CN111112977A - Multi freedom assembly table car - Google Patents
Multi freedom assembly table car Download PDFInfo
- Publication number
- CN111112977A CN111112977A CN201911397094.XA CN201911397094A CN111112977A CN 111112977 A CN111112977 A CN 111112977A CN 201911397094 A CN201911397094 A CN 201911397094A CN 111112977 A CN111112977 A CN 111112977A
- Authority
- CN
- China
- Prior art keywords
- arc
- guide rail
- shaped guide
- base frame
- horizontal base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-degree-of-freedom assembly trolley, and belongs to the technical field of underwater robot guarantee equipment. The upper surface of the trolley base is provided with two parallel linear guide rails, the arc-shaped guide rail mounting seat is matched with the linear guide rails through a sliding block arranged on the lower surface of the arc-shaped guide rail mounting seat, and the transverse movement adjusting mechanism realizes the transverse movement of the arc-shaped guide rail mounting seat relative to the trolley seat; four sections of arc-shaped guide rails are correspondingly arranged at four vertex angles on the upper surface of the arc-shaped guide rail installation seat, arc-shaped sliding blocks arranged on the lower surface of the horizontal base frame are matched with the arc-shaped guide rails, and the horizontal base frame is driven by the rotary adjusting mechanism to horizontally rotate relative to the arc-shaped guide rail installation seat; the vertical support is movably connected to the horizontal base frame, and the pitching adjusting mechanism is connected with the vertical support and the horizontal base frame simultaneously and achieves pitching adjustment of the vertical support. The invention can complete the accurate butt joint assembly of two sections of the sealed cabin section of the large and heavy underwater robot.
Description
Technical Field
The invention relates to a multi-degree-of-freedom assembly trolley, belongs to the technical field of underwater robot guarantee equipment, and is suitable for multi-section butt joint of a sealed cabin section of an underwater robot.
Background
With the continuous deepening of ocean resource development, the underwater robot has more and more tasks and more complex tasks, and the underwater robot gradually develops to be large-sized and heavy. Because the underwater robot has a complex structure, and each sealed cabin section for loading the underwater robot needs to be accurately aligned and assembled, the underwater robot needs to be supported by an assembly trolley with multiple degrees of freedom to complete accurate butt joint assembly in the assembly process of large and heavy underwater robots.
At present, the assembly trolley of the sealed cabin section of the underwater robot is generally provided with wheels, so that a guide rail paved on the ground by the assembly trolley can move along the axial direction of the sealed cabin section of the underwater robot and can be lifted manually, and the supporting top of the trolley is generally provided with a roller so that a rotator can rotate along the axial direction. However, an assembly trolley having the capability of multiple degrees of freedom such as axial movement, radial lateral movement, left-right rotation, vertical pitching and the like has not been reported yet.
Disclosure of Invention
In view of the above, the invention provides a multi-degree-of-freedom assembly trolley, which can solve the problem that the conventional assembly trolley only has axial movement, lifting and axial rotation functions but does not have the functions of radial transverse movement, horizontal rotation, vertical pitching and other freedom actions, and can complete the two-section butt joint assembly of a large and heavy underwater robot sealed cabin section.
A multi-degree-of-freedom assembly trolley comprises a vertical support, a horizontal base frame, a pitching adjusting mechanism, an arc-shaped guide rail mounting seat, a transverse moving adjusting mechanism, an arc-shaped sliding block, an arc-shaped guide rail, a sliding block, a linear guide rail and a trolley base;
the upper surface of the trolley base is provided with two parallel linear guide rails, the arc-shaped guide rail mounting seat is matched with the linear guide rails through a sliding block arranged on the lower surface of the arc-shaped guide rail mounting seat, and the transverse movement adjusting mechanism realizes the transverse movement of the arc-shaped guide rail mounting seat relative to the trolley seat; four sections of arc-shaped guide rails are correspondingly arranged at four vertex angles on the upper surface of the arc-shaped guide rail installation seat, arc-shaped sliding blocks arranged on the lower surface of the horizontal base frame are matched with the arc-shaped guide rails, and the horizontal base frame is driven by the rotary adjusting mechanism to horizontally rotate relative to the arc-shaped guide rail installation seat; the vertical support is movably connected to the horizontal base frame, and the pitching adjusting mechanism is connected with the vertical support and the horizontal base frame simultaneously and achieves pitching adjustment of the vertical support.
Further, the traversing adjusting mechanism comprises a traversing handle and a nut; the transverse moving handle is provided with a hand wheel and a screw rod, the transverse moving handle is installed on the upper surface of the trolley base through a polished rod part of the screw rod, the hand wheel is rotated to enable the screw rod to rotate in place around the axis of the transverse moving handle, the nut is fixed on the lower surface of the arc-shaped guide rail installation seat, the threaded part of the screw rod is matched with the nut, and a threaded transmission pair consisting of the stud and the nut drives the arc-shaped guide rail installation seat to transversely move relative to the trolley base.
Further, the rotation adjusting mechanism comprises a rotating handle, a rotating support and a connecting rod; one side edge of the arc-shaped guide rail mounting seat is provided with a mounting seat extending in the horizontal direction, a rotating support mounting hole is formed in the mounting seat, the axis of the mounting hole is perpendicular to the arc-shaped guide rail mounting seat, the rotating support is mounted in the rotating support mounting hole and can freely rotate, and an internal thread hole formed in the rotating support is matched with the external thread of the connecting rod; the left side surface of the horizontal base frame is movably connected with one end of a connecting rod, the connecting rod rotates relative to the horizontal base frame, the other end of the connecting rod is an external thread, the external thread part of the connecting rod is connected with a rotating handle after being matched with an internal thread hole of a rotating support, the rotating handle is rotated to drive the connecting rod to rotate synchronously, relative length change is generated between the connecting rod and the rotating support, and the connecting rod drives an arc-shaped sliding block under the horizontal base frame to slide on an arc-shaped guide rail, namely, the horizontal base frame rotates left and right.
Further, the pitching adjusting mechanism comprises a short pull rod, a copper nut, a pitching rotating rod and a long pull rod; and one end of each of the short pull rod and the long pull rod is provided with an external thread, the other end of each of the short pull rod and the long pull rod is hinged with the horizontal base frame and the vertical support respectively, two ends of each of the copper nuts are provided with internal thread holes respectively and are matched and connected with the short pull rod and the long pull rod simultaneously, and the pitching rotating rods penetrate through the copper nuts along the radial direction.
Has the advantages that:
the assembly trolley adopts a stacked installation structure, the arc-shaped guide rail installation seat, the horizontal base frame and the vertical support are sequentially installed above the trolley base, the underwater robot sealing cabin body is fixed on the vertical support, and the trolley base is provided with wheels, so that the assembly trolley integrally moves along the axial direction of the sealing cabin body on the trolley; the trolley base and the arc-shaped guide rail mounting base realize radial transverse movement through the matching of the guide rail sliding blocks; the arc-shaped guide rail mounting seat and the horizontal base frame realize left-right rotation through the matching of the arc-shaped guide rail and the sliding block; the hinged connection between the horizontal pedestal and the vertical support realizes up-down pitching adjustment. Therefore, the underwater robot sealing cabin is suitable for multi-degree-of-freedom accurate butt joint assembly of the underwater robot sealing cabin.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a top plan view of the overall structure of the present invention (with the capsule section removed);
FIG. 3 is a schematic view of the base structure of the trolley of the present invention;
FIG. 4 is a schematic view of the construction of the traversing handle of the present invention;
FIG. 5 is a schematic view of the structure of the arc-shaped guide rail mounting seat of the present invention;
fig. 6 is a schematic top view of the horizontal base frame of the present invention.
The device comprises a vertical support 1, a horizontal base frame 2, a rotary handle 3, a sealed cabin section 4, a rotary support 5, a connecting rod 6, an arc-shaped guide rail installation seat 7, a transverse moving handle 8, an arc-shaped sliding block 9, an arc-shaped guide rail 10, a sliding block 11, a linear guide rail 12, a trolley base 13, wheels 14, a short pull rod 15, a copper nut 16, a pitch rotating rod 17 and a long pull rod 18.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
As shown in the attached drawings 1 and 2, the invention provides a multi-degree-of-freedom assembly trolley of an underwater robot, which comprises a vertical support 1, a horizontal base frame 2, a rotating handle 3, a rotating support 5, a connecting rod 6, an arc-shaped guide rail installation seat 7, a transverse moving handle 8, an arc-shaped slide block 9, an arc-shaped guide rail 10, a slide block 11, a linear guide rail 12, a trolley base 13, wheels 14, a short pull rod 15, a copper nut 16, a pitching rotating rod 17 and a long pull rod 18.
As shown in fig. 3, the trolley base 13 is a rectangular plane structure, two parallel linear guide rails 12 are mounted on the upper surface, and wheel mounting shafts are provided at four corners for mounting wheels 15.
The sealed cabin section 4 of the underwater robot is fixedly connected to a vertical support 1 through a bolt, the lower end of the vertical support 1 is connected with a horizontal base frame 2 through a pin shaft and a cotter pin to form a revolute pair, the upper end of the vertical support 1 is fixed with the upper end of a long pull rod 18 through the pin shaft and the cotter pin, the external thread part at the lower end of the long pull rod 18 is screwed with the internal thread at the upper end of a copper nut 16, and the internal thread at the lower end of the copper nut 16 is screwed with the external thread part of a short pull; the long pull rod 18, the copper nut 16 and the short pull rod 15 form a thread transmission pair, the pitching rotating rod 17 is connected with the copper nut through an external thread to form a handle for rotation, and the pitching rotating rod 17 is manually rotated, so that the vertical support 1 and the sealed cabin section 4 can be pitched within a certain range.
As shown in fig. 6, horizontal bed frame 2 is planar structure, four arc slider 9 of screw connection installation are used in 2 below four corners of horizontal bed frame, it installs on arc guide rail mount pad 7 to correspond a segment arc guide rail 10 under every arc slider 9, as shown in fig. 5, arc guide rail mount pad 7 is rectangular planar structure equally, a side of arc guide rail mount pad 7 has the mount pad that a horizontal direction extends, a rotatory support mounting hole has on the mount pad, the axis perpendicular to arc guide rail mount pad 7 of mounting hole, rotatory support 5 is installed and can the free rotation in rotatory support mounting hole, the external screw-thread fit who has an internal thread hole and connecting rod 6 on the rotatory support 5.
2 left surfaces of horizontal bed frame and the one end swing joint of connecting rod 6, connecting rod 6 can rotate for horizontal bed frame 2, and the main part of the connecting rod 6 other end is the external screw thread, and connecting rod 6 external screw thread part is connected with twist grip 3 after passing rotatory support 5's internal thread hole, and four arc guide rails 10 are installed in arc guide rail mount pad 7 four corners, and arc guide rail 10 passes arc slider 9, and rotatory support 5 is installed on the mount pad that arc guide rail mount pad 7 stretches out. Rotating the twist grip 3 and driving connecting rod 6 synchronous rotation, producing relative length change between connecting rod 6 and the rotating support 5, connecting rod 6 drives the arc slider 9 under the horizontal bed frame 2 and slides on arc guide rail 10, and horizontal bed frame 2 is rotatory about for arc guide rail mount pad 7 promptly, and horizontal bed frame 2 drives vertical support 1 and sealed cabin section 4 and controls the rotation jointly.
2 groups of transverse sliding blocks 11 (each 2 in each group) are installed below the arc-shaped guide rail installation seat 7, each group of sliding blocks 11 penetrates through one linear guide rail 12, the two linear guide rails 12 and the transverse moving handle 8 are installed on the trolley base 13, as shown in the attached drawing 4, the transverse moving handle 8 is composed of a hand wheel and a screw rod, the screw rod of the transverse moving handle 8 is installed on the upper surface of the trolley base 13 through the matching of a bearing installation seat and a bearing, the transverse moving handle 8 can rotate in situ, and the thread part of the transverse moving handle 8 is screwed into a nut welded below the arc-shaped guide rail installation seat 7. The transverse moving handle 8 is manually rotated, the arc-shaped guide rail mounting seat 7 is driven to transversely move relative to the trolley base 13 through a thread transmission pair consisting of a screw and a nut, and the arc-shaped guide rail mounting seat 7 drives the horizontal base frame 2, the vertical support 1 and the sealing cabin 4 to transversely move integrally and radially.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A multi-degree-of-freedom assembly trolley is characterized by comprising a vertical support, a horizontal base frame, a pitching adjusting mechanism, an arc-shaped guide rail mounting seat, a transverse moving adjusting mechanism, an arc-shaped sliding block, an arc-shaped guide rail, a sliding block, a linear guide rail and a trolley base;
the upper surface of the trolley base is provided with two parallel linear guide rails, the arc-shaped guide rail mounting seat is matched with the linear guide rails through a sliding block arranged on the lower surface of the arc-shaped guide rail mounting seat, and the transverse movement adjusting mechanism realizes the transverse movement of the arc-shaped guide rail mounting seat relative to the trolley seat; four sections of arc-shaped guide rails are correspondingly arranged at four vertex angles on the upper surface of the arc-shaped guide rail installation seat, arc-shaped sliding blocks arranged on the lower surface of the horizontal base frame are matched with the arc-shaped guide rails, and the horizontal base frame is driven by the rotary adjusting mechanism to horizontally rotate relative to the arc-shaped guide rail installation seat; the vertical support is movably connected to the horizontal base frame, and the pitching adjusting mechanism is connected with the vertical support and the horizontal base frame simultaneously and achieves pitching adjustment of the vertical support.
2. The multiple degree of freedom assembly trolley of claim 1 wherein the traverse adjustment mechanism includes a traverse handle and a nut; the transverse moving handle is provided with a hand wheel and a screw rod, the transverse moving handle is installed on the upper surface of the trolley base through a polished rod part of the screw rod, the hand wheel is rotated to enable the screw rod to rotate in place around the axis of the transverse moving handle, the nut is fixed on the lower surface of the arc-shaped guide rail installation seat, the threaded part of the screw rod is matched with the nut, and a threaded transmission pair consisting of the stud and the nut drives the arc-shaped guide rail installation seat to transversely move relative to the trolley base.
3. The multiple degree of freedom assembly trolley according to claim 1 or 2, wherein the rotation adjustment mechanism includes a rotation handle, a rotation support, and a link; one side edge of the arc-shaped guide rail mounting seat is provided with a mounting seat extending in the horizontal direction, a rotating support mounting hole is formed in the mounting seat, the axis of the mounting hole is perpendicular to the arc-shaped guide rail mounting seat, the rotating support is mounted in the rotating support mounting hole and can freely rotate, and an internal thread hole formed in the rotating support is matched with the external thread of the connecting rod; the left side surface of the horizontal base frame is movably connected with one end of a connecting rod, the connecting rod rotates relative to the horizontal base frame, the other end of the connecting rod is an external thread, the external thread part of the connecting rod is connected with a rotating handle after being matched with an internal thread hole of a rotating support, the rotating handle is rotated to drive the connecting rod to rotate synchronously, relative length change is generated between the connecting rod and the rotating support, and the connecting rod drives an arc-shaped sliding block under the horizontal base frame to slide on an arc-shaped guide rail, namely, the horizontal base frame rotates left and right.
4. The multiple degree of freedom assembly trolley of claim 3 wherein the pitch adjustment mechanism comprises a short pull rod, a copper nut, a pitch turn rod, and a long pull rod; and one end of each of the short pull rod and the long pull rod is provided with an external thread, the other end of each of the short pull rod and the long pull rod is hinged with the horizontal base frame and the vertical support respectively, two ends of each of the copper nuts are provided with internal thread holes respectively and are matched and connected with the short pull rod and the long pull rod simultaneously, and the pitching rotating rods penetrate through the copper nuts along the radial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911397094.XA CN111112977A (en) | 2019-12-30 | 2019-12-30 | Multi freedom assembly table car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911397094.XA CN111112977A (en) | 2019-12-30 | 2019-12-30 | Multi freedom assembly table car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111112977A true CN111112977A (en) | 2020-05-08 |
Family
ID=70505391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911397094.XA Pending CN111112977A (en) | 2019-12-30 | 2019-12-30 | Multi freedom assembly table car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111112977A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001096476A (en) * | 1999-09-28 | 2001-04-10 | Fuji Kiki Kogyo Kk | Assembling work stage |
| CN105417433A (en) * | 2015-12-23 | 2016-03-23 | 大连理工大学 | Six-degree-of-freedom lifting platform car |
| CN105750860A (en) * | 2016-03-07 | 2016-07-13 | 北京星航机电装备有限公司 | Stent vehicle for mounting solar battery plate |
| CN205766113U (en) * | 2016-05-12 | 2016-12-07 | 天津航天机电设备研究所 | Six degree of freedom device for assembled large area air supporting support platform |
| CN109129349A (en) * | 2018-09-19 | 2019-01-04 | 燕山大学 | Six degree of freedom posture adjustment docking platform |
| CN209850247U (en) * | 2019-04-08 | 2019-12-27 | 辽宁渤海防腐工程有限公司 | Manual adjusting mechanism for rivet welding machining station of steel member |
-
2019
- 2019-12-30 CN CN201911397094.XA patent/CN111112977A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001096476A (en) * | 1999-09-28 | 2001-04-10 | Fuji Kiki Kogyo Kk | Assembling work stage |
| CN105417433A (en) * | 2015-12-23 | 2016-03-23 | 大连理工大学 | Six-degree-of-freedom lifting platform car |
| CN105750860A (en) * | 2016-03-07 | 2016-07-13 | 北京星航机电装备有限公司 | Stent vehicle for mounting solar battery plate |
| CN205766113U (en) * | 2016-05-12 | 2016-12-07 | 天津航天机电设备研究所 | Six degree of freedom device for assembled large area air supporting support platform |
| CN109129349A (en) * | 2018-09-19 | 2019-01-04 | 燕山大学 | Six degree of freedom posture adjustment docking platform |
| CN209850247U (en) * | 2019-04-08 | 2019-12-27 | 辽宁渤海防腐工程有限公司 | Manual adjusting mechanism for rivet welding machining station of steel member |
Non-Patent Citations (1)
| Title |
|---|
| 吴宏基等: "基于行星式平面研磨机研抛过程的运动几何学分析", 《机械工程学报》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203779096U (en) | Multi-degree-of-freedom aero-engine assembly platform | |
| CN102133694A (en) | Cutting or welding robot | |
| CN209835541U (en) | Brake hub replacing device | |
| CN111943082A (en) | Multi freedom lift platform | |
| CN208527757U (en) | Tipper | |
| CN107830358B (en) | Control device for electric adjusting bracket of accelerator | |
| CN107676584B (en) | Electric adjusting bracket for accelerator | |
| CN112720333A (en) | Gear box multi-degree-of-freedom overturning machine and method | |
| CN102039509B (en) | Curve welding gap magnetic catch type device with follow moving and position and orientation adjusting of welding gun | |
| CN110000658B (en) | Rail refiner | |
| CN111112977A (en) | Multi freedom assembly table car | |
| CN212075613U (en) | Multi-degree-of-freedom movable material taking mechanical arm for industrial automation assembly line machining | |
| CN107866920B (en) | Hollow beam rail type wire saw | |
| CN209919549U (en) | Steel rail refiner | |
| CN108580588A (en) | Tipper | |
| CN110465852B (en) | 360-degree chamfering device for slot wedge | |
| CN210879012U (en) | Nut processing equipment with lifting structure and capable of moving in oriented mode | |
| CN219120155U (en) | Five-degree-of-freedom multifunctional cradle head | |
| CN111872926A (en) | Manipulator device convenient to adjust | |
| CN113495496B (en) | Large-inertia three-degree-of-freedom gesture simulation device | |
| CN210657828U (en) | Steel rail grinding device | |
| CN215660437U (en) | Portable and angle-adjustable honeycomb chamfering tool | |
| CN219194373U (en) | Movable frame turnover machine | |
| CN221047726U (en) | Undercarriage buffering pillar assembly equipment | |
| CN218947405U (en) | Aviation brake hub maintenance tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200508 |