CN110949687A - Six-degree-of-freedom real-time adjustable positioning butt joint device - Google Patents
Six-degree-of-freedom real-time adjustable positioning butt joint device Download PDFInfo
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- CN110949687A CN110949687A CN201911242783.3A CN201911242783A CN110949687A CN 110949687 A CN110949687 A CN 110949687A CN 201911242783 A CN201911242783 A CN 201911242783A CN 110949687 A CN110949687 A CN 110949687A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
Abstract
The invention relates to a six-degree-of-freedom positioning and butting device, in particular to a six-degree-of-freedom positioning and butting device which is suitable for finishing product butting and assembling by combining a control system. A six-degree-of-freedom real-time adjustable positioning butt joint device comprises a frame, a guide rail and a lead screw, wherein the frame is in sliding connection with the guide rail, the lead screw is arranged on the frame, and a camera is arranged on the frame and used for collecting a gap between a butt joint product and a butted product in a butt joint process; install the nut bracing piece on the lead screw, the nut bracing piece passes through its removal on the lead screw of motor drive, installs adjustable support on the nut bracing piece, and adjustable support is used for carrying on the butt joint product to utilize the data of camera collection to control its function of transferring money. The invention has the following advantages: 1. the application range is expanded, the design and manufacturing cost is reduced, the flexible function is added, and the device is more economical and efficient; 2. the efficiency of the accurate butt joint assembly production work of aircraft major-part product has been improved more effectively.
Description
Technical Field
The invention relates to a six-degree-of-freedom positioning and butting device, in particular to a six-degree-of-freedom positioning and butting device suitable for finishing product butting and assembling by combining a control system, and belongs to the technical field of mechanical structure design and assembly manufacturing process equipment.
Background
Regarding the posture adjusting mechanism example in engineering implementation, most common posture adjusting mechanisms are small parts with six degrees of freedom, closed-loop control (the posture can be adjusted in real time) is difficult to achieve in the product posture adjusting process, the posture adjusting mechanism is very limited in application range, only the posture adjusting precision which is low in requirements on the small parts can be met, the open-loop control is simple, and the real-time performance cannot be achieved. Moreover, many existing six-degree-of-freedom posture adjusting mechanisms for large components are used for manually adjusting postures of workers, the postures cannot be stabilized after the postures are adjusted, the butt joint state of a butt joint cannot be monitored, and particularly, products or important joints are easily damaged under the condition that the field opening performance of product tools is poor.
Disclosure of Invention
The invention aims to solve the design problem of accurate butt joint assembly of a certain type of large component, and provides a six-degree-of-freedom real-time adjustable positioning butt joint device which is adjustable in six degrees of freedom, stable and locked in posture, adjustable in posture in real time and high in adaptability, wherein the whole mechanical structure can move on a workbench, and the posture of the positioning butt joint device can be adjusted in real time.
In order to achieve the purpose, the invention adopts the following technical scheme: a six-degree-of-freedom real-time adjustable positioning butt joint device comprises a frame, a guide rail and a lead screw, wherein the frame is in sliding connection with the guide rail, the lead screw is arranged on the frame, and a camera is arranged on the frame and used for collecting a gap between a butt joint product and a butted product in a butt joint process; install the nut bracing piece on the lead screw, the nut bracing piece passes through its removal on the lead screw of motor drive, installs adjustable support on the nut bracing piece, and adjustable support is used for carrying on the butt joint product to utilize the data of camera collection to control its function of transferring money.
Preferably, the adjustable support comprises a ball head rod, a cylinder and a ball socket supporting plate; one end of the ball head rod is matched with the top end of the nut supporting rod, the other end of the ball head rod is a ball head and is matched with the lower surface of the ball socket supporting plate, the air cylinder is movably connected between the ball head rod body and the ball socket supporting plate, and the upper surface of the ball socket supporting plate is used for carrying and butting products.
Preferably, a ball joint stop block is arranged on the lower surface of the ball socket supporting plate, and a pit matched with the ball head of the ball head rod is arranged in the ball joint stop block.
Preferably, the ball joint stopper is formed by splicing two parts with the same structure, and the concave pit is positioned in the center of the ball joint stopper.
Preferably, three universal joints are uniformly distributed on the lower surface of the ball socket supporting plate, and one end of the air cylinder is fixedly connected with the ball socket supporting plate through the universal joints.
Furthermore, three universal joints are uniformly distributed on the cylindrical surface of the rod body of the ball head rod, and the other end of the air cylinder is fixedly connected with the ball head rod through the universal joints.
Preferably, the upper surface of the ball socket supporting plate is connected with protective rubber to prevent the butt joint product from being damaged.
Preferably, the bottom end of the ball head rod is inserted into the nut supporting rod and is fixedly connected with the nut supporting rod through a bolt.
Preferably, the number of adjustable supports is at least one.
The working principle is as follows: the frame with the sliding block is used for making linear motion on the lead screw precision guide rail along the X-axis direction, so that the whole butt joint device can have a larger butt joint posture adjustment stroke, or a product unloading process with larger opening field is realized when the whole butt joint device retreats away from a butted product; the motor drives the nut support rod to realize the up-and-down movement of the adjustable support in the Z-axis direction; the adjustable support is used for carrying a butt joint product, an industrial camera is used for collecting data such as a gap between the butt joint product and the butted product in a butt joint process, the air cylinder of the adjustable support is controlled according to the collected data by reverse calculation, the inclination angle of the ball socket supporting plate is determined by controlling the telescopic length of a push rod of the air cylinder, so that the posture adjusting function is realized, and a closed-loop control system is adopted in the whole process.
Compared with the prior art, the invention has the following advantages:
1. the application range is expanded, the design and manufacturing cost is reduced, the flexible function is added, and the device is more economical and efficient;
2. the efficiency of the accurate butt joint assembly production work of aircraft major-part product has been improved more effectively.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the adjustable support structure of FIG. 1;
FIG. 3 is a schematic view of the combination structure of the ball joint stopper and the ball socket supporting plate in FIG. 1;
FIG. 4 is a schematic view of the ball joint stop of FIG. 3;
FIG. 5 is a schematic view of the construction of the socket plate of FIG. 1;
FIG. 6 is a schematic view of the ball stud configuration of FIG. 1;
in the figure, 1, frame; 2. a lead screw precision guide rail; 3. a lead screw; 4. a nut support bar; 5. an adjustable support; 6. an industrial camera; 501. a ball-head rod; 502. a cylinder; 503. a ball joint stopper; 504. a ball socket plate.
Detailed Description
It should be noted that, in the present embodiment, the terms "upper" and "lower" are described according to the drawings, and do not limit the present invention.
The invention is described in further detail below with reference to the accompanying figures 1-6: a six-degree-of-freedom real-time adjustable positioning butt joint device is shown in figure 1 and comprises a frame 1, a lead screw precision guide rail 2, a lead screw 3, a nut support rod 4, an adjustable support 5 and an industrial camera 6; the frame 1 is a tetrahedral frame and comprises four upright posts, the bottom of the frame is provided with a sliding block, the sliding block is matched with the screw rod precision guide rail 2, and the frame 1 is arranged on the screw rod precision guide rail 2; a screw rod 3 is arranged on each upright post, and the screw rods 3 and the upright posts are in the same direction; the nut support rod 4 is L-shaped, the horizontal part of the nut support rod is in threaded connection with the screw rod, and the vertical part of the nut support rod is fixedly connected with the adjustable support 5; the industrial camera 6 is arranged on the frame 1 and used for collecting gap data of the butted product and the butted product in the butting process; the adjustable support 5 is used for carrying the docking product and controlling the commissioning function thereof by using data collected by the industrial camera 6.
As shown in fig. 2-6, the adjustable support 5 comprises a ball head rod 501, a cylinder 502, a ball joint stopper 503 and a ball socket plate 504; a cavity is formed in the central axis of one end of the ball head rod 501, a through hole is formed in the radial direction of the ball head rod and penetrates through the radial direction of the cavity, the cavity is used for inserting the top end of the nut support rod 4 and is fixedly connected through a bolt inserted into the through hole, the other end of the ball head rod 501 is a ball head and is matched with a ball joint stop block 503 arranged in the center of the lower surface of the ball socket supporting plate 504, three universal joints are fixedly connected to the outer cylindrical surface of the rod body of the ball head rod 501, and the three universal joints are uniformly distributed in the radial direction of the; the upper surface of the ball socket supporting plate 504 is used for carrying butt joint products, the lower surface is fixedly connected with three universal joints, the three universal joints are uniformly distributed on the lower surface of the ball socket supporting plate, and an annular bulge for mounting a ball joint stop block 503 is arranged in the center; the ball joint stoppers 503 are semicircular in shape, a semicircular through hole is formed in the center of each ball joint stopper, the two ball joint stoppers 503 are spliced, and a pit matched with the ball head of the ball head rod 501 is formed in the center of each ball joint stopper; two ends of the cylinder 502 are respectively connected and fixed with a universal joint on the ball head rod 501 and a universal joint on the lower surface of the ball socket supporting plate 504.
In order to prevent the butt product from being damaged, a protective rubber is attached to the upper surface of the ball socket plate 504.
The frame 1 with the sliding block is used for making linear motion on the lead screw precision guide rail 2 along the X-axis direction, so that the whole butt joint device can have a large butt joint posture adjusting stroke, or a product unloading process with large opening field is realized when the whole butt joint device retreats away from a butt joint product; four lead screws 3 are installed on four upright posts of a frame 1, the motor drives a nut support rod 4 to realize the up-and-down movement of an adjustable support 5 in the Z-axis direction, the adjustable support 5 is used for carrying a butt joint product, an industrial camera 6 is utilized to collect data such as a gap between the butt joint product and the butted product in the butt joint process, the air cylinder of the adjustable support is controlled according to the collected data by reverse overturning calculation, the inclination angle of a ball socket supporting plate is determined by controlling the telescopic length of an air cylinder push rod, so that the posture adjusting function is realized, and a closed-loop control system is adopted in the whole process.
The specific embodiment described in the above embodiment is only an example of the present invention, and a single adjustable support 5 in the drawing can be used as one unit to realize the posture adjustment function, and according to the characteristics of the product, a plurality of adjustable support units can be installed on the six-degree-of-freedom real-time adjustable precise positioning docking device, and are not limited to four in the above embodiment, so that the device can adapt to posture adjustment positioning docking under various conditions by changing the frame structure, and has good modularization and flexibility. Any modification, addition or substitution made by those skilled in the art without departing from the principle of the present invention is within the protection scope of the present invention.
Claims (9)
1. The utility model provides a real-time adjustable location interfacing apparatus of six degrees of freedom, includes frame, guide rail and lead screw, frame and guide rail sliding connection, and the lead screw is installed on the frame, its characterized in that: the frame is provided with a camera for collecting a gap between a butted product and a butted product in a butting process; install the nut bracing piece on the lead screw, the nut bracing piece passes through its removal on the lead screw of motor drive, installs adjustable support on the nut bracing piece, and adjustable support is used for carrying on the butt joint product to utilize the data of camera collection to control its function of transferring money.
2. The six-degree-of-freedom real-time adjustable positioning and docking device according to claim 1, characterized in that: the adjustable support comprises a ball head rod, a cylinder and a ball socket supporting plate; one end of the ball head rod is matched with the top end of the nut supporting rod, the other end of the ball head rod is a ball head and is matched with the lower surface of the ball socket supporting plate, the air cylinder is movably connected between the ball head rod body and the ball socket supporting plate, and the upper surface of the ball socket supporting plate is used for carrying and butting products.
3. The six-degree-of-freedom real-time adjustable positioning and docking device according to claim 2, characterized in that: the lower surface of the ball socket supporting plate is provided with a ball joint stop block, and a pit matched with the ball head of the ball head rod is arranged in the ball joint stop block.
4. The six-degree-of-freedom real-time adjustable positioning and docking device according to claim 3, characterized in that: the ball joint stopper is formed by splicing two parts with the same structure, and the pit is positioned in the center of the ball joint stopper.
5. The six-degree-of-freedom real-time adjustable positioning and docking device according to claim 2, characterized in that: three universal joints are uniformly distributed on the lower surface of the ball socket supporting plate, and one end of the air cylinder is fixedly connected with the ball socket supporting plate through the universal joints.
6. The six-degree-of-freedom real-time adjustable positioning and docking device according to claim 5, characterized in that: three universal joints are uniformly distributed on the cylindrical surface of the rod body of the ball head rod, and the other end of the air cylinder is fixedly connected with the ball head rod through the universal joints.
7. The six-degree-of-freedom real-time adjustable positioning and docking device according to claim 2, characterized in that: the upper surface of the ball socket supporting plate is connected with protective rubber to prevent the butt joint product from being damaged.
8. The six-degree-of-freedom real-time adjustable positioning and docking device according to claim 2, characterized in that: the bottom end of the ball head rod is inserted into the nut supporting rod and is fixedly connected with the nut supporting rod through a bolt.
9. The six-degree-of-freedom real-time adjustable positioning and docking device according to claim 2, characterized in that: the number of adjustable supports is at least one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911242783.3A CN110949687A (en) | 2019-12-06 | 2019-12-06 | Six-degree-of-freedom real-time adjustable positioning butt joint device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911242783.3A CN110949687A (en) | 2019-12-06 | 2019-12-06 | Six-degree-of-freedom real-time adjustable positioning butt joint device |
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| CN110949687A true CN110949687A (en) | 2020-04-03 |
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| CN201911242783.3A Pending CN110949687A (en) | 2019-12-06 | 2019-12-06 | Six-degree-of-freedom real-time adjustable positioning butt joint device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923964A (en) * | 2021-01-25 | 2021-06-08 | 成都主导科技有限责任公司 | Adjusting device of rail vehicle detecting system |
| CN113927196A (en) * | 2021-11-17 | 2022-01-14 | 中国石油天然气集团有限公司 | Pipeline inner welding elbow aligning device based on visual positioning and aligning method |
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| CN105729420A (en) * | 2016-04-01 | 2016-07-06 | 中航飞机股份有限公司西安飞机分公司 | Movable supporting and locating method and device for aircraft component assembly |
| CN106742040A (en) * | 2016-12-12 | 2017-05-31 | 上海汇聚自动化科技有限公司 | A kind of engine automation pairing platform |
| CN207543047U (en) * | 2017-12-13 | 2018-06-26 | 咸宁三河祥天电力设备制造有限公司 | A kind of photovoltaic panel bracket component |
| US20180297717A1 (en) * | 2017-04-18 | 2018-10-18 | Electroimpact, Inc. | Camera assisted robotic system for locating the end of a fastener extending through an aircraft part during manufacture thereof |
| CN110510143A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Omnidirectional moving large aircraft level assembly 13 freedom degree mixed connection posture adjustment platforms of docking |
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2019
- 2019-12-06 CN CN201911242783.3A patent/CN110949687A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105729420A (en) * | 2016-04-01 | 2016-07-06 | 中航飞机股份有限公司西安飞机分公司 | Movable supporting and locating method and device for aircraft component assembly |
| CN106742040A (en) * | 2016-12-12 | 2017-05-31 | 上海汇聚自动化科技有限公司 | A kind of engine automation pairing platform |
| US20180297717A1 (en) * | 2017-04-18 | 2018-10-18 | Electroimpact, Inc. | Camera assisted robotic system for locating the end of a fastener extending through an aircraft part during manufacture thereof |
| CN207543047U (en) * | 2017-12-13 | 2018-06-26 | 咸宁三河祥天电力设备制造有限公司 | A kind of photovoltaic panel bracket component |
| CN110510143A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Omnidirectional moving large aircraft level assembly 13 freedom degree mixed connection posture adjustment platforms of docking |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923964A (en) * | 2021-01-25 | 2021-06-08 | 成都主导科技有限责任公司 | Adjusting device of rail vehicle detecting system |
| CN112923964B (en) * | 2021-01-25 | 2023-11-07 | 成都主导科技有限责任公司 | Adjusting device of railway vehicle detection system |
| CN113927196A (en) * | 2021-11-17 | 2022-01-14 | 中国石油天然气集团有限公司 | Pipeline inner welding elbow aligning device based on visual positioning and aligning method |
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Application publication date: 20200403 |
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