously to the motor to drive the large cylindrical component A to roll transversely (around an X axis); the two single-frame vehicles move reversely in the Z direction to realize pitching motion of the cylindrical large component in the B direction (around the Y axis); and the two single-frame vehicles move reversely in the Y direction to realize the yaw movement of the cabin section in the C direction (around the Z axis).

Preferably, the hoop for the large cylindrical component is in a circular ring shape, and the circular ring shape comprises an integral circular ring and a multi-petal encircling circular ring.

Preferably for automatic docking of large cylindrical components with angled tubes.

The invention has the advantages that:

1) the automatic oblique butt joint assembly system for the large cylindrical component can realize the automatic assembly of the large cylindrical component integrating multiple functions of axial movement, oblique multi-angle movement, rolling around a shaft, six-degree-of-freedom posture adjustment and the like;

2) the oblique automatic butt joint assembly system for the large cylindrical component increases the flexibility of the assembly equipment system, reduces the repeated hoisting times in the assembly process, and improves the assembly efficiency of the large cylindrical component.

The oblique automatic butt joint assembly system for the large cylindrical components can be applied to the butt joint assembly process of various large cylindrical components, and particularly can be used for assembly with any small-angle oblique movement so as to meet the requirements of automatic posture adjustment, rolling, butt joint and the like of various large cylindrical components.

Drawings

FIG. 1 is a schematic diagram of mechanical hardware of a large cylindrical component oblique automatic butt joint assembly system according to the present invention;

FIG. 2 is a schematic view of the hoop for the cylindrical large component of the present invention;

FIG. 3 is a schematic view of an external monitoring and determination process of the present invention;

fig. 4 is a schematic process flow of the oblique butt joint of the large cylindrical component.

Reference numerals: a cylindrical large component hoop [1], a fixed side frame vehicle [2], a movable side frame vehicle [3], and a monitoring unit [4 ];

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The invention provides an oblique automatic butt joint assembly system for a cylindrical large component, which is characterized by comprising the following components in parts by weight: the device comprises a fixed side frame vehicle, a movable side frame vehicle, a monitoring unit, an electric control unit and a cylindrical large part hoop; wherein the content of the first and second substances,

the cylindrical large part hoop is arranged on the outer surface of the cylindrical large part, is integrally placed on the trolley and is used for rolling assembly of the cylindrical large part in a horizontal state;

the fixed side frame trolley is used for supporting and posture adjusting the driven side cylindrical large component;

a mobile sideframe vehicle for supporting the active docking portion of the cylindrical large component and adjusting the docking attitude;

the monitoring unit acquires interpolation butt joint information of the mobile side frame trolley according to the relative position relation of a driven side cylindrical large component on the fixed side frame trolley and an active butt joint part of the cylindrical large component on the mobile side frame trolley;

and the electric control unit is used for controlling the initial attitude adjustment of the fixed side frame vehicle and controlling the interpolation butt joint attitude adjustment of the movable side frame vehicle according to the interpolation butt joint information of the monitoring unit so as to finish the butt joint assembly of the cylindrical large component.

According to one embodiment of the invention, the fixed side gantry comprises two single gantry vehicles which use in combination six degrees of freedom of movement for achieving the spatial position translation and attitude adjustment of the passive side cylindrical large component.

According to one embodiment of the invention, the movable side frame vehicle comprises two single frame vehicles, and the two single frame vehicles can realize six-degree-of-freedom movement of space position translation and posture adjustment of the large cylindrical part on the driving side in combination.

According to one embodiment of the invention, the two-trolley combination is characterized in that the two-trolley combination realizes six-degree-of-freedom movement of the cylindrical large component as follows: the two single-frame vehicles move synchronously in the X direction to realize the X direction movement of the cylindrical large component; the two single-frame vehicles synchronously move in the Y direction to realize the Y direction movement of the cylindrical large component; the two single-frame vehicles move synchronously in the Z direction to realize the Z-direction movement of the cylindrical large component; the two single-frame vehicles A move synchronously to the motor to drive the large cylindrical component A to roll transversely (around an X axis); the two single-frame vehicles move reversely in the Z direction to realize pitching motion of the cylindrical large component in the B direction (around the Y axis); and the two single-frame vehicles move reversely in the Y direction to realize the yaw movement of the cabin section in the C direction (around the Z axis).

According to one embodiment of the invention, the cylindrical large part hoop is in a circular ring form, and the circular ring form comprises an integral circular ring and a multi-petal encircling circular ring.

According to one embodiment of the invention, the automatic butt joint device is used for automatically butting large cylindrical parts with oblique pipe fittings.

For example, in the whole set of system, the hoop for the large cylindrical component is used for being installed on the outer surface of the large cylindrical component, so that the large cylindrical component is placed on a trolley and is assembled in a rolling mode; as shown in fig. 2. After the cylindrical large component hoops are installed outside the cylindrical large components, the cylindrical large components on two sides are respectively hoisted to the corresponding rolling frame vehicles to be placed, and preparation is made for automatic butt joint. After the fixed side cylindrical large component is placed on the trolley, the motors of all shafts of the trolley are adjusted according to the process requirements, so that the fixed side cylindrical large component is in a proper spatial pose.

The fixed side frame trolley comprises an active trolley and a passive trolley, and is used for providing support for the fixed side cylindrical large component and realizing six-degree-of-freedom posture adjustment of the trolley. The two trolley frames are matched for use to realize the adjustment of the butt joint posture of the cylindrical large part, and the two trolley frames are placed on the same steel rail in a workshop.

The main functions of the movable side active and passive trolley are similar to those of the fixed side active and passive trolley, and the two trolleys are matched for use, so that the butt joint posture adjustment and interpolation butt joint movement of the cylindrical large part are realized. The two frame trucks are also placed on the same steel rail in the workshop. After the large moving-side cylindrical component is placed on the trolley, the motors of all shafts of the trolley are adjusted according to the process requirements, so that the large moving-side cylindrical component is in a proper spatial pose. At this time, the large side cylindrical member is not mounted with the diagonal pipe member temporarily.

Adding a function of moving interpolation motion in two directions corresponding to the electric control system; the monitoring system is used for monitoring the motion angle of the moving side during interpolation butt joint, and avoids product damage caused by angle. As shown in fig. 3, for a schematic view of monitoring and determining process, the system includes real-time distance measuring elements (such as laser distance measuring sensors, etc.) for measuring the X-axis motion and the Y-axis motion of the moving side gantry, measures the displacement of the gantry in the X-axis direction and the Y-axis direction in real time, solves the current oblique motion angle of the large cylindrical component through an arctangent function, compares the current oblique motion angle with a theoretical angle, continues the oblique motion if the current oblique motion angle is not greater than 0.1 °, and stops suddenly if the current oblique motion angle is not greater than 0.1 °.

The electric control system comprises a driving side electric control system and a moving side electric control system, is used for driving and controlling the trolley lifting, and is integrated on the trolley lifting body. The whole system is mainly applied to the automatic butt joint process of the large cylindrical component with the inclined pipe fitting. The fixed side driving and driven trolley is used for adjusting the posture of the cylindrical large part at the driving side, and the movable side driving and driven trolley drives the cylindrical large part to move in the direction parallel to the inclined pipe fitting to automatically butt joint. The invention can realize the automatic assembly of the large cylindrical part which integrates the functions of axial movement, oblique movement, rolling around a shaft, posture adjustment with six degrees of freedom and the like, increases the flexibility of an assembly equipment system, reduces the repeated hoisting times in the assembly process and improves the total assembly efficiency of the cylindrical large part.

As shown in fig. 4, the process flow of the oblique automatic butt-joint assembly system for large cylindrical components of the present invention is to perform a trial-and-error operation of large cylindrical components on both sides in a manual or inching manner between the large cylindrical components which are not installed with the oblique pipe. And the corresponding hole positions of the cylindrical large parts at the two sides can be matched with each other. After the trial is finished, the fixed side frame vehicle is fixed, and the movable side frame vehicle carries the cylindrical large component to automatically return to the butt joint zero point. And then installing the oblique pipe fitting. And after the pipe fitting is installed, calling an automatic butt joint program to perform automatic butt joint work of the inclined pipe fitting. And after the butt joint is finished, locking the corresponding hole positions and then performing subsequent work.

Specifically, for example, after the preparation work is started, the hoop is installed on the large cylindrical component, the large component is horizontally placed on the trolley, the inclined guide pipe is not installed on the large component, the trolley on two sides moves the motion shafts respectively to adjust the position and the posture of the large component, the pin hole trial butt joint of the butt joint end face of the large component is completed, the positions of the motion shafts of the trolley on two sides are recorded, then the large fixed-side component is fixed, the large moving-side component moves away through the movement of the trolley, the inclined guide pipe of the large moving-side component is installed, the large moving-side component performs automatic inclined interpolation butt joint motion according to the information of the interpolation unit, and the operation is finished after the large component is in place.

The invention has the advantages that:

1) the automatic oblique butt joint assembly system for the large cylindrical component can realize the automatic assembly of the large cylindrical component integrating multiple functions of axial movement, oblique multi-angle movement, rolling around a shaft, six-degree-of-freedom posture adjustment and the like;

2) the oblique automatic butt joint assembly system for the large cylindrical component increases the flexibility of the assembly equipment system, reduces the repeated hoisting times in the assembly process, and improves the assembly efficiency of the large cylindrical component.

The oblique automatic butt joint assembly system for the large cylindrical components can be applied to the butt joint assembly process of various large cylindrical components, and particularly can be used for assembly with any small-angle oblique movement so as to meet the requirements of automatic posture adjustment, rolling, butt joint and the like of various large cylindrical components.

It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.