CN106425450A - Automatic assembly equipment with wheel type locating combined with space motion posture adjusting - Google Patents
Automatic assembly equipment with wheel type locating combined with space motion posture adjusting Download PDFInfo
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- CN106425450A CN106425450A CN201610938956.5A CN201610938956A CN106425450A CN 106425450 A CN106425450 A CN 106425450A CN 201610938956 A CN201610938956 A CN 201610938956A CN 106425450 A CN106425450 A CN 106425450A
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- moving
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- moving sets
- cross axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
Automatic assembly equipment with wheel type locating combined with space motion posture adjusting comprises an omnidirectional moving locating car with Mecanum wheels and a four-freedom-degree posture adjusting platform arranged on a car body. The four-freedom-degree posture adjusting platform comprises a moving platform used for bearing a large component with the posture to be adjusted, four hook joint-moving pair-spherical pair (UPS) branched chains and a moving pair-spherical pair (PS) branched chain, wherein the four hook joint-moving pair-spherical pair (UPS) branched chains and the moving pair-spherical pair (PS) branched chain are connected with the moving platform. One end of a spherical pair of the PS branched chain is connected with the moving platform, and one end of a moving pair of the PS branched chain is vertically arranged on the omnidirectional moving locating car. The two ends of each UPS branched chain are rotationally connected with the moving platform and the omnidirectional moving locating car correspondingly. According to the automatic assembly equipment, three-freedom-degree wide-range wheel type locating and space four-freedom-degree (including translation in the vertical direction and rotation in three directions) motion posture adjusting in the horizontal plane can be achieved, and the automatic assembly equipment has the beneficial effects of being wide in motion range, compact in arrangement, simple in control manner, high in operation precision and assembly efficiency and low in cost and can achieve automatic and precise assembly of the large component.
Description
Technical field
The present invention relates to a kind of technology in air equipment field, specifically a kind of wheeled positioning and spatial movement posture adjustment
The automatic assembly equipment combining.
Background technology
In current Chinese large-sized part assembling process, such as assembling between the intersegmental assembling of aircraft passenger compartment, rocket cylinder body, main
If to ensure assembly precision between big part by technological compensa tion and frock, and most of docking equipment needs by manually adjusting,
Small part docking equipment be capable of adjust automatically, but adjusting range be limited only to assemble docking location near, efficiency low and
The high labor intensive of workman, it is easy to cause to collide with and clamping stagnation, is also easy to produce stress, reduces assembling quality.For this problem, grind
Make the automatic assembly equipment that a kind of wheeled positioning is combined with spatial movement posture adjustment, increase the scope of large component pose adjustment,
Improve the production efficiency of production line, improve assembling quality while reducing labor strength.
Content of the invention
The present invention does not enable the running fix on a large scale perpendicular to orbital direction for prior art, and do not enable around
Perpendicular to large rotation or the translation of horizontal plane axis, easily cause and collide with defects such as clamping stagnations it is proposed that one kind is wheeled fixed
The automatic assembling that combines with spatial movement posture adjustment of position is equipped, and is capable of the wheeled on a large scale fixed of three degree of freedom in horizontal plane
Position and the motion posture adjustment of four, the space free degree (including the translation of vertical direction and the rotation in three directions), have motion model
Enclose the feature big, characteristics of compact layout, control mode are simple, performance accuracy is high, efficiency of assembling is high, with low cost, be capable of big portion
The automatic precision assembling of part.
The present invention is achieved by the following technical solutions：
The present invention includes：All-around mobile positioning car with Mecanum wheel and be arranged at the four-degree-of-freedom on vehicle body
Posture adjustment platform, this four-degree-of-freedom posture adjustment platform includes：For carry treat the big part of posture adjustment moving platform and respectively with moving platform
Four connected Hooke's hinge-moving sets-ball pair (UPS) side chain and moving sets-ball pair (PS) side chain, wherein：PS side chain
Ball pair one end is connected with moving platform, and moving sets one end is vertically arranged on all-around mobile positioning car；The two ends of UPS side chain are respectively
Rotate with moving platform and all-around mobile positioning car and be connected, by elongating or shortening of the moving sets in described four UPS side chains,
Realize the translation of the vertical direction of big part and the rotation posture adjustment in three directions.
Described four UPS side chains preferably side in all-around mobile positioning car and the side in moving platform are all in just
Square arrangement, and the foursquare length of side constituting in the side of all-around mobile positioning car is more than the pros in the side of moving platform
The shape length of side.
Described PS side chain be preferably respectively connected with all-around mobile positioning car and moving platform in described foursquare just
Central authorities.
Described UPS side chain includes：Ball pivot, typed ball bearing pair fulcrum bearing, upper moving sets support bar, lower moving sets support bar, on
Cross axle support base, lower cross axle support base and cross axle, wherein：Ball pivot is arranged in typed ball bearing pair support base, and upper moving sets prop up
Strut upper end is fixedly connected with ball pivot, and lower end is slidably connected with lower moving sets support bar, and cross axle one end is supported with upper cross axle
Seat rotates and connects, and the other end is rotated with lower cross axle support base and is connected, and upper cross axle support base is fixed with lower moving sets support bar
Connect, lower cross axle support base is rotated with the vehicle body of Omnibearing wheel type positioning car and is connected.
It is provided with drive mechanism between described upper moving sets support bar and lower moving sets support bar to be used for driving moving sets to stretch
Length and shortening.
Described PS side chain includes：Typed ball bearing pair fulcrum bearing, ball pivot, upper sliding supporting bar and lower slider support bar, wherein：Ball
Hinge is arranged in typed ball bearing pair support base, and upper sliding supporting bar one end is fixedly connected with ball pivot, and the other end is slided with lower slider support bar
It is dynamically connected, lower slider support bar is rotated with the vehicle body of Omnibearing wheel type positioning car and is connected.
Described all-around mobile positioning car includes：The vehicle body of all-around mobile positioning car and four Mecanum wheels, its
In：Four Mecanum wheels are rotated with the vehicle body of the all-around mobile positioning car containing four Mecanum wheels and are connected, four wheats
Ke Namu wheel is all each independently driven by servomotor, realizes the running fix on a large scale of three degree of freedom in horizontal plane.
Technique effect
Compared with prior art, the present invention is by the Omnibearing wheel type positioning car based on Mecanum wheel and based on parallel institution
Spatial movement posture adjustment Butt Assembling equipment combine it is achieved that big part three degree of freedom is wheeled fixed on a large scale in the horizontal plane
Position and in space four frees degree motion posture adjustment, and then realize automatic precision assembling, improve production efficiency and assembling matter
Amount.In the four UPS side chains of Omnibearing wheel type positioning car top design with Mecanum wheel and a PS side chain, wherein four
The square arrangement of lower cross axle support base of UPS side chain, ball pair bearing is fixedly connected with adjustment moving platform, also becomes square cloth
Put, and the square length of side of lower cross axle support base is greater than the square that ball pair bearing is formed；The ball pair of described PS side chain
Bearing is located at four UPS and props up the foursquare centre that hammer pair bearing is formed, and the lower moving sets support bar of PS side chain is located at four
The foursquare centre that under individual UPS side chain, cross axle support base is formed.Drive according to calculated certain rule and move
The space posture adjustment of any four-degree-of-freedom of big part, the translational degree of freedom including vertical direction and three directions when secondary, can be completed
Rotational freedom；Omnibearing wheel type positioning car can by the driving of four Mecanum wheels is realized three in horizontal plane from
Omnibearing wheel type by degree (including two translational degree of freedom and a rotational freedom perpendicular to horizontal plane in horizontal plane)
Positioning.This automatic assembly equipment combines wheeled positioning and two technology of parallel institution spatial movement posture adjustment, has range of movement
Greatly, with low cost, performance accuracy is high, reduces labor strength, improves the advantages of efficiency of assembling and assembling quality.
Brief description
Fig. 1 is three-dimensional structure diagram of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the left view of the present invention；
Fig. 4 is the Omnibearing wheel type positioning car schematic diagram in the present invention with Mecanum wheel；
Fig. 5 is UPS side chain schematic diagram of the present invention；
Fig. 6 is PS side chain schematic diagram of the present invention；
Fig. 7 is Hooke's hinge structural representation in the present invention；
In figure：Treat the big part of posture adjustment 1, big component bracket 2, adjustment moving platform 3, typed ball bearing pair fulcrum bearing 4, ball pivot 5, upper movement
Secondary support bar 6, lower moving sets support bar 7, drive mechanism 8, upper cross axle support base 9, cross axle 10, lower cross axle support base
11st, typed ball bearing pair fulcrum bearing 12, ball pivot 13, upper sliding supporting bar 14, lower slider support bar 15, the vehicle body of Omnibearing wheel type positioning car
16th, Mecanum wheel 17, the big part 18 of docking.
Specific embodiment
As shown in figure 1, the present embodiment includes：Adjustment moving platform 3 with big component bracket 2, carry Mecanum wheel 17
Omnibearing wheel type positioning car and four respectively connected UPS side chains and a PS side chain, wherein：Treat the big portion of posture adjustment
Part 1 and big component bracket 2 contact connection by arc profile, big component bracket 2 alignment lie on adjustment moving platform 3 and with tune
Whole moving platform 3 is fixedly connected.
Described adjustment moving platform 3 adopts the steel plate of smooth processing, for supporting big component bracket 2 and treating the big portion of posture adjustment
Part 1.
In the present embodiment, the arrangement form of four UPS side chains as shown in Figure 1 to Figure 3, four UPS branched structures complete
Sample.
As shown in figure 4, described Omnibearing wheel type positioning car includes：Omnibearing wheel type positioning car with Mecanum wheel
Vehicle body 16 and four Mecanum wheels 17, wherein：Four Mecanum wheels 17 and the Omnibearing wheel type with Mecanum wheel
The vehicle body 16 of positioning car rotates and connects, and four Mecanum wheels 17 are all independently driven by servomotor, realize three in horizontal plane
The wheeled on a large scale positioning of the individual free degree.
As Figure 1-3, the square arrangement of lower cross axle support base 11 of four described UPS side chains, typed ball bearing pair is propped up
Bearing 4 is fixedly connected with adjustment moving platform 3, also becomes arranged in squares, and the square length of side of lower cross axle support base 11 is big
The square being formed in ball pair bearing 4.
As Figure 1-3, the ball pair support base 12 of described PS side chain is located at four UPS side chain typed ball bearing pair fulcrum bearing 4 shapes
The foursquare centre becoming, the lower moving sets support bar 15 of PS side chain is located at cross axle support base 11 shape under four UPS side chains
The foursquare centre becoming.
As shown in Fig. 1-3,5,7, described UPS side chain includes：Ball pivot 5, typed ball bearing pair fulcrum bearing 4, upper moving sets support bar
6th, lower moving sets support bar 7, upper cross axle support base 9, lower cross axle support base 11, cross axle 10 and drive mechanism 8, wherein：
Ball pivot 5 is arranged in typed ball bearing pair support base 4；Described upper moving sets support bar 6 upper end is fixedly connected with ball pivot 5, lower end with
Moving sets support bar 7 is slidably connected；Cross axle 10 one end and upper cross axle support base 9 rotate and are connected, the other end and lower cross axle
Support base 11 rotates and connects；Upper cross axle support base 9 is fixedly connected with lower moving sets support bar 7；Lower cross axle support base 11 with
The vehicle body 16 of the Omnibearing wheel type positioning car with Mecanum wheel is fixedly connected；Drive mechanism 8 drives upper moving sets support bar 6
The moving sets elongation being formed with lower moving sets support bar 7 and shortening.
As shown in Fig. 1-3,6, described PS side chain includes：Typed ball bearing pair fulcrum bearing 12, ball pivot 13, upper sliding supporting bar 14,
Lower slider support bar 15, wherein：Ball pivot 13 is arranged in typed ball bearing pair support base 12；Upper sliding supporting bar 14 one end is solid with ball pivot 13
Fixed connection, the other end is slidably connected with lower slider support bar 15；Lower slider support bar 15 with comprehensive with Mecanum wheel
The vehicle body 16 of wheeled positioning car is fixedly connected.
Moving sets in four described UPS side chains are driven by drive mechanism 8 when elongating or shortening, and big part can be real
Existing four-degree-of-freedom space posture adjustment, this four-degree-of-freedom includes the translation of vertical direction and the rotation in three directions.
The present embodiment is operated in the following manner：Determine the pose docking big part 18 first, then control and carry
The Omnibearing wheel type positioning car of Mecanum wheel moves in the horizontal plane, make to treat the big part of posture adjustment 1 move to four UPS side chains and
In the working space of parallel institution of one PS side chain composition, realize treating three degree of freedom in the horizontal plane of the big part of posture adjustment 1
Wheeled positioning on a large scale.Then require to generate control method according to posture adjustment, drive four moving sets using servomotor 8, wait to adjust
The big part of appearance 1 just can obtain the motion of space four-degree-of-freedom with adjustment moving platform 3.Determine and treat the current of the big part of posture adjustment 1
After the object pose of pose and the big part 18 of docking, move in the horizontal plane with Omnibearing wheel type positioning car and match, according to
The Inverse Kinematics Solution of mechanism obtains the driving input quantity required for posture adjustment assembling process, makes to treat posture adjustment big part 1 from current pose
It is adjusted to targeted attitude, complete assembling process.This automatic assembly equipment is capable of grand movement in space for the big part
Posture adjustment positions, and has with low cost a, fast response time, and performance accuracy is high, the advantages of efficiency of assembling is high.
Above-mentioned be embodied as can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode local directed complete set is carried out to it, protection scope of the present invention is defined by claims and is not embodied as institute by above-mentioned
Limit, each implementation in the range of it is all by the constraint of the present invention.
Claims (7)
1. the automatic assembling equipment that a kind of wheeled positioning is combined with spatial movement posture adjustment is it is characterised in that include：With Mike
The all-around mobile positioning car of Na Mu wheel and be arranged at four-degree-of-freedom posture adjustment platform on vehicle body, this four-degree-of-freedom posture adjustment platform
Including：For carrying the moving platform treating the big part of posture adjustment and four Hooke's hinge-moving sets-ball pairs being connected respectively with moving platform
(UPS) side chain and moving sets-ball pair (PS) side chain, wherein：Ball pair one end of PS side chain is connected with moving platform, moving sets one
End is vertically arranged on all-around mobile positioning car；The two ends of UPS side chain are turned with moving platform and all-around mobile positioning car respectively
Be dynamically connected, by elongating or shortening of the moving sets in described four UPS side chains, realize big part the translation of vertical direction and
The rotation posture adjustment in three directions.
2. automatic assembling equipment according to claim 1, is characterized in that, four described UPS side chains are in all-around mobile
The side of positioning car and in all square arrangement in the side of moving platform, described PS side chain and all-around mobile positioning car with
And moving platform is respectively connected with described foursquare centre.
3. automatic assembling equipment according to claim 1 and 2, is characterized in that, four described UPS side chains are in comprehensive shifting
The foursquare length of side that the side of dynamic positioning car is constituted is more than the square length of side in the side of moving platform.
4. automatic assembling equipment according to claim 1, is characterized in that, described UPS side chain includes：Ball pivot, typed ball bearing pair
Fulcrum bearing, upper moving sets support bar, lower moving sets support bar, upper cross axle support base, lower cross axle support base and cross axle, its
In：Ball pivot is arranged in typed ball bearing pair support base, and upper moving sets post upper is fixedly connected with ball pivot, and lower end is propped up with lower moving sets
Strut is slidably connected, and cross axle one end is rotated with upper cross axle support base and is connected, and the other end is rotated even with lower cross axle support base
Connect, upper cross axle support base is fixedly connected with lower moving sets support bar, lower cross axle support base and Omnibearing wheel type positioning car
Vehicle body rotates and connects.
5. automatic assembling according to claim 4 equipment, is characterized in that, described upper moving sets support bar and lower moving sets
It is provided with drive mechanism between support bar to be used for driving moving sets elongation and shorten.
6. automatic assembling equipment according to claim 1, is characterized in that, described PS side chain includes：Typed ball bearing pair fulcrum bearing,
Ball pivot, upper sliding supporting bar and lower slider support bar, wherein：Ball pivot is arranged in typed ball bearing pair support base, upper sliding supporting bar one
End is fixedly connected with ball pivot, and the other end is slidably connected with lower slider support bar, lower slider support bar and Omnibearing wheel type positioning car
Vehicle body rotate connect.
7. automatic assembling equipment according to claim 1, is characterized in that, described all-around mobile positioning car includes：Entirely
The vehicle body of orientation running fix car and four Mecanum wheels, wherein：Four Mecanum wheels with containing four Mecanum wheels
The vehicle body of all-around mobile positioning car rotate and connect, four Mecanum wheels all each independently drive by servomotor, reality
The running fix on a large scale of three degree of freedom in existing horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610938956.5A CN106425450A (en) | 2016-10-25 | 2016-10-25 | Automatic assembly equipment with wheel type locating combined with space motion posture adjusting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610938956.5A CN106425450A (en) | 2016-10-25 | 2016-10-25 | Automatic assembly equipment with wheel type locating combined with space motion posture adjusting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106425450A true CN106425450A (en) | 2017-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610938956.5A Pending CN106425450A (en) | 2016-10-25 | 2016-10-25 | Automatic assembly equipment with wheel type locating combined with space motion posture adjusting |
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| CN (1) | CN106425450A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109520739A (en) * | 2018-12-20 | 2019-03-26 | 中国航发四川燃气涡轮研究院 | A kind of engine switching accurate posture adjustment mounting platform of casing |
| CN109909979A (en) * | 2019-04-16 | 2019-06-21 | 上海交通大学 | A kind of propeller for vessels axis hole flexible assembly parallel robot |
| CN110925572A (en) * | 2019-12-06 | 2020-03-27 | 西安文理学院 | Efficient auxiliary device for production line |
| CN112776957A (en) * | 2020-12-31 | 2021-05-11 | 上海交通大学 | Ship block butt joint cooperative assembly trolley with swing angle compliance |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109520739A (en) * | 2018-12-20 | 2019-03-26 | 中国航发四川燃气涡轮研究院 | A kind of engine switching accurate posture adjustment mounting platform of casing |
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| CN109909979A (en) * | 2019-04-16 | 2019-06-21 | 上海交通大学 | A kind of propeller for vessels axis hole flexible assembly parallel robot |
| CN109909979B (en) * | 2019-04-16 | 2022-01-07 | 上海交通大学 | Ship propeller shaft hole flexible assembly parallel robot |
| CN110925572A (en) * | 2019-12-06 | 2020-03-27 | 西安文理学院 | Efficient auxiliary device for production line |
| CN110925572B (en) * | 2019-12-06 | 2021-11-02 | 西安文理学院 | Efficient auxiliary device for production line |
| CN112776957A (en) * | 2020-12-31 | 2021-05-11 | 上海交通大学 | Ship block butt joint cooperative assembly trolley with swing angle compliance |
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Application publication date: 20170222 |
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