CN100479981C - Large bracket structure - Google Patents
Large bracket structure Download PDFInfo
- Publication number
- CN100479981C CN100479981C CNB2006101681104A CN200610168110A CN100479981C CN 100479981 C CN100479981 C CN 100479981C CN B2006101681104 A CNB2006101681104 A CN B2006101681104A CN 200610168110 A CN200610168110 A CN 200610168110A CN 100479981 C CN100479981 C CN 100479981C
- Authority
- CN
- China
- Prior art keywords
- rotation
- moving
- bracket body
- bearing
- moving cell
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
- B21J15/142—Aerospace structures
Abstract
The present invention relates to mechanical structure, and is especially one kind of large bracket structure capable of moving multidirectionally and its moving mechanism. The bracket structure consists of one bracket body, two support uprights, one weight balance system and one moving mechanism. It features the moving mechanism located on ends of the bracket body, and the weight balance system supporting the bracket between two support uprights. The present invention can realize different space poses of the loaded workpiece and reduce the influence of the dead weight of the bracket on the moving system precision.
Description
Technical field
The present invention relates to a kind of large bracket structure that can multi-direction motion.
Background technology
The large-sized numerical control carriage is to realize that numerical control adds man-hour and the supporting crucial auxiliary equipment of Digit Control Machine Tool automatically, automatic riveting as aircraft large scale computer alar wall plate, need the large-scale wing wallboard of a kind of energy carrying, and each processing stand normal direction of wing wallboard is accurately mobile, cooperate with the processing head of automatic drill riveter.Can satisfy the accurate location of digital control processing, the structure of numerical control carriage be crucial.
In the prior art, can realize large bracket structure automatic oscilaltion, rotate and around the swing of Y-axis, to realize any attitude of carrying workpiece around X-axis in the space.With the automatic drill riveter is example, and carriage can be realized the motion of three coordinates flexibly, and the rigidity of carriage is the key of whole carriage, the rigidity deficiency, and carriage will tremble when carriage turns, can't finish riveted joint processing.Add man-hour in the automatic drill riveting, transmission stability is also very important.Accurately locate, its transmission must be steadily.
The aircraft wing integral panel is all long, so the span of carriage is also bigger, but the increase of carriage length is very big to the rigidity effects of carriage, so carrier structure requires tightly to play as far as possible.
In order to realize of the motion of large-scale carriage, the invention provides large bracket structure in any attitude in space.
Summary of the invention
A kind of large bracket structure comprises bracket body, and two support posts, Weighting system and motions is characterized in that motion is positioned at the two ends of bracket body, and Weighting system is supported on bracket body on two support posts.
The motion of above-mentioned large bracket structure comprises: Z swings moving cell to moving cell, A rotation moving cell, B, and A rotation moving cell is fixed on the two ends of bracket body, drives bracket body and rotates (or claiming that A is to rotating) around its central cross X-axis; B swings moving cell and A rotation moving cell is hinged, and B swings moving cell and Z fixes to moving cell, drives bracket body vertical Y-axis rotation around its center (or claiming that B is to swing); Z is connected to support post with Z to moving cell, drives bracket body and moves up and down (or claiming that Z is to motion).
In order to realize that bracket body rotates around its center X-axis, above-mentioned A rotation moving cell contains turntable bearing, the moving bearing of A rotation and drive motors, the outer shroud and the bracket body of turntable bearing are fixed, the outer outer shroud tooth that is equipped with of turntable bearing, the moving bearing of the interior ring of turntable bearing and A rotation is fixed, be inlaid with ball between the interior ring of turntable bearing and the outer shroud, drive motors is fixed on the moving bearing of A rotation, the output of drive motors is meshed with the outer shroud tooth of turntable bearing outer shroud, formative gear pair, driven bracket body around center X-axis or A to rotation.This A rotation moving cell is fixed the outer shroud of bracket body and turntable bearing, has increased driving torque, has reduced the vibration of rotating, and makes rotation more steady.
Large bracket structure of the present invention is respectively to be provided with a cover A rotation moving cell at the two ends of bracket body, to guarantee the accurate of movement of bracket.
In order to realize moving up and down of carriage, described Z contains drive motors, ball-screw, kinematic mount and Z to motion guide rail to moving cell, kinematic mount is socketed on the motion guide rail and with ball-screw and meshes, drive motors is fixed on Z on support post, and drive ball-screw and drive kinematic mount and move up and down along motion guide rail, B swings moving cell and is fixed on this kinematic mount.
Bracket body is to rise by bracket body two ends one end around the swing of its Y-axis, and the other end descends, and utilizes the swing of the difference in height realization at bracket body two ends around Y-axis rotation or title B pendulum.When bracket body two ends Z when producing difference in height, the support post of bracket body and both sides forms a right angled triangle, form the problem that hypotenuse need extend in order to solve bracket body, above-mentioned B swings moving cell can make bracket body extend slip when rotating.The structure that B swings moving cell comprises the moving bearing of B rotation, mobile support saddle, slide rail, slide block, slide block is connected on the slide rail, slide rail is located on the mobile support saddle, slide block is fixed on the downside of rotating stand, the moving bearing of B rotation is same and the moving bearing of A rotation is hinged by connecting axle, and is fixed on Z on moving cell by mobile support saddle.Like this when bracket body when Y-axis is swung, the moving bearing of B rotation that the B that is positioned at the bracket body termination swings moving cell extends with respect to mobile support saddle and slides, and has satisfied bracket body and has formed the problem that the hypotenuse needs extend.
In the enforcement, the bracket body two ends can be provided with identical B respectively and swing moving cell, make bracket body do when Y-axis is swung, and the bracket body two ends have moving and extension function simultaneously; Another kind of implementation method is that the end at bracket body is provided with above-mentioned B and swings moving cell, the other end only is provided with a rotating stand, this bearing is hinged with the moving bearing of the A rotation that is installed in the bracket body termination, this bearing and Z fix to moving cell simultaneously, and we are called B rotation moving cell to this structure that only rotates.Bracket body is being done when Y-axis swing like this, and the one end has to extend in moving to moving cell with respect to Z and moves, and the other end only with respect to Z to the moving cell moving, and do not extend.
Large bracket structure provided by the invention can be realized bracket body, when Z-direction moves up and down, rotates around X-axis, around the Y-axis swing, makes bracket body be implemented in any attitude motion on three coordinate directions.Workpiece can be installed on the bracket body during use, carries workpiece by bracket body and moves station, cooperates the automatic processing of digital control processing head.
In order to alleviate the influence of large-scale bracket body deadweight to the kinematic system precision, the application also proposes by counterweigh bracket body weight.Fixing fixed pulley on support post, counterweight is arranged in the cavity of support post, and bracket body is connected with counterweight by connecting strand, fixed pulley.
The invention has the beneficial effects as follows the carriage reasonable integral structure, operate steadily accurately.
Below in conjunction with the embodiment accompanying drawing this invention is described in detail.
Description of drawings
Fig. 1 is the overall structure figure of large-scale carriage.
Fig. 2 is the bracket body structural representation
Fig. 3 is the structural representation of A rotation moving cell
Fig. 4 is the connection layout of stiff end B pendulum
Fig. 5 is the structural representation of mobile terminal B pendulum
Fig. 6 is the cross-section structure signal of Fig. 5
Fig. 7 is the structural representation of Z to column
Fig. 8 is that Z illustrates to the column cross-sectional configuration
Fig. 9 is the signal of carrier end girder construction
Detailed description of main elements: Z is to support post 10, Weighting system 11, Z is to moving cell 20, ball-screw 21, nut seat 22, servomotor 23, guide rail 24, Z is to slide block 25, kinematic mount 26, leading screw supporting seat 27, B swings moving cell 30, bearing 31 is moved in the B rotation, mobile support saddle 32, connecting axle 33, B puts slide block 34, slide rail 35, B rotation moving cell 40, rotating stand 41, central shaft 42, A rotation moving cell 50, drive motors 51, bearing 52 is moved in the A rotation, turntable bearing 53, outer shroud 54, interior ring 55, outer shroud tooth 56, connect mandrel 57, circle grating 58, power output 59, carriage end carriage 60, bearing block 61, bracket body 70.
The specific embodiment
Shown in Fig. 1 is the overall structure of large-scale carriage, be boring and riveting machine carriage overall structure specifically, the weight balancing of bracket body is distributed on the support post, and bracket body 70 is rectangle frame posture structures, as shown in Figure 2, processing work and frock can be fixed on the bracket body during use.At the two ends of bracket body is the transmission system of any attitude motion of control bracket body, comprise the A rotation moving cell 50 that rotates around the bracket body X-axis, B around the swing of bracket body Y-axis swings moving cell 30, B rotation moving cell 40, and the Z that the drive bracket body moves up and down is to moving cell 20.On the crossbeam at bracket body two ends, fix a cover A rotation moving cell 50 respectively, it is hinged that the A rotation moving cell of one end and B swing moving cell 30, the A rotation moving cell and the B rotation moving cell 40 of the other end are hinged, have two Z to swing moving cell with B and B rotation moving cell is fixing respectively to moving cell 20 again.
Fig. 3 is the structural representation of A rotation moving cell 50.A rotation moving cell is made up of drive motors 51, the moving bearing 52 of A rotation, turntable bearing 53, turntable bearing 53 is between bracket body end carriage 60 and the moving bearing 52 of A rotation, ring 55 and outer shroud 54 in turntable bearing contains, the interior ring 55 of turntable bearing is fixedlyed connected with the moving bearing 52 of A rotation, the outer shroud of turntable bearing is fixedlyed connected with bracket body end carriage 60, the bracket body end carriage is provided with the fixedly bearing block 61 of turntable bearing, as shown in Figure 9.The outer shroud periphery of turntable bearing 53 is provided with outer shroud tooth 56, and drive motors 51 is fixed on the moving bearing 52 of A rotation, and the power output of motor 59 is meshed with the outer shroud tooth 56 of turntable bearing.The center of turntable bearing 53 is connected on the mandrel 57 same with the center of bracket body end carriage, connects mandrel 57 and fixes with the moving bearing 52 of A rotation, is provided with round grating 58 on the top that connects mandrel 57, and its shell is connected with bracket body end carriage 60.When control system starts, drive motors 51 outer shroud 54 by turntable bearing drives bracket bodies and rotates around connecting mandrel 57, and round simultaneously grating 58 is sent to control system with detection signal, and control system drives servomotor again, form a closed-loop control, realize the accurate rotation of bracket body.
Supporting form and the type of belt drive that rotates around the X-axis line of the present invention is to adopt large diameter turntable bearing, particularly the outer shroud 54 of turntable bearing has outer shroud tooth 56, support component and actuated element are become one, reduced the error that causes is installed, improved whole transmission rigidity.Large diameter turntable bearing has bigger antidumping rigidity, and axial dimension is little, is very helpful for improving transmission rigidity; The outer shroud 54 of turntable bearing directly links to each other with bracket body process box end carriage, has increased transmission radius, has improved the driving torque that driven bracket rotates greatly.Improved transmission rigidity, made rotation process steady, reliable.The barycenter of major diameter turntable bearing is just in its center of rotation, compares with fan type gear and solved the problem of unbalance loading in the rotation process, and when making bracket body forward any position to, the load torque that self causes is a constant.
Referring to Fig. 4, Fig. 5, Fig. 6.Realize that the motion that bracket body swings up and down around Y-axis is to connect B pendular motion mechanism at the two ends of bracket body, comprise that B swings moving cell 30 and B rotation moving cell 40.B rotation moving cell as shown in Figure 4, contain rotating stand 41 and central shaft 42, the moving bearing 52 of the A rotation of rotating stand 41 and A rotation moving cell 50 is hinged by central shaft 42, rotating stand 41 is fixed on Z on the kinematic mount 26 of moving cell 20 simultaneously, when the two ends of bracket body are not on same horizontal line, realize that bracket body (containing A rotation moving cell) swings up and down around central shaft 42.What be connected the bracket body other end is that B swings moving cell 30, as Fig. 5, shown in Figure 6, B swings moving cell 30 and includes the moving bearing 31 of B rotation, mobile support saddle 32, connecting axle 33, mobile support saddle 32 is fixed on opposite side Z on the kinematic mount 26 of moving cell 20, the upside of mobile support saddle 32 is fixed with slide rail 35, the B pendulum slide block 34 that is slidingly connected with this slide rail is fixed on the downside that bearing 31 is moved in the B rotation, the moving bearing 31 of B rotation can be relatively moved on the slide rail of mobile support saddle 32, realize the extension when bracket body is tilting; The moving bearing 31 of B rotation simultaneously is hinged by connecting axle 33 with the moving bearing 52 of A rotation, realizes that bracket body (containing A rotation moving cell) swings up and down around connecting axle 33.
Referring to Fig. 7, Fig. 8.Support bracket body and motion weight be support post 10 and Weighting system 11, Weighting system comprises fixed pulley 14, connecting strand 13, the counterweight 12 that is fixed on the support post top, connecting strand 13 is connected counterweight by fixed pulley 14 with bracket body, the distribution of weight that makes bracket body alleviates the influence of carriage weight to the movement of bracket precision on support post.Moving up and down of bracket body two ends finished to moving cell 20 by Z, Z contains the ball-screw 21 that is fixed on stud sides to moving cell 20, guide rail 24, and with the supporting nut seat 22 of leading screw 21, the Z that contacts with guide rail is to slide block 25 and kinematic mount 26, the upper end of leading screw is connecting servomotor 23, the lower end of leading screw is fixing by leading screw supporting seat 27, guide rail 24 is arranged on the leading screw both sides, Z is fixed on a side of kinematic mount 26 to slide block 25 and nut seat 22, and the opposite side of kinematic mount 26 and B pendular motion unit are fixed.During use, drive ball-screw 21 by servomotor 23 and rotate, make nut seat 22 realize moving up and down together with kinematic mount 26 and bracket body.
Claims (3)
1, a kind of large bracket structure comprises bracket body, and two support posts, Weighting system and motions is characterized in that motion is positioned at the two ends of bracket body, and Weighting system is supported on bracket body on two support posts; Described motion comprises, the A rotation moving cell that the Z that the drive bracket body moves up and down rotates around its central cross X-axis to moving cell, drive bracket body, the drive bracket body B that vertical Y-axis is rotated around its center swing moving cell, A rotation moving cell is fixed on the two ends of bracket body, drive bracket body and make A to rotation, B swings moving cell and A rotation moving cell is hinged, B swings moving cell and Z fixes to moving cell, Z is connected to support post with Z to moving cell, drives bracket body and makes Z to motion; Described A rotation moving cell includes the moving bearing of drive motors, turntable bearing and A rotation, the outer shroud and the bracket body of described turntable bearing are fixed, the moving bearing of the interior ring of turntable bearing and A rotation is fixed, drive motors is fixed on the moving bearing of A rotation, the output shaft of drive motors is meshed with the outer shroud tooth of turntable bearing, can drive bracket body along A to swing.
2, large bracket structure as claimed in claim 1, it is characterized in that described B swings that moving cell comprises the moving bearing of B rotation, B swings moving bearing, slide rail, slide block, slide block is connected on the slide rail, slide rail is located at B and swings on the moving bearing, slide block is fixed on the downside of the moving bearing of B rotation, moving bearing of B rotation and the moving bearing of A rotation are hinged by turning cylinder, and B swings moving bearing and is fixed on Z on moving cell.
3, large bracket structure as claimed in claim 2, it is characterized in that described Z contains drive motors, ball-screw, kinematic mount and Z to motion guide rail to moving cell, drive motors is fixed on Z on support post, and driving ball-screw drive kinematic mount moves up and down along motion guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101681104A CN100479981C (en) | 2006-12-15 | 2006-12-15 | Large bracket structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101681104A CN100479981C (en) | 2006-12-15 | 2006-12-15 | Large bracket structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1974119A CN1974119A (en) | 2007-06-06 |
| CN100479981C true CN100479981C (en) | 2009-04-22 |
Family
ID=38124620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101681104A Active CN100479981C (en) | 2006-12-15 | 2006-12-15 | Large bracket structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100479981C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101817146A (en) * | 2010-04-30 | 2010-09-01 | 成都飞机工业（集团）有限责任公司 | Separated full-automatic drilling and riveting bracket system |
| CN102013200B (en) * | 2010-10-28 | 2012-01-18 | 哈尔滨工业大学 | Simulation motion simulating mechanism for transportation of dangerous chemicals |
-
2006
- 2006-12-15 CN CNB2006101681104A patent/CN100479981C/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN1974119A (en) | 2007-06-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201841545U (en) | Three-rotation one-movement freedom parallel robot with driving telescopic rod | |
| CN104209690B (en) | For the flexible fixture of the vertical assembling of large-size thin-walled cylinder body component | |
| CN108608063B (en) | A kind of five axis optical fabrication equipment in parallel | |
| CN103846649B (en) | A kind of two-stage parallel connection robot device for Fine Boring | |
| CN101664881B (en) | Open-type field six-degree-of-freedom series-parallel processing robot | |
| CN103203626B (en) | Gantry movable type multifunctional numerical-control drilling and milling machine | |
| CN105873719A (en) | Five-axis machining apparatus | |
| CN107963242A (en) | A kind of adjustable assembly small satellite platform of mass property | |
| CN113479355B (en) | Ground variable-centroid zero-gravity simulation device and method | |
| CN102357879A (en) | Eight-degree-of-freedom series-parallel combined automatic welding robot | |
| CN100479981C (en) | Large bracket structure | |
| CN111844070B (en) | Movable hybrid robot for deep hole in-situ machining operation | |
| CN102102986B (en) | Roundness/cylindricality measurement workbench capable of automatically regulating center and inclination | |
| CN104625884B (en) | Automatic boring device of thin-wall-cylinder shaped spare part | |
| CN201579788U (en) | Opened field type six-freedom-degree serial-parallel processing robot | |
| CN202241278U (en) | Series-parallel combined type automatic welding robot with eight degrees of freedom | |
| CN110653803B (en) | Six-freedom-degree parallel posture adjusting platform suitable for low space | |
| CN106515019A (en) | 3d printer | |
| CN113830668A (en) | Movable multi-layer guide rail device and installation and adjustment precision control method thereof | |
| CN112621716B (en) | Parallel mechanism containing multiple sliding rails and composite branched chains | |
| CN205767530U (en) | A kind of large-scale 3D printer arrangement of light gantry | |
| CN212217783U (en) | Vertical series-parallel carving machine | |
| CN210160726U (en) | Drilling and riveting machine tool for manufacturing airplane body | |
| CN112872865A (en) | Auxiliary device for punching aircraft parts | |
| CN2894906Y (en) | Arc door panel working device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: XI AN AIRCRAFT BRANCH OF XI AN AIRCRAFT INTERNATIO Free format text: FORMER OWNER: XI AN AIRCRAFT INDUSTRY GROUP CO., LTD. Effective date: 20130105 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20130105 Address after: No. 710089 in Shaanxi province Xi'an city Yanliang District West Avenue Patentee after: Xi'an aircraft, international aviation manufacturing, Limited by Share Ltd, Xi'an aircraft branch Address before: 1 No. 710089 Shaanxi province Xi'an city Yanliang District West Avenue Patentee before: Xi'an Aircraft Industry Group Co., Ltd. |