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CN-121977478-A - Tensioning centering posture adjusting system and method

CN121977478ACN 121977478 ACN121977478 ACN 121977478ACN-121977478-A

Abstract

The invention aims to solve the technical problems that data cannot be effectively recorded and the position of a landing point of lifting and traversing cannot be effectively controlled when key operations such as lifting and traversing are carried out in the prior art, and provides a tensioning centering posture adjusting system and a tensioning centering posture adjusting method; the system comprises a supporting seat assembly, a posture adjusting assembly, a tray assembly, a tensioning centering assembly, a laser detection assembly and a controller, wherein the posture adjusting assembly is arranged on the supporting seat assembly, the tray assembly is arranged on the posture adjusting assembly and is used for placing the bar assembly, the tensioning centering assembly is arranged at one end of the pipe body assembly, the laser detection assembly is connected with one end of the bar assembly, the laser detection assembly comprises two laser sensors used for measuring yaw angles, two laser sensors used for measuring pitch angles, one laser sensor used for measuring coaxiality, and the two groups of posture adjusting assemblies are respectively arranged at two ends of the bottom of the tray assembly.

Inventors

  • LIANG PENG
  • ZHANG PENG
  • HUANG WEIGANG
  • HOU PENGJU
  • DAI XIUBO
  • QUAN KUN
  • LI ZHEN
  • SUN HAO

Assignees

  • 西安航天赛能自动化科技有限公司

Dates

Publication Date
20260505
Application Date
20251225

Claims (10)

  1. 1. The tensioning centering posture adjustment system is used for centering and posture adjustment of a pipe body assembly (6) and a bar assembly (3), and is characterized by comprising the following components: the device comprises a support seat assembly (7), a posture adjusting assembly (1) arranged on the support seat assembly (7) and a tray assembly (2) arranged on the posture adjusting assembly (1), wherein the tray assembly (2) is used for placing the bar assembly (3); The device also comprises a tensioning centering component (5), a laser detection component (4) and a controller, wherein the tensioning centering component (5) is arranged at one end of the pipe body component (6), and the laser detection component (4) is connected at one end of the bar component (3); The tensioning centering assembly (5) comprises a tensioning shearing fork assembly and a reflecting plate (54), wherein the tensioning shearing fork assembly is connected to the back surface of the reflecting plate (54) and is used for being connected with one end of the pipe body assembly (6) in an adaptive manner in a tensioning mode, and a square hole is formed in the center of the front surface of the reflecting plate (54); The laser detection assembly (4) comprises a laser sensor mounting plate (41) and five laser sensors (44), wherein the five laser sensors (44) are mounted on the front surface of the laser sensor mounting plate (41), two laser sensors (44) are used for measuring yaw angles, two laser sensors (44) are used for measuring pitch angles, and one laser sensor (44) is used for measuring coaxiality; The two groups of gesture adjusting assemblies (1) are respectively arranged at two ends of the bottom of the tray assembly (2), and the two groups of gesture adjusting assemblies (1) and the five laser detection assemblies (4) are electrically connected with the controller.
  2. 2. The tension centering gesture system of claim 1 wherein: The positions of the five laser sensors (44) on the laser sensor mounting plate (41) are distributed as follows: A first laser sensor (44) is mounted transversely and is located at a central point of the laser sensor mounting plate (41); The second laser sensor (44) and the third laser sensor (44) are transversely arranged and symmetrically distributed on the left side and the right side of the first laser sensor (44); The fourth laser sensor (44) and the fifth laser sensor (44) are vertically arranged and symmetrically distributed on the upper side and the lower side of the first laser sensor (44).
  3. 3. The tension centering gesture system of claim 1 wherein: the tensioning shear fork assembly comprises a shear fork component (51), a tensioning main shaft (52), a transition plate (53), a hand wheel (55), a shear fork connecting seat (56) and a locking nut (57); the tensioning main shaft (52) adopts a trapezoidal screw rod, and one end of the tensioning main shaft (52) is fixedly connected to the back center of the reflecting plate (54) through the transition plate (53); The three groups of the shearing fork parts (51) are respectively connected to the tensioning main shaft (52) through two shearing fork connecting seats (56), the shearing fork connecting seats (56) connected to one end of the three groups of the shearing fork parts (51) close to the reflecting plate (54) are in sliding connection with the tensioning main shaft (52), the positions of the shearing fork connecting seats (56) connected to one end of the three groups of the shearing fork parts (51) far away from the reflecting plate (54) are fixed through two locking nuts (57), and the adjacent two groups of the shearing fork parts (51) are distributed at an included angle of 120 degrees; The hand wheel (55) is rotatably connected to the tensioning main shaft (52) and is positioned on a scissor connecting seat (56) which is in sliding connection with the tensioning main shaft (52) and is close to one end of the reflecting plate (54); Three sets of scissors elements (51) are used for being connected with the pipe body assembly (6) in an adaptive manner at one centering end.
  4. 4. A tension centering gesture system as claimed in claim 3, wherein: The scissor component (51) comprises a first scissor arm (511), a second scissor arm (512) and a roller (513); the middle parts of the first shearing fork arm (511) and the second shearing fork arm (512) are hinged into an X-shaped cross structure through a movable connecting piece, any two adjacent ends of the X-shaped cross structure are respectively and movably connected with the shearing fork connecting seat (56), and the other two ends of the X-shaped cross structure are rotatably connected with the roller (513).
  5. 5. The tension centering gesture system of claim 1 wherein: the gesture adjusting assembly (1) comprises a lifting component (11), a traversing component (12), a pitching yaw component (13), a connecting seat (14), a bottom mounting plate (15), a lifting guide plate (16) and a guide seat (17), wherein the lifting component (11), the traversing component (12) and the pitching yaw component (13) are electrically connected with the controller; The bottom of lifting part (11) and guide holder (17) is all fixed on bottom mounting panel (15), the drive end of lifting part (11) is connected connecting seat (14), connecting seat (14) both sides are all passed through lift deflector (16) with guide holder (17) sliding connection connects on connecting seat (14) sideslip part (12), connect sideslip part top of sideslip part (12) every single move yaw part (13), every single move yaw part (13) with the bottom of tray subassembly (2) is connected.
  6. 6. The tension centering gesture system of claim 5, wherein: The lifting component (11) comprises a lifting servo motor (111), a lifting speed reducer (112), a lifting hand crank shaft (113), a lifting hand wheel (114), a spiral lifter (116) and a lifting nut seat (119), wherein the lifting servo motor (111) is electrically connected with the controller; The lifting device is characterized in that an output shaft of the lifting servo motor (111) is in transmission connection with an input shaft of the lifting speed reducer (112), an output shaft of the lifting speed reducer (112) is a through shaft, one end of the through shaft of the lifting speed reducer (112) is sequentially in transmission connection with worm shafts of the two spiral lifters (116), screw shafts of the two spiral lifters (116) serve as driving ends of the lifting component (11), the screw shafts are symmetrically connected to two ends of the connecting seat (14) through lifting nut seats (119), the two spiral lifters (116) are fixedly arranged on the bottom mounting plate (15), and the other end of the through shaft of the lifting speed reducer (112) is connected with the lifting hand wheel (114) through the lifting hand shaft (113).
  7. 7. The tension centering gesture system of claim 5, wherein: The transverse moving component (12) comprises a transverse moving servo motor (121), a transverse moving hand wheel (122), a transverse moving speed reducer (123), a transverse moving screw (124), a nut seat (126), a guide rail sliding block (128) and a transverse moving sliding plate (129), wherein the transverse moving servo motor (121) is electrically connected with the controller; the transverse moving servo motor (121) and the transverse moving hand wheel (122) are respectively arranged at two sides of the connecting seat (14), the transverse moving speed reducer (123) is arranged at one end inside the connecting seat (14), the input shaft of the transverse moving speed reducer (123) is a through shaft, the output shaft of the transverse moving servo motor (121) is in transmission connection with one end of the through shaft of the transverse moving speed reducer (123), the output shaft of the transverse moving speed reducer (123) is in transmission connection with one end of the transverse moving screw rod (124), and the other end of the transverse moving screw rod (124) is movably connected with the other end inside the connecting seat (14); The transverse moving screw rod (124) is a trapezoidal screw rod, the nut seat (126) is connected to the transverse moving screw rod, the top of the nut seat (126) is in sliding connection with the top of the connecting seat (14), the guide rail sliding blocks (128) are arranged on two sides of the top of the connecting seat (14), the guide rail sliding blocks (128) are in sliding connection with the transverse moving sliding plates (129) through the guide rail sliding blocks (128) on two sides, the transverse moving sliding plates (129) serve as transverse moving pieces of the transverse moving component (12), and the bottoms of the transverse moving sliding plates are fixedly connected with the top of the nut seat (126).
  8. 8. The tension centering gesture system of claim 7, wherein: The pitching yaw component (13) comprises a baffle plate (131), a first hinging seat (132), a pitching pin shaft copper sleeve (133), a pitching pin shaft (134), a second hinging seat (135), a yaw rotating shaft (136), a tapered roller bearing (137), a first copper grinding plate (138), a second copper grinding plate (139), a bearing seat (1311) and an adaptive adjusting block (1312), wherein L-shaped bending plates are symmetrically arranged at two ends of the adaptive adjusting block (1312); The first hinging seat (132) is fixedly arranged on the transverse sliding plate (129), the second hinging seat (135) is connected with the first hinging seat (132) through a pitching pin shaft copper sleeve (133) and a pitching pin shaft (134) and used for achieving pitching action, the yaw rotating shaft (136) is connected above the second hinging seat (135), the bearing seat (1311) is connected on the yaw rotating shaft (136) through a tapered roller bearing (137) and used for achieving yaw action, the bearing seat (1311) is in sliding connection with the self-adapting adjusting block (1312), the size and shape of the bearing seat (1311) and the self-adapting adjusting block (1312) are adaptive, a sliding gap is reserved between the bearing seat and the self-adapting block (1312), the baffle plate (131) is arranged on two sides of the self-adapting block (1312) and used for limiting the self-adapting block (1312), and a first copper plate (1312) and a second copper plate (139) are respectively arranged on the inner walls of the L-shaped bent plates at two ends of the self-adapting block (1312) through heads, and the top grinding assembly (139) is connected with the self-adapting assembly (2).
  9. 9. The tension centering gesture system of claim 1 wherein: the device also comprises a pipe body bracket (62) and a plurality of groups of first adjusting foot cups (63); The pipe body bracket (62) comprises a bracket seat and a plurality of arc-shaped brackets which are uniformly and detachably arranged at the top of the bracket seat and are used for supporting the pipe body (61); the plurality of groups of first adjusting foot cups (63) are uniformly arranged at the bottom of the bracket seat.
  10. 10. A tensioning centering gesture adjusting method based on the tensioning centering gesture adjusting system of any one of claims 1 to 9, which is characterized by comprising the following steps: S1, controlling two laser sensors (44) for measuring a pitching angle to measure a distance of a reflecting plate (54) in real time, judging the high end and the low end of the posture of a bar assembly (3) at the moment according to a distance measurement result, controlling two posture adjusting assemblies (1) to work simultaneously, respectively controlling the two ends of a tray assembly (2) to ascend or descend, further respectively driving the high end and the low end of the posture of the bar assembly (3) on the tray assembly (2) to descend, driving the low end and the posture of the tray assembly (3) to ascend until the distance measurement result is kept within a preset allowable range, and finishing pitching posture adjustment of the bar assembly (3); S2, controlling two laser sensors (44) for measuring a yaw angle to measure the distance of the reflecting plate (54) in real time, judging the left end and the right end of the gesture of the bar assembly (3) at the moment according to the distance measurement result, controlling two gesture adjusting assemblies (1) to work simultaneously, respectively controlling the two ends of the tray assembly (2) to shift rightwards or leftwards, further respectively driving the left end and the right end of the gesture of the bar assembly (3) on the tray assembly (2) to shift rightwards, driving the right end and the gesture of the tray assembly (3) to shift leftwards until the distance measurement result is kept within a preset allowable range, and finishing yaw gesture adjustment of the bar assembly (3); S3, controlling two gesture adjusting assemblies (1) to work simultaneously, synchronously driving bar assemblies (3) on a tray assembly (2) to move up and down, controlling a laser sensor (44) for coaxiality measurement to measure the distance of a reflecting plate (54) in real time, when the lower edge or the upper edge of a square hole above the reflecting plate (54) is detected, carrying out mutation on the distance measured value, storing marks on position coordinates where the distance measured value is mutated, and calculating the center coordinate positions in the up-down direction through two position coordinates of the two gesture adjusting assemblies (1); The method comprises the steps of controlling two gesture adjusting assemblies (1) to work simultaneously, synchronously driving bar assemblies (3) on a tray assembly (2) to move left and right, controlling a laser sensor (44) for coaxiality measurement to conduct real-time distance measurement on a reflecting plate (54), when detecting the right edge or the left edge of a square hole above the reflecting plate (54), enabling the distance measured value to be suddenly changed, storing marks for position coordinates where the distance measured value is suddenly changed, calculating the center coordinate positions in the left-right direction through two position coordinates of the two movement storing marks, and then controlling the two gesture adjusting assemblies (1) to synchronously move to move the bar assemblies (3) to the center coordinate positions in the left-right direction.

Description

Tensioning centering posture adjusting system and method Technical Field The invention relates to a posture adjusting system, in particular to a tensioning centering posture adjusting system and a tensioning centering posture adjusting method. Background Along with the rapid development of the automation industry, whether the bar and the pipe can be accurately centered and adjusted becomes a key technical problem for restricting the improvement of the efficiency of the related manufacturing field. At present, the centering and posture adjustment of the bar and the pipe fitting is still performed manually, namely an operator needs to judge the relative posture of the bar and the pipe fitting by naked eyes, and then the position and the posture are adjusted manually. The operation mode is highly dependent on the experience level of operators, the expected precision can be achieved through repeated adjustment and judgment, the production efficiency is low, meanwhile, key operation data such as lifting, traversing and the like cannot be effectively recorded in the manual gesture adjustment process, the position of a landing point of lifting, traversing cannot be effectively controlled, and once the position deviation occurs, the whole process gesture adjustment is needed to be carried out again. Disclosure of Invention The invention aims to solve the technical problems that the prior art needs to highly depend on the experience level of operators, the production efficiency is low, data cannot be effectively recorded when key operations such as lifting and traversing are carried out, and the position of a landing point of lifting and traversing cannot be effectively controlled, and provides a tensioning centering posture adjusting system and a tensioning centering posture adjusting method. In order to achieve the above purpose, the technical scheme provided by the invention is as follows: The tensioning centering posture adjusting system is used for centering and adjusting postures of a pipe body assembly and a bar assembly and is characterized by comprising the following components: the support seat assembly is arranged on the support seat assembly, and the tray assembly is arranged on the support seat assembly and is used for placing the bar assembly; The device also comprises a tensioning centering assembly, a laser detection assembly and a controller, wherein the tensioning centering assembly is arranged at one end of the pipe body assembly, and the laser detection assembly is connected at one end of the bar assembly; The tensioning centering assembly comprises a tensioning shearing fork assembly and a reflecting plate, the tensioning shearing fork assembly is connected to the back surface of the reflecting plate and is used for being connected with one end of the pipe body assembly in an adaptive manner in a tensioning mode, and a square hole is formed in the center of the front surface of the reflecting plate; The laser detection assembly comprises a laser sensor mounting plate and five laser sensors, wherein the five laser sensors are mounted on the front surface of the laser sensor mounting plate, two laser sensors are used for measuring yaw angles, two laser sensors are used for measuring pitching angles, and one laser sensor is used for measuring coaxiality; the two groups of gesture adjusting components are respectively arranged at two ends of the bottom of the tray component, and the two groups of gesture adjusting components and the five laser detecting components are electrically connected with the controller. Further, the positions of the five laser sensors on the laser sensor mounting board are distributed as follows: A first laser sensor is transversely mounted and positioned at a center point of the laser sensor mounting plate; The second laser sensor and the third laser sensor are transversely arranged and symmetrically distributed on the left side and the right side of the first laser sensor; the fourth laser sensor and the fifth laser sensor are vertically arranged and symmetrically distributed on the upper side and the lower side of the first laser sensor. Further, the tensioning shear fork assembly comprises a shear fork component, a tensioning main shaft, a transition plate, a hand wheel, a shear fork connecting seat and a locking nut; The tensioning main shaft adopts a trapezoidal screw rod, and one end of the tensioning main shaft is fixedly connected to the center of the back surface of the reflecting plate through the transition plate; the three groups of the scissors components are respectively connected to the tensioning main shaft through two scissors connecting seats, the three groups of scissors components are in sliding connection with the tensioning main shaft near the scissors connecting seats connected with one end of the reflecting plate, the positions of the three groups of scissors components, which are far away from the scissors connecting seats connected with one end of