CN114850855B - Automatic leveling device and leveling method for cylinder body of actuating cylinder - Google Patents

Abstract

The invention discloses an automatic leveling device and a leveling method for an actuator cylinder body, which relate to the technical field of assembly degree adjusting equipment and comprise the following steps: the device comprises a working cylinder, a positioning clamping module, a detection module, a triaxial movement adjusting module and a pressing block, wherein the working cylinder is arranged on the positioning clamping module, the pressing block is arranged at the movement end of the triaxial movement adjusting module, the leveling end of the pressing block is provided with a groove, the shape of the groove is matched with that of a standard flange assembly, the detection module is arranged corresponding to the flange assembly, and the detection module is electrically connected with a controller of the triaxial movement adjusting module; according to the invention, the flange assembly and position data of the actuating cylinder are determined by utilizing the detection module, the triaxial movement adjusting module controls the pressing block to move towards the flange assembly until the groove of the pressing block is clamped on the flange assembly, and the common adjustment of two flanges on the flange assembly is realized by utilizing one pressing block, so that different flanges in the flange assembly are rigidly adjusted to a standard state, and the leveling accuracy is improved.

Description

Automatic leveling device and leveling method for cylinder body of actuating cylinder

technical field

The invention relates to the technical field of assembly degree adjustment equipment, in particular to an automatic leveling device and a leveling method for a cylinder body of an actuator.

Background technique

The safety, reliability and economical requirements of modern commercial aircraft are relatively high. As a civil aircraft that can be put into route operation, it must pass the strict approval of relevant civil aviation bureaus. The civil flight control hydraulic actuation system is used as a A highly integrated product integrating magnetism, force and control is one of the core systems of modern aircraft. It is related to the safety and comfort of the aircraft. Its key power actuator actuator needs to serve reliably under severe working conditions such as high oil pressure, high temperature difference, low air pressure, and strong corrosive media. more stringent requirements.

The leveling of the actuator cylinder is an important step in the subsequent assembly of the actuator. The actuator assembly is mainly composed of a tailstock piston, an end ring piston, a flange assembly, a tailstock cylinder, an end ring cylinder and an earring. The flange assembly, the tailstock cylinder and the end ring cylinder are connected by 6 screws. During the assembly process, the bottom plane of the flange assembly may have a slight angular deviation relative to the horizontal plane. In order to ensure subsequent assembly, adjustments are required. Flat, this assembly process is related to the accuracy of the subsequent assembly, this assembly process needs to realize the fine adjustment of the position of the flange assembly by slowly applying pressure to the cylinder, so that the bottom plane of the flange assembly of the cylinder has a better levelness , in order to ensure the follow-up and other parts to be assembled. At present, the cylinder leveling mainly adopts the method of manual leading, mechanical assistance and manual inspection. This process is completed by manual operation of assembly workers.

With the development of aviation technology, the above operation methods have the following shortcomings:

1. Manually judge whether the levelness of the adjusted plane is qualified, and the result is subjective and not accurate enough;

2. In the process of fine-tuning the flange components, the force exerted by manual work is unstable;

Three, manually loading and unloading the set screw is very time-consuming and laborious and inefficient.

The application number is "201910821590.7", and the invention patent titled "A long-axis clamping automatic leveling device and leveling method" discloses a leveling device, which moves and scans the entire long-axis through the detection mechanism to obtain the long-axis The height difference between the head and the tail, the height of the V-shaped bracket is adjusted by adjusting the clamping mechanisms on both sides to achieve long-axis leveling, but it is aimed at leveling the two ends of a single workpiece, and the two ends are adjusted by two clamping mechanisms , when applied to the leveling of flange components, it is necessary to use different adjustment mechanisms to control different flanges at the same time, and there is a problem of insufficient leveling accuracy.

The application number is "202110313256.8", and the invention patent named "Leveling and Focusing Device" discloses a leveling device, which takes high-definition pictures of the materials to be inspected through a microscope, and the control system records the corresponding Rx, Ry and Z directions. The coordinate value is compared with the reference ideal value to obtain the deviation, and the compensation movement is performed through the movement of the driving component (servo motor unit), so as to realize the leveling, focusing and high-precision detection of the detected area of the material to be detected, but its essence The above is the compensation movement. When it is applied to the leveling of the flange assembly, it is necessary to use the drive assembly to compensate for one of the flanges. The other flange is in an uncompensated state. During the compensation movement of the other flange, another flange may be caused. Minor movement of the flange, resulting in insufficient accuracy of final leveling.

Therefore people need badly a kind of automatic leveling device of the cylinder body of the actuator with high leveling accuracy.

Contents of the invention

The object of the present invention is to provide an automatic leveling device and a leveling method for the cylinder body of the actuator, in order to solve the above-mentioned problems in the prior art, the pressure is directly applied to the flange assembly through the pressing block, and at the same time the flange The different flanges in the assembly are rigidly adjusted to the standard state to improve the leveling accuracy.

In order to achieve the above object, the present invention provides the following solution: the present invention provides an automatic leveling device for the cylinder body of the actuator, including the actuator, a positioning and clamping module for positioning the actuator, and a positioning and clamping module for determining The flange component assembly and position data detection module of the actuator, the three-axis motion adjustment module, and the pressing block for leveling the flange assembly, the actuator is arranged on the positioning and clamping module , the pressing block is set at the moving end of the three-axis motion adjustment module, the leveling end of the pressing block is provided with a groove, the shape of the groove matches the shape of the standard flange assembly, and the detection module corresponds to the The flange assembly is set, and the detection module is electrically connected to the controller of the three-axis motion adjustment module.

Preferably, the positioning and clamping module includes a plane positioning plate and several first quick clamps for fixing the actuator, and several positioning pin holes are provided on both sides of the actuator, and the plane The positioning plate is fixedly provided with a positioning pin corresponding to the position of the positioning pin hole, and the positioning pin is plugged into the positioning pin hole, and after plugging, the positioning pin and the positioning pin hole are far away from the plane positioning plate The end surfaces of the first quick clamps are flush with each other, the first quick clamp is set on the plane positioning plate, and the clamping end of the first quick clamp is set corresponding to the positioning pin.

Preferably, the automatic leveling device further includes a workbench, the positioning and clamping module, the detection module and the three-axis movement module are all set on the workbench, and the workbench is positioned corresponding to the plane The position of the plate is provided with a positioning groove for conveniently positioning the plane positioning plate, and a second quick clamp for pressing the plane positioning plate in the positioning groove is provided on the workbench.

Preferably, the positioning groove extends toward one side of the workbench, and one side of the positioning groove is flush with one side of the workbench.

Preferably, the workbench is a plane board, the bottom of the workbench is provided with supporting legs, the detection unit is arranged under the plane board, and the plane board and the plane positioning board correspond to the detection unit The detection end is provided with a port.

Preferably, the detection unit includes an L-shaped camera mounting plate and a 3D laser camera, one end of the camera mounting plate is connected to the lower surface of the plane plate, the other end is connected to the 3D laser camera, and the 3D laser The camera head of the camera corresponds to the port setting.

Preferably, the three-axis motion adjustment module includes an X-direction drive mechanism, a Y-direction drive mechanism and a Z-direction drive mechanism, the Y-direction drive mechanism is arranged on the moving part of the X-direction drive mechanism, and the Z-direction drive mechanism The mechanism is arranged on the moving part of the Y-direction driving mechanism, the pressure block is arranged on the moving end of the Z-direction driving mechanism, and the X-direction driving mechanism includes an X-direction driving motor, an X-direction screw, and an X-direction rail , the X-direction slider and the X-direction mounting plate, the X-direction driving motor is connected with the X-direction mounting plate through the X-direction screw, and the X-direction mounting plate is driven to move in the X direction, and the X-direction mounting plate is passed on both sides of the bottom of the X-direction. The slider is slidably arranged on the X-guiding rail, and the Y-direction driving mechanism includes a Y-direction driving motor, a Y-direction screw, a Y-direction rail, a Y-direction slider and a Y-direction mounting plate, and the Y-direction driving motor passes through the Y direction. The lead screw is connected with the Y-direction mounting plate, drives the Y-direction mounting plate to move along the Y direction, and the two sides of the bottom of the Y-direction mounting plate are slid on the Y-direction rail through the Y-direction slider, and the Y-direction rail is set on the X-direction installation. On the board, the Z-direction driving mechanism includes a vertical support plate arranged on the Y-direction mounting plate, an electric cylinder mounting plate and an electric cylinder for driving the movement of the pressing block, and the support plate is far away from the Y-direction installation One end of the plate is provided with the electric cylinder mounting plate, the electric cylinder is arranged on the electric cylinder mounting plate, and the moving end of the electric cylinder is connected with the pressing block.

Preferably, guide posts are provided on both sides of the pressing block, and guide cylinders are provided on the installation plate of the electric cylinder corresponding to the positions of the guide posts, and the guide posts slide up and down in the guide cylinders.

Preferably, both the X-direction mounting plate and one side of the Y-direction mounting plate are provided with a grating ruler for measuring the moving distance.

The present invention also provides a method for leveling the automatic leveling device of the actuator cylinder, comprising the following steps:

S1: Install the plane positioning plate in the positioning groove, clamp the plane positioning plate with the second quick clamp, install the actuator on the plane positioning plate through the cooperation of the positioning pin and the positioning pin hole, and use the first quick clamp Clamp the joint between the positioning pin and the positioning pin hole to complete the positioning of the actuator;

S2: Start the 3D laser camera to obtain the assembly data and center position data of the flange components, and use the processing unit to analyze the assembly information. If there is uneven assembly, the center position data will be transmitted to the three-axis motion adjustment module, through the X direction , Y direction and Z direction adjustment, so that the pressure block is located above the flange assembly;

S3: Control the elongation of the electric cylinder so that the pressing block is slowly pressed against the flange assembly, the groove on the pressing block gradually fits with the flange assembly, and the flange assembly is leveled during the fitting process;

S4: After the leveling is completed, the control block is recovered, and the actuator is removed.

Compared with the prior art, the present invention has achieved the following technical effects:

1. In the present invention, the detection module is used to determine the assembly and position data of the flange assembly of the actuator, and whether the flange assembly needs to be leveled and the center point of the flange assembly are obtained. If leveling is required, the three-axis motion adjustment module is controlled After the three-axis motion adjustment module drives the pressure block to move to the position corresponding to the flange assembly, the three-axis motion adjustment module controls the pressure block to move towards the flange assembly until the groove of the pressure block is stuck on the flange assembly. The shape of the groove matches the shape of the standard flange assembly. When the groove of the pressure block is clamped to the flange assembly, the position of the two flanges of the flange assembly will be gradually corrected, and the two flanges will be rigidly extruded to become a standard flange. The shape of the flange assembly can be adjusted to complete the leveling of the flange assembly, that is, the joint adjustment of the two flanges on the flange assembly is realized by using a pressing block, and at the same time, the hardness of different flanges in the flange assembly is adjusted to the standard state, which improves the adjustment. level accuracy.

2. In the present invention, the location of the actuator is completed by setting the positioning pin and the positioning pin hole, and the first quick clamp is used to quickly clamp the position where the positioning pin matches the positioning pin hole, which improves the convenience of operation and at the same time , to help improve the positioning stability of the cylinder.

3. The setting of the positioning groove on the worktable in the present invention replaces the conventional positioning pin positioning, and the horizontal positioning can be completed by placing the plane positioning plate in the positioning groove, and the vertical positioning of the plane positioning plate can be completed by cooperating with the second quick clamp. The positioning greatly improves the convenience of operation.

4. In the present invention, the grating ruler is set to detect the movement distance of the X-direction mounting plate and the Y-direction mounting plate in real time, and the grating ruler is used to realize the precise control of the movement of the X-direction mounting plate and the Y-direction mounting plate, thereby improving the accuracy of subsequent leveling Spend.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is the structural representation of cylinder of the present invention;

Fig. 2 is the schematic structural view of the automatic leveling device of the actuator barrel of the present invention;

Fig. 3 is the schematic diagram of the connection between the plane positioning plate and the actuator of the present invention;

Fig. 4 is the structural representation of plane positioning plate of the present invention;

Fig. 5 is a structural schematic view of the X-direction and Y-direction drive mechanism of the present invention;

Fig. 6 is a schematic diagram of the connection between the drive part and the workbench of the X-direction drive mechanism of the present invention;

Fig. 7 is a structural schematic diagram of the Y-direction drive mechanism of the present invention;

Fig. 8 is a structural schematic diagram of the Z-direction drive mechanism of the present invention;

Fig. 9 is a schematic structural diagram of the detection module of the present invention;

Fig. 10 is a state diagram when the detection module of the present invention detects the flange assembly;

Among them, 1. actuator; 2. flange assembly; 3. positioning and clamping module; 4. detection module; 5. three-axis motion adjustment module; 6. pressing block; 7. groove; 8. plane positioning plate; 9. Locating pin hole; 10. Locating pin; 11. First quick clamp; 12. Workbench; 13. Locating slot; 14. Second quick clamp; 15. Port; 16. Camera mounting plate; 17. 3D laser camera; 18. X-direction drive mechanism; 19. Y-direction drive mechanism; 20. Z-direction drive mechanism; 21. X-direction drive motor; 22. X-direction screw; 23. X-direction rail; 24. X-direction slide 25. X-direction mounting plate; 26. Y-direction drive motor; 27. Y-direction screw; 28. Y-direction rail; 29. Y-direction slider; 30. Y-direction mounting plate; 31. Vertical support plate; 32. Electric cylinder mounting plate; 33. Electric cylinder; 34. Guide column; 35. Guide cylinder; 36. Grating ruler.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The object of the present invention is to provide an automatic leveling device and a leveling method for the cylinder body of the actuator, in order to solve the problems existing in the prior art, the pressure is directly applied to the flange assembly through the pressing block, and at the same time the flange assembly is The different flanges inside are rigidly adjusted to the standard state to improve the leveling accuracy.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Please refer to Figures 1 to 10 to provide an automatic leveling device for the cylinder body of the actuator, including the actuator 1, the positioning and clamping module 3 for positioning the actuator 1, and the The flange assembly 2 assembly and position data detection module 4 of 1, the three-axis motion adjustment module 5 and the pressing block 6 for leveling the flange assembly 2, the actuator 1 is arranged on the positioning and clamping module 3, and the pressing block 6 is set at the moving end of the three-axis motion adjustment module 5, and the leveling end of the pressure block 6 is provided with a groove 7, the shape of the groove 7 matches the shape of the standard flange assembly 2, and the inner contour of the groove 7 is consistent with the standard flange assembly 2, but it should be noted that the shape of the groove 7 should ensure that it can hold the flange assembly 2, and the inner contour of the groove 7 will not prevent the groove 7 from normally snapping to the flange assembly 2. That is, from the bottom surface of the groove 7 to the opening direction, the distance between the two side walls of the groove 7 along the radial direction of the actuator 1 gradually increases or increases in stages, and there will be no halfway decrease. Both end surfaces of the groove 7 along the axial direction of the actuator cylinder 1 are flush with the end surfaces of the pressure block 6, that is, the entire pressure block 6 is in a claw-shaped structure, and the detection module 4 is set corresponding to the flange assembly 2, and the detection module 4 and the three The controller of the axis motion adjustment module 5 is electrically connected, and the detection module 4 is used to determine the assembly and position data of the flange assembly 2 of the actuator 1, and obtain whether the flange assembly 2 needs to be leveled and the center point of the flange assembly 2. If If leveling is required, the three-axis motion adjustment module 5 is controlled to move. After the three-axis motion adjustment module 5 drives the pressure block 6 to move to the position corresponding to the flange assembly 2, the three-axis motion adjustment module 5 controls the pressure block 6 to move towards the flange assembly. 2 until the groove 7 of the pressure block 6 is stuck on the flange assembly 2. Since the shape of the groove 7 matches the shape of the standard flange assembly 2, when the groove 7 of the pressure block 6 is stuck to the flange assembly 2 In this process, the positions of the two flanges of the flange assembly 2 will be gradually corrected, and the two flanges will be rigidly extruded to become the shape of the standard flange assembly 2, and the leveling of the flange assembly 2 will be completed. The joint adjustment of the two flanges on the flange assembly 2 simultaneously adjusts the hardness of the different flanges in the flange assembly 2 to the standard state, improving the leveling accuracy.

A PLC control system is set, and the detection module 4 and the three-axis motion adjustment module 5 are electrically connected to the PLC control system, and the PLC control system realizes data transmission and outputs control signals.

Since the leveling of the flange assembly 2 is fine-tuning, and the leveling pressure does not exceed 10Kg, the material of the pressing block 6 is made of hard plastic, which can avoid damage to the surface of the flange assembly 2 during the leveling process.

The positioning and clamping module 3 includes a plane positioning plate 8 and a plurality of first quick clamps 11 for fixing the actuator 1. The positioning method of the actuator 1 and the plane positioning plate 8 is: the two sides of the actuator 1 are arranged There are several positioning pin holes 9, and the position of the plane positioning plate 8 corresponding to the positioning pin holes 9 is fixedly provided with a positioning pin 10. The end face away from the plane positioning plate 8 is flush, the first quick clamp 11 is arranged on the plane positioning plate 8, and the clamping end of the first quick clamp 11 is set corresponding to the positioning pin 10, and the positioning pin 10 and the positioning pin hole 9 are used The setting of the actuator completes the positioning of the actuator 1, and uses the first quick clamp 11 to quickly clamp the position where the positioning pin 10 matches the positioning pin hole 9, while improving the convenience of operation, it also assists in improving the position of the actuator 1. positioning stability.

The clamping end of the first quick clamp 11 is made of plastic material to avoid damage to the clamping part during the clamping process.

Since the positions of the positioning pin holes 9 of different actuators 1 may be different, different plane positioning plates 8 may be provided for different types of actuators 1 .

The automatic leveling device also includes a workbench 12 on which the positioning and clamping module 3, the detection module 4 and the three-axis motion module are all arranged. The position of the workbench 12 corresponding to the plane positioning plate 8 is provided with a plane positioning plate for convenient positioning. 8, the positioning groove 13 on the workbench 12 is provided with a second quick clamp 14 for pressing the plane positioning plate 8 in the positioning groove 13, and the setting of the positioning groove 13 on the workbench 12 replaces the conventional positioning pin 10 for positioning Place the plane positioning plate 8 in the positioning groove 13 to complete the horizontal positioning, and cooperate with the second quick clamp 14 to complete the vertical positioning of the plane positioning plate 8, which greatly improves the convenience of operation.

The clamping end of the second quick clamp 14 is made of plastic material to avoid damage to the clamping part during the clamping process.

Because the plane positioning plate 8 is directly placed in the positioning groove 13, it may be inconvenient to take out, so the positioning groove 13 can be set to extend towards the side of the workbench 12, and one side of the positioning groove 13 is flat with the side of the workbench 12. When taking out the plane positioning plate 8, it can be pulled out from the extending direction of the positioning groove 13; or the groove body is arranged on both sides of the positioning groove 13, and the position of the plane positioning plate 8 corresponding to the groove body is provided with a force groove. When the plane positioning plate 8 is taken out, the operator stretches his hands into the groove body, hooks the force applying groove, and lifts the plane positioning plate 8 upwards.

The workbench 12 is a plane board, and the bottom of the workbench 12 is provided with supporting legs, and the detection unit is arranged under the plane board, which reduces the space occupation on the upper side and the side, and provides operators with a larger operating space. The detection end of the positioning plate 8 corresponding to the detection unit is provided with a through port 15 , and the detection end of the detection unit detects the flange assembly 2 through the through port 15 .

The detection unit includes an L-shaped camera mounting plate 16 and a 3D laser camera 17. One end of the camera mounting plate 16 is connected to the lower surface of the plane plate, and the other end is connected to the 3D laser camera 17. The occlusion of the 3D laser camera 17, the camera head of the 3D laser camera 17 is set corresponding to the port 15.

The three-axis motion adjustment module 5 includes an X-direction drive mechanism 18, a Y-direction drive mechanism 19, and a Z-direction drive mechanism 20. The Y-direction drive mechanism 19 is arranged on the moving part of the X-direction drive mechanism 18, and the Z-direction drive mechanism 20 is arranged on the Y-direction drive mechanism 20. On the moving part of the driving mechanism 19, the pressing block 6 is arranged on the moving end of the Z driving mechanism 20, and the X driving mechanism 18 includes an X driving motor 21, an X leading screw 22, an X guiding rail 23, and an X sliding block. 24 and the X-direction mounting plate 25, the X-direction driving motor 21 is connected with the X-direction mounting plate 25 through the X-direction screw 22, drives the X-direction mounting plate 25 to move along the X direction, and the X-direction mounting plate 25 bottom sides are passed through the X-direction slide Block 24 is slidably arranged on the X guide rail 23, and Y direction drive mechanism 19 comprises Y direction drive motor 26, Y direction screw 27, Y guide rail 28, Y direction slide block 29 and Y direction mounting plate 30, Y direction drive motor 26 is connected with the Y-direction mounting plate 30 through a lead screw, and drives the Y-direction mounting plate 30 to move along the Y direction. Set on the X-direction mounting plate 25, the Z-direction drive mechanism 20 includes a vertical support plate 31 set on the Y-direction mounting plate 30, an electric cylinder mounting plate 32 for driving the pressing block 6 to move, a driving motor and an electric cylinder 33 , the end of the support plate away from the Y-direction mounting plate 30 is provided with an electric cylinder mounting plate 32, the electric cylinder 33 is arranged on the electric cylinder mounting plate 32, the moving end of the electric cylinder 33 is connected with the briquetting block 6, and the electric cylinder 33 drives the briquetting block 6 to carry out vertical movement.

In order to ensure the stability of the electric cylinder 33 in motion and reduce the impact of the vibration of the electric cylinder 33 on the stability of the briquetting block 6, guide posts 34 are arranged on both sides of the briquetting block 6, and the corresponding guide posts 34 on the electric cylinder mounting plate 32 A guide cylinder 35 is provided at the position, and the guide post 34 is slidably arranged in the guide cylinder 35 up and down.

One side of the X-direction mounting plate 25 and the Y-direction mounting plate 30 is all provided with a grating ruler 36 for measuring the moving distance. The movement distance of the X-direction mounting plate 25 and the Y-direction mounting plate 30 is detected in real time, and the grating ruler 36 is used to realize precise control of the movement of the X-direction mounting plate 25 and the Y-direction mounting plate 30, thereby improving the accuracy of subsequent leveling.

The present invention also provides a method for leveling the automatic leveling device of the actuator cylinder, comprising the following steps:

S1: Install the plane positioning plate 8 in the positioning groove 13, clamp the plane positioning plate 8 with the second quick clamp 14, and install the actuator 1 on the plane positioning plate 8 through the cooperation of the positioning pin 10 and the positioning pin hole 9 , and use the first quick clamp 11 to clamp the joint between the positioning pin 10 and the positioning pin hole 9 to complete the positioning of the actuator 1;

S2: Start the 3D laser camera 17 to obtain the assembly data and center position data of the flange assembly 2, and use the processing unit to analyze the assembly information. If the assembly is uneven, the center position data will be transmitted to the three-axis motion adjustment module 5, specifically The detection steps are as follows: scan the contour of the bottom plane of the flange assembly 2 through the 3D laser camera 17, and then return the measurement result to the processing unit (computer), and the processing unit compares the measurement result with the qualified levelness, and passes the scanning result. Comparing and calculating the angle difference of the flange assembly 2, and then determining the X and Y coordinates of the center of the flange assembly 2 through calculation, the computer determines its displacement according to the position of the current three-axis motion movement module, and drives the X direction through the PLC control system The drive motor 21, the Y-direction drive motor 26 and the electric cylinder 33 work to complete the corresponding displacement movement. At the same time, the two grating scales 36 also perform feedback adjustment on the X-direction and Y-direction movement. Controlled by the PLC control system, precise displacement is achieved. Adjustment in the X direction, Y direction and Z direction, so that the pressure block 6 is located above the flange assembly 2;

S3: Control the extension of the electric cylinder 33, so that the pressure block 6 is slowly pressed to the flange assembly 2, and when the position of the flange assembly 2 is approaching, the movement speed can be reduced, and the groove 7 on the pressure block 6 gradually aligns with the flange assembly 2 Fitting, during the mating process, under the action of pressure, the flange of the flange assembly 2 rotates slowly until there is no change, and the steps of leveling the flange assembly 2 are completed;

S4: After the leveling is completed, the control block 6 is recovered, and the actuator 1 is removed.

Adaptive changes made according to actual needs are within the protection scope of the present invention.

It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. . Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

In the present invention, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method and core idea of the present invention; meanwhile, for those of ordinary skill in the art, according to the present invention The idea of the invention will have changes in the specific implementation and scope of application. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims (9)

1. The automatic leveling device for the cylinder body of the actuating cylinder is characterized by comprising the actuating cylinder, a positioning clamping module used for positioning the actuating cylinder, a detection module used for determining assembly and position data of a flange component of the actuating cylinder, a triaxial movement adjusting module and a pressing block used for leveling the flange component, wherein the actuating cylinder is arranged on the positioning clamping module, the positioning clamping module comprises a planar positioning plate and a plurality of first quick clamps used for fixing the actuating cylinder, a plurality of positioning pin holes are arranged on two sides of the actuating cylinder, positioning pins are fixedly arranged at positions of the planar positioning plate corresponding to the positioning pin holes, the positioning pins are spliced with the positioning pin holes, after splicing, the positioning pins and the positioning pin holes are far away from the end face of the planar positioning plate, the first quick clamps are arranged on the planar positioning plate, and clamping ends of the first quick clamps are arranged corresponding to the positioning pins; the pressing block is arranged at the moving end of the triaxial movement adjusting module, the leveling end of the pressing block is provided with a groove, the shape of the groove is matched with that of a standard flange assembly, the periphery of the flange assembly is provided with a protruding part, the groove is provided with an abutting part which abuts against the protruding part, the shape of the abutting part is matched with that of the protruding part, and the flange of the flange assembly is slowly rotated by the abutting part through the pressure given by the triaxial movement adjusting module until the angle is not changed any more to finish leveling; the detection module is arranged corresponding to the flange assembly, and is electrically connected with the controller of the triaxial movement adjusting module.

2. The automatic leveling device for the cylinder body of the actuator cylinder according to claim 1, further comprising a workbench, wherein the positioning clamping module, the detection module and the triaxial movement adjusting module are all arranged on the workbench, a positioning groove for conveniently positioning the plane positioning plate is formed in the position, corresponding to the plane positioning plate, of the workbench, and a second quick clamp for pressing the plane positioning plate in the positioning groove is arranged on the workbench.

3. The automatic leveling device for an actuator cylinder according to claim 2, wherein the detent extends toward a side of the table, the side of the detent being flush with the side of the table.

4. The automatic leveling device for the cylinder body of the actuator cylinder according to claim 2, wherein the workbench is a plane plate, supporting legs are arranged at the bottom of the workbench, the detection module is arranged below the plane plate, and the plane plate and the plane positioning plate are respectively provided with a through hole corresponding to the detection end of the detection module.

5. The automatic leveling device for the cylinder body of the actuator cylinder according to claim 4, wherein the detection module comprises an L-shaped camera mounting plate and a 3D laser camera, one end of the camera mounting plate is connected with the lower surface of the plane plate, the other end of the camera mounting plate is connected with the 3D laser camera, and a camera of the 3D laser camera is arranged corresponding to the through hole.

6. The automatic leveling device for the cylinder body of the actuator cylinder according to claim 5, wherein the triaxial movement adjusting module comprises an X-direction driving mechanism, a Y-direction driving mechanism and a Z-direction driving mechanism, the Y-direction driving mechanism is arranged on a moving part of the X-direction driving mechanism, the Z-direction driving mechanism is arranged on the moving part of the Y-direction driving mechanism, the pressing block is arranged at a moving end of the Z-direction driving mechanism, the X-direction driving mechanism comprises an X-direction driving motor, an X-direction lead screw, an X-direction guide rail, an X-direction sliding block and an X-direction mounting plate, the X-direction driving motor is connected with the X-direction mounting plate through the X-direction lead screw, the X-direction mounting plate is driven to move along the X-direction, two sides of the bottom of the X-direction mounting plate are arranged on the X-direction guide rail through the X-direction sliding block, the Y-direction driving mechanism comprises a Y-direction driving motor, a Y-direction lead screw, a Y-direction guide rail, a Y-direction sliding block and a Y-direction mounting plate, the Y-direction mounting plate is connected with the Y-direction mounting plate, the Y-direction sliding block is arranged on the Y-direction mounting plate, the two sides of the bottom of the Y-direction sliding block are arranged on the Y-direction mounting plate through the Y-direction guide rail, the electric pressing block is arranged at one end far from the Y-direction mounting plate, the electric pressing block is arranged on the electric cylinder, and the electric pressing block is arranged at one end far from the electric pressing block.

7. The automatic leveling device for the cylinder body of the actuating cylinder according to claim 6, wherein guide posts are arranged on two sides of the pressing block, a guide cylinder is arranged on the electric cylinder mounting plate at a position corresponding to the guide posts, and the guide posts are arranged in the guide cylinder in a vertical sliding mode.

8. The automatic leveling device of the actuator cylinder body according to claim 6, wherein a grating ruler for measuring a movement distance is arranged on one side of the X-direction mounting plate and one side of the Y-direction mounting plate.

9. A leveling method using the automatic leveling device for a cylinder body of an actuator as claimed in any one of claims 6 to 8, comprising the steps of:

s1: the method comprises the steps of installing a plane locating plate in a locating groove, clamping the plane locating plate by using a second quick clamp, installing an actuating cylinder on the plane locating plate through the matching of a locating pin and a locating pin hole, and clamping the matching position of the locating pin and the locating pin hole by using a first quick clamp to finish the locating of the actuating cylinder;

s2: starting a 3D laser camera to acquire assembly data and central position data of the flange assembly, analyzing the assembly information by utilizing a processing unit, and transmitting the central position data to a triaxial movement adjusting module if the assembly is uneven, and enabling a pressing block to be positioned above the flange assembly through adjustment in the X direction, the Y direction and the Z direction;

s3: controlling the electric cylinder to extend, so that the pressing block is slowly pressed to the flange assembly, and gradually matching the groove on the pressing block with the flange assembly, and leveling the flange assembly in the matching process;

s4: and after leveling is finished, controlling the pressing block to recycle, and taking down the actuating cylinder.

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