CN104759939B - A kind of normal direction centering pose_adjuster and attitude-adjusting method thereof - Google Patents
A kind of normal direction centering pose_adjuster and attitude-adjusting method thereof Download PDFInfo
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- CN104759939B CN104759939B CN201510081366.0A CN201510081366A CN104759939B CN 104759939 B CN104759939 B CN 104759939B CN 201510081366 A CN201510081366 A CN 201510081366A CN 104759939 B CN104759939 B CN 104759939B
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- slide block
- pose
- adjuster
- supporting leg
- normal direction
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- 238000000034 method Methods 0.000 title claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 12
- 210000003141 lower extremity Anatomy 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 238000005553 drilling Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 239000012636 effector Substances 0.000 description 3
- 238000004080 punching Methods 0.000 description 3
- 241001074085 Scophthalmus aquosus Species 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- HEMJJKBWTPKOJG-UHFFFAOYSA-N Gemfibrozil Chemical compound CC1=CC=C(C)C(OCCCC(C)(C)C(O)=O)=C1 HEMJJKBWTPKOJG-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- IXSZQYVWNJNRAL-UHFFFAOYSA-N etoxazole Chemical class CCOC1=CC(C(C)(C)C)=CC=C1C1N=C(C=2C(=CC=CC=2F)F)OC1 IXSZQYVWNJNRAL-UHFFFAOYSA-N 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (8)
- null1. a normal direction centering pose_adjuster,Including leg body and Suction cup assembly (7),Described leg body includes encoder (1)、Servomotor (2)、Decelerator (3)、Scale (4) crossed by motor、Leading screw (5)、Line slideway (6)、Supporting leg overcoat (8)、Z-direction slide block (9) and interior supporting leg (10),Described servomotor (2) is connected with decelerator (3),Described leading screw (5) is connected with decelerator (3),Described leading screw (5) is fixing with interior supporting leg (10) to be connected,Described interior supporting leg (10) is fixing with slide block (9) to be connected,Described interior supporting leg (10) is slidably arranged in supporting leg overcoat (8),Described slide block (9) is slidably disposed on line slideway (6),Described line slideway (6) is fixed on supporting leg overcoat (8),Described Suction cup assembly (7) is fixed on the bottom of interior supporting leg (10),Described Suction cup assembly (7) includes Y-direction line slideway (11)、Y-direction bridge crossing plate (12)、Y-direction slide block (13)、Spring leaf (14)、Support (15)、Ball-joint (16)、X is to locker (17)、X is to bridge crossing plate (18)、X is to slide block (19)、X is to line slideway (20)、X is to spring (21)、Y-direction locker (22) and Y-direction spring (23),Described X is to slide block (19)、Y-direction slide block (13) is all connected with Suction cup assembly (7) main body,Described ball-joint (16) is fixed on support (15) above and makes support (15) hinged with Suction cup assembly (7) body rotation,Described X all fixes with sucker to line slideway (20) and Y-direction line slideway (11),Described X can slide along horizontal X direction of principal axis on line slideway (20) at X to slide block (19),Described Y-direction slide block (13) can slide along horizontal Y direction on Y-direction line slideway (11),Described spring leaf (14)、X is to spring (21)、Y-direction spring (23) can make Suction cup assembly (7) main body respectively、X is to slide block (19)、Y-direction slide block (13) playbacks.
- A kind of normal direction centering pose_adjuster the most according to claim 1, is characterized in that: by connecting, sheet (25) and mobile platform framework are fixing to be connected described supporting leg overcoat (8).
- A kind of normal direction centering pose_adjuster the most according to claim 1, is characterized in that: uses motor to cross scale (4) between described servomotor (2) and leading screw (5) and is connected.
- A kind of normal direction centering pose_adjuster the most according to claim 1, is characterized in that: realize being screwed by the screw thread on support (15) between described Suction cup assembly (7) and interior supporting leg (10).
- A kind of normal direction centering pose_adjuster the most according to claim 1, is characterized in that: the periphery of described sucker is provided with the sucker lip (24) for increasing suction.
- A kind of normal direction centering pose_adjuster the most according to claim 1, it is characterized in that: described X is used for connecting X to locker (17) and X to slide block (19) to bridge crossing plate (18), enable the two group to be integrated to slide along X to line slideway (20), described Y-direction bridge crossing plate (12) is used for connecting Y-direction locker (22) and Y-direction slide block (13), enables the two group to be integrated and slides along Y-direction line slideway (11).
- 7. an attitude-adjusting method for normal direction centering pose_adjuster as claimed in claim 1, is characterized in that: comprise the following steps:Step one, when normal direction centering pose_adjuster moves to precalculated position, normal direction centering pose_adjuster by external force make normal direction centering pose_adjuster bottom fit surface of the work, make sucker stably adsorb at surface of the work;Step 2, system control normal direction centering pose_adjuster and carry out posture adjustment, change the X of normal direction centering pose_adjuster, Y, Z-direction position and the inclination angle relative to workpiece planarization;Particularly as follows:X is to position adjustments: controls X and slides to line slideway (20) along X to slide block (19), makes Suction cup assembly (7) slide in the same direction to slide block (19) also with X;And then make leg body in X upwards horizontal displacement;Y-direction position adjustments: control Y-direction slide block (13) and slide along Y-direction line slideway (11), make Suction cup assembly (7) slide in the same direction to slide block (19) also with X;And then make leg body horizontal displacement in Y-direction;Z-direction position adjustments: control servomotor (2) running, leading screw (5) rotates, interior supporting leg (10) is made to slide up and down relative to supporting leg overcoat (8), and then make supporting leg overcoat (8) increase with the Z-direction distance of sucker or shorten, mobile platform framework is consequently increased with the distance of workpiece planarization or shortens, it is achieved Z-direction position adjustments;Inclination angle regulates: control ball-joint (16) rotates in Suction cup assembly (7), fixes because of ball-joint (16) and leg body and is connected, and realizes inclination angle regulation by controlling the rotational angle of ball-joint (16).
- The attitude-adjusting method of normal direction centering pose_adjuster the most according to claim 7, it is characterized in that: the high rotating speed of servomotor (2) is converted into the response of suitable landing leg stretching by described decelerator (3), and utilizes encoder (1) feedback can improve the feed accuracy of interior supporting leg (10).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201510081366.0A CN104759939B (en) | 2015-02-15 | 2015-02-15 | A kind of normal direction centering pose_adjuster and attitude-adjusting method thereof |
Applications Claiming Priority (1)
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CN201510081366.0A CN104759939B (en) | 2015-02-15 | 2015-02-15 | A kind of normal direction centering pose_adjuster and attitude-adjusting method thereof |
Publications (2)
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CN104759939A CN104759939A (en) | 2015-07-08 |
CN104759939B true CN104759939B (en) | 2016-09-14 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101734241B1 (en) * | 2015-12-10 | 2017-05-11 | 현대자동차 주식회사 | Trunk lid hinge intellectual loader unit |
CN113770675A (en) * | 2021-09-18 | 2021-12-10 | 中航西安飞机工业集团股份有限公司 | Structural component posture adjusting positioner and use method |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5429009A (en) * | 1993-05-20 | 1995-07-04 | Carnegie Mellon University | Robot with cruciform geometry |
CN102107371A (en) * | 2010-12-07 | 2011-06-29 | 中国商用飞机有限责任公司 | Walking and positioning device for walking and positioning on workpiece |
CN102513575A (en) * | 2012-01-10 | 2012-06-27 | 袁培江 | Aviation hole-forming robot end effector capable of adjusting attitude |
CN103084913A (en) * | 2013-01-28 | 2013-05-08 | 南京航空航天大学 | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7607234B2 (en) * | 2007-09-05 | 2009-10-27 | Hiwin Mikrosystem Corp. | Positive load alignment mechanism |
JP2009063540A (en) * | 2007-09-10 | 2009-03-26 | Hiwin Mikrosystem Corp | Alignment apparatus for ultrahigh positive direction load |
-
2015
- 2015-02-15 CN CN201510081366.0A patent/CN104759939B/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5429009A (en) * | 1993-05-20 | 1995-07-04 | Carnegie Mellon University | Robot with cruciform geometry |
CN102107371A (en) * | 2010-12-07 | 2011-06-29 | 中国商用飞机有限责任公司 | Walking and positioning device for walking and positioning on workpiece |
CN102513575A (en) * | 2012-01-10 | 2012-06-27 | 袁培江 | Aviation hole-forming robot end effector capable of adjusting attitude |
CN103084913A (en) * | 2013-01-28 | 2013-05-08 | 南京航空航天大学 | Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture |
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CN104759939A (en) | 2015-07-08 |
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C41 | Transfer of patent application or patent right or utility model | ||
CB03 | Change of inventor or designer information |
Inventor after: Tian Wei Inventor after: Zhang Binbin Inventor after: Liao Wenhe Inventor after: Zhang Xuan Inventor after: Han Feng Inventor after: Hu Jian Inventor after: Zhang Lin Inventor after: Wang Lifeng Inventor after: Yuan Lei Inventor after: Yu Bin Inventor before: Tian Wei Inventor before: Liao Wenhe Inventor before: Zhang Xuan Inventor before: Han Feng Inventor before: Hu Jian Inventor before: Zhang Lin |
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Effective date of registration: 20160818 Address after: The Imperial Palace 210016 Yudaojie Jiangsu city of Nanjing province No. 29 Applicant after: Nanjing University of Aeronautics and Astronautics Applicant after: Hongdu Aviation Industry Group Co., td., Jiangxi Prov. Address before: The Imperial Palace 210016 Yudaojie Jiangsu city of Nanjing province No. 29 Applicant before: Nanjing University of Aeronautics and Astronautics |
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