CN100534701C - Flexible locating cramping apparatus controlled by servo - Google Patents

Flexible locating cramping apparatus controlled by servo Download PDF

Info

Publication number
CN100534701C
CN100534701C CNB2008100348635A CN200810034863A CN100534701C CN 100534701 C CN100534701 C CN 100534701C CN B2008100348635 A CNB2008100348635 A CN B2008100348635A CN 200810034863 A CN200810034863 A CN 200810034863A CN 100534701 C CN100534701 C CN 100534701C
Authority
CN
China
Prior art keywords
servo
rotation
control
bearing
controlling organization
Prior art date
Application number
CNB2008100348635A
Other languages
Chinese (zh)
Other versions
CN101249597A (en
Inventor
金隼
林忠钦
来新民
于奎刚
Original Assignee
上海交通大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 上海交通大学 filed Critical 上海交通大学
Priority to CNB2008100348635A priority Critical patent/CN100534701C/en
Publication of CN101249597A publication Critical patent/CN101249597A/en
Application granted granted Critical
Publication of CN100534701C publication Critical patent/CN100534701C/en

Links

Abstract

The invention relates to a flexible positioning fixture controlled by a servo. The whole fixture, from the bottom to the top, comprises a first horizontal direction moving servo control mechanism, a first rotation direction servo control mechanism, a vertical direction movement servo control mechanism, a second horizontal direction moving servo control mechanism, a second rotation direction servo control mechanism, a third rotation direction servo control mechanism and a positioning pin mechanism. The positioning pin mechanism is an actuating mechanism of the entire mechanism and plays a positioning role on the assembly of workpieces. The position precision of the positioning pin mechanism is achieved by the servo control mechanisms in the moving directions and rotating directions. The positioning fixture realizes multiple-degree-of-freedom adjustment, meets the characteristic requirement of the flexible fixture produced by a variety of similar vehicle models, has the capability of quickly, accurately and automatically adjusting the three-dimensional position and posture of the positioning pin according to the variation of the positioning positions of different products, and realizes the space positioning of different positioning modes.

Description

By servo-controlled flexible locating cramping apparatus
Technical field
The present invention is a kind of anchor clamps of mechanical engineering technical field, specifically be a kind of be applicable to modern all kinds coachbuilt body part or assembly by servo-controlled flexible locating cramping apparatus.
Background technology
Along with the variation of automobile product, swinging cross production, go into operation and the improving constantly of quality requirement fast, vehicle body is made assembling process and is more and more required flexibility, high efficiency and high accuracy.Join on the production line in the vehicle bodywork soldering tipping, thereby exploitation adapting to the swinging cross production that the flexible assembly anchor clamps of multiple vehicle are realized various similar vehicles, can save production site and reduce investment for motor corporation, be an urgent demand of current motor corporation.Aspect flexible fixture research, modular fixture has been a mature technology at present, and has obtained extensive use in lathe, automobile and other industries.
Find that through literature search China Patent No. 200520009120.4 has proposed a kind of welding built-up jig to prior art.This built-up jig is made up of base and grip block, base is provided with many group clamping locating holes, the termination of grip block is provided with projection corresponding with the clamping locating hole or connecting hole, and grip block is fixed by the projection on it or connecting hole and base, the logical heart cavity at the base middle part for ease of welding.Compare traditional weld jig, this design can be combined in the welding that realizes different product on the cover base according to different grip blocks.Built-up jig has also obtained using widely in the body of a motor car parts measurement, mainly is the difference that detects part location benchmark according to difference, and the measurement support is provided when using built-up jig for three-dimensional coordinates measurement.Built-up jig normally is divided into each functional module according to the difference of chucking appliance system each several part function, and each functional module realizes seriation, realizes the location clamping of different parts by the combination of multiple functional module.But the every combination of built-up jig is once more consuming time, finishes by manual operations, is fit to the body of a motor car offline inspection and measures the support use, but can't satisfy the requirement that multiple vehicle swinging cross is produced on the welding and assembling production lines.
The swinging cross production of multiple vehicle is the trend of present development of automobile, require chucking appliance system the positioning requirements according to product to realize rapid adjustment when product is changed on the production line that swinging cross is produced, and the design of present flexible fixture can't realize this demand.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of by servo-controlled flexible locating cramping apparatus, achieve the multiple degrees of freedom adjustment, and meet the characteristics requirement that flexible fixture is produced in multiple similar vehicle swinging cross, can be according to the variation of different product position location, quick and precisely adjust the three-dimensional space position and the attitude of alignment pin automatically, realize the space orientation of different locate modes.
The present invention is achieved by the following technical solutions, and grip device of the present invention is followed successively by the first horizontal direction shift servo controlling organization, the first rotation direction servo-control mechanism, vertical direction shift servo controlling organization, the second horizontal direction shift servo controlling organization, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism from the lower to the upper.Wherein: the first horizontal direction shift servo controlling organization is installed on the workbench, be connected with the first rotation direction servo-control mechanism, drive the first rotation direction servo-control mechanism and top vertical direction shift servo controlling organization, the second horizontal direction shift servo controlling organization, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism moves along first horizontal direction; The first rotation direction servo-control mechanism and vertical direction shift servo controlling organization are connected, and drive vertical direction shift servo controlling organization and the top second horizontal direction shift servo controlling organization, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism thereof and rotate along first rotation direction; The vertical direction shift servo controlling organization and the second horizontal direction shift servo controlling organization are connected, and drive the second horizontal direction shift servo controlling organization and the top second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism moves in the vertical direction; The second horizontal direction shift servo controlling organization is connected with the second rotation direction servo-control mechanism, drives the second rotation direction servo-control mechanism and top the 3rd rotation direction servo-control mechanism and dowel mechanism moves along second horizontal direction; The 3rd rotation direction servo-control mechanism is fixedly mounted on the second rotation direction servo-control mechanism, and the second rotation direction servo-control mechanism drives second rotation direction and the 3rd rotation direction servo-control mechanism rotates along second rotation direction together; Dowel mechanism is fixedly mounted on the 3rd rotation direction servo-control mechanism, is controlled the rotation of the 3rd rotation direction by the 3rd rotation direction servo-control mechanism.
Among the present invention, described first horizontal direction is identical with car load vehicle body coordinate system one horizontal coordinate direction of principal axis, X-axis or Y-axis, represented the maximum direction of adjusting of dowel mechanism, another horizontal direction of the car load vehicle body coordinate system that second horizontal direction and first horizontal direction are vertical is consistent, first rotation direction is represented the direction around the rotation of car load vehicle body coordinate system vertical axis, by the first horizontal direction shift servo controlling organization, the combination control of the second horizontal direction shift servo controlling organization and the first rotation direction servo-control mechanism has determined the position of dowel mechanism in horizontal plane; Vertical direction shift servo controlling organization is realized dowel mechanism moving in car load vehicle body coordinate system vertical axis, with the combination of the first horizontal direction shift servo controlling organization, the second horizontal direction shift servo controlling organization and the first rotation direction servo-control mechanism, realized that dowel mechanism locatees in three-dimensional position; Second rotation direction also is to rotate around car load vehicle body coordinate system vertical axis, the 3rd rotation direction is represented the rotation around car load vehicle body coordinate system one trunnion axis, realizes the attitude of dowel mechanism in the space by the second rotation direction servo-control mechanism and the 3rd rotation direction servo-control mechanism; Dowel mechanism is the executing agency of whole anchor clamps, and assembling plays the role of positioning to workpiece, and its positional precision is to be realized by the servo-control mechanism of each moving direction and rotation direction.
The described first horizontal direction shift servo controlling organization comprises: first servomotor, first electric machine support, first shaft coupling, clutch shaft bearing and bearing block, second bearing and bearing block, first ball-screw, first feed screw nut, first guide rail and first cylindrical shell.First servomotor is installed on first cylindrical shell by first electric machine support, and be connected with first ball-screw by first shaft coupling, clutch shaft bearing and bearing block, second bearing and bearing block are connected with first ball-screw, play fixed supporting role, first feed screw nut and first guide rail are connected with the first rotation direction servo-control mechanism on first ball-screw, drive the first rotation direction servo-control mechanism and top vertical direction shift servo controlling organization thereof, the second horizontal direction shift servo controlling organization, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism move in the first guide rail upper edge, first horizontal direction.Clutch shaft bearing and bearing block, second bearing and bearing block and first guide rail are installed on first cylindrical shell, and first cylindrical shell is installed on the workbench.
The described first rotation direction servo-control mechanism comprises: second servomotor, second shaft coupling, first small Spur gear, first spur gear, first power shaft, first output shaft, the 3rd bearing, the 4th bearing, the 5th bearing and second cylindrical shell.Second servomotor is connected with first power shaft by second shaft coupling, first small Spur gear and first power shaft are connected, the first spur gear and first output shaft fixed connection, first power shaft is connected with second cylindrical shell with the 4th bearing by the 3rd bearing respectively with first output shaft, first output shaft and vertical direction shift servo controlling organization are connected, second cylindrical shell is connected with first outer cylinder body of vertical direction shift servo controlling organization by the 5th bearing, and first output shaft drives vertical direction shift servo controlling organization and the second top horizontal direction shift servo controlling organization thereof, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism rotate along first rotation direction.
Described vertical direction shift servo controlling organization comprises: the 3rd servomotor, the 3rd shaft coupling, the 6th bearing and bearing block, second ball-screw, second feed screw nut, first outer cylinder body, first inner barrel and slip serrate slot group.First outer cylinder body is connected with the first rotation direction servo-control mechanism, the 3rd servomotor is fixedly mounted on first outer cylinder body, be connected with second ball-screw by the 3rd shaft coupling, second feed screw nut on second ball-screw is connected with first inner barrel, first inner barrel is connected with first outer cylinder body by slip serrate slot group, thereby second ball-screw drives first inner barrel and vertically moves up and down along the slip serrate slot, first inner barrel upper end is connected with the second horizontal direction servo-control mechanism, drives the second horizontal direction servo-control mechanism and the second top rotation direction servo-control mechanism thereof, the 3rd rotation direction servo-control mechanism and dowel mechanism moving vertically.
The described second horizontal direction shift servo controlling organization comprises: the 4th servomotor, second electric machine support, tetrad axial organ, the 7th bearing and bearing block, the 8th bearing and bearing block, the 3rd ball-screw, the 3rd feed screw nut, second guide rail and the 3rd cylindrical shell.The 4th servomotor is installed on the 3rd cylindrical shell by second electric machine support, and be connected with the 3rd ball-screw by the tetrad axial organ, the 7th bearing and bearing block, the 8th bearing and bearing block are connected with the 3rd ball-screw, play fixed supporting role, the 3rd feed screw nut and second guide rail are connected with the second rotation direction servo-control mechanism on the 3rd ball-screw, drive the second rotation direction servo-control mechanism and top the 3rd rotation direction servo-control mechanism and dowel mechanism moves in the second guide rail upper edge, second horizontal direction.The 7th bearing and bearing block, the 8th bearing and bearing block and second guide rail are installed on the 3rd cylindrical shell, and first inner barrel of the 3rd cylindrical shell and vertical direction shift servo controlling organization is connected.
The attitude of dowel mechanism in the space adjusted in the rotation of described second rotation direction and the 3rd rotation direction servo-control mechanism control dowel mechanism.
The described second rotation direction servo-control mechanism comprises: the 5th servomotor, 5-linked axial organ, second small Spur gear, second largest spur gear, second power shaft, second output shaft, the 9th bearing, the tenth bearing, the 11 bearing, second outer cylinder body and second inner barrel.The 5th servomotor is connected with second power shaft by the 5-linked axial organ, second small Spur gear and second power shaft are connected, second power shaft is connected with second inner barrel by the 9th bearing, second largest spur gear is connected with second output shaft by the tenth bearing, second largest spur gear is affixed on second inner barrel, second inner barrel is connected with second outer cylinder body by the 11 bearing, thereby drives the unitary rotation of second inner barrel by the rotation of the 5th servomotor.
Described the 3rd rotation direction servo-control mechanism comprises: the 6th servomotor, the 6th shaft coupling, the 3rd power shaft, the 3rd small Spur gear, the third-largest spur gear, cone pinion, large bevel gear, the 3rd output shaft and the 12 bearing, the 13 bearing, the 14 bearing.The 6th servomotor is fixedly mounted in second inner barrel of the second rotation direction servo-control mechanism, be connected with the 3rd power shaft by the 6th shaft coupling, the 3rd small Spur gear and the 3rd power shaft are connected, second output shaft fixed connection of the third-largest spur gear and the second rotation direction servo-control mechanism, the other end and the cone pinion of second output shaft of the second rotation direction servo-control mechanism are connected, large bevel gear and the 3rd output shaft fixed connection with the cone pinion engagement, the 3rd output shaft two ends and dowel mechanism are connected, the drive dowel mechanism rotates, and the 3rd power shaft and the 3rd output shaft are respectively by the 12 bearing and the 13 bearing, the 14 bearing is connected on second inner barrel of the second rotation direction servo-control mechanism.
Described dowel mechanism comprises: locating pin bracket and alignment pin.The locating pin bracket two ends are fixedly attached to the 3rd output shaft two ends of the 3rd rotation direction servo-control mechanism, and alignment pin is installed on the locating pin bracket, can change according to the difference of the alignment pin size of different part positioning requirements.
The present invention can by numerical control system rapid adjustment positioning fixture dowel mechanism locus, be placed on part to be welded on the positioning fixture dowel mechanism then according to the difference of the position location of different parts.The adjustment of whole positioning fixture system is quick, the precision height, be suitable for the application that similar welding post is produced in the swinging cross of structural similarity vehicle, manufacturing field and cost have not only been saved, main is to realize accurately location according to workpiece location designing requirement, has the flexible characteristic that present all kinds of chucking appliance system does not have.In actual applications, can be according to the space adjusting range of similar vehicle welding post Design Orientation anchor clamps dowel mechanism.
Description of drawings
Fig. 1 general structure schematic diagram of the present invention
Each mechanism structure schematic diagram of Fig. 2 the present invention
Each mechanism structure schematic diagram of Fig. 3 the present invention
Among the figure: the first horizontal direction shift servo controlling organization 1, the first rotation direction servo-control mechanism 2, vertical direction shift servo controlling organization 3, the second horizontal direction shift servo controlling organization 4, the second rotation direction servo-control mechanism 5, the 3rd rotation direction servo-control mechanism 6, dowel mechanism 7;
First servomotor 8, first electric machine support 9, first shaft coupling 10, clutch shaft bearing and bearing block 11 and second bearing and bearing block 15, first feed screw nut 12, first ball-screw 13, first guide rail 14, first cylindrical shell 16; Second servomotor 17, second shaft coupling 18, first small Spur gear 20, first spur gear 23, first power shaft 19, first output shaft 24, the 3rd bearing 22, the 4th bearing 25, the 5th bearing 26, second cylindrical shell 21; The 3rd servomotor 27, the 3rd shaft coupling 28, the 6th bearing and bearing block 29, second ball-screw 31, second feed screw nut 30, first outer cylinder body 34, first inner barrel 33 and slip serrate slot group 32; The 4th servomotor 35, second electric machine support 36, tetrad axial organ 37, the 7th bearing and bearing block 38 and the 8th bearing and bearing block 41, the 3rd feed screw nut 39, the 3rd ball-screw 42, second guide rail 43, the 3rd cylindrical shell 40; The 5th servomotor 44,5-linked axial organ 48, second small Spur gear 52, second largest spur gear 51, second power shaft 49, second output shaft 50, the 9th bearing 53 and the tenth bearing the 54, the 11 bearing 46, second outer cylinder body 47 and second inner barrel 45; The 6th servomotor 55, the 6th shaft coupling 56, the 3rd power shaft 57, the 3rd small Spur gear 58, the third-largest spur gear 59, cone pinion 61, large bevel gear 62, the 3rd output shaft 64 and the 12 bearing the 60, the 13 bearing 63 and the 14 bearing 65; Locating pin bracket 66, alignment pin 67.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: the first horizontal direction shift servo controlling organization 1, the first rotation direction servo-control mechanism 2, vertical direction shift servo controlling organization 3, the second horizontal direction shift servo controlling organization 4, the second rotation direction servo-control mechanism 5, the 3rd rotation direction servo-control mechanism 6 and dowel mechanism 7.Annexation between them is: be followed successively by the first horizontal direction shift servo controlling organization 1, the first rotation direction servo-control mechanism 2, vertical direction shift servo controlling organization 3, the second horizontal direction shift servo controlling organization 4, the second rotation direction servo-control mechanism 5, the 3rd rotation direction servo-control mechanism 6 and dowel mechanism 7 from the lower to the upper.
The first horizontal direction shift servo controlling organization 1 is at the foot of whole anchor clamps, be installed on the workbench, be connected with the first rotation direction servo-control mechanism 2, and drive the first rotation direction servo-control mechanism and top vertical direction shift servo controlling organization 3, the second horizontal direction shift servo controlling organization 4, the second rotation direction servo-control mechanism 5, the 3rd rotation direction servo-control mechanism 6 and dowel mechanism 7 moves along first horizontal direction;
The first rotation direction servo-control mechanism 2 is connected with vertical direction shift servo controlling organization 3, drives vertical direction shift servo controlling organization 3 and the top second horizontal direction shift servo controlling organization 4, the second rotation direction servo-control mechanism 5, the 3rd rotation direction servo-control mechanism 6 and dowel mechanism 7 thereof and rotates along first rotation direction;
The vertical direction shift servo controlling organization 3 and the second horizontal direction shift servo controlling organization 4 are connected, and drive the second horizontal direction shift servo controlling organization 4 and the top second rotation direction servo-control mechanism 5, the 3rd rotation direction servo-control mechanism 6 and dowel mechanism 7 moves in the vertical direction;
The second horizontal direction shift servo controlling organization 4 is connected with the second rotation direction servo-control mechanism 5, drives the second rotation direction servo-control mechanism 5 and top the 3rd rotation direction servo-control mechanism 6 and dowel mechanism 7 moves along second horizontal direction;
The 3rd rotation direction servo-control mechanism 6 is fixedly mounted on the second rotation direction servo-control mechanism 5, and the second rotation direction servo-control mechanism 5 drives second rotation direction and the 3rd rotation direction servo-control mechanism 6 rotates along second rotation direction together;
Dowel mechanism 7 is installed on the 3rd rotation direction servo-control mechanism 6, by the rotation of the 3rd rotation direction servo-control mechanism 6 controls the 3rd rotation direction.
As shown in Figure 2, the first horizontal direction shift servo controlling organization 1 comprises: first servomotor 8, first electric machine support 9, first shaft coupling 10, clutch shaft bearing and bearing block 11, second bearing and bearing block 15, first feed screw nut 12, first ball-screw 13, first guide rail 14 and first cylindrical shell 16.First servomotor 8 is installed on first cylindrical shell 16 by first electric machine support 9, and be connected with first ball-screw 13 by first shaft coupling 10, clutch shaft bearing and bearing block 11, second bearing and bearing block 15 are connected with first ball-screw, 13 two ends, play fixed supporting role, first feed screw nut 12 and first guide rail 14 are connected with the first rotation direction servo-control mechanism 2 on first ball-screw 13, drive the first rotation direction servo-control mechanism 2 and top vertical direction shift servo controlling organization 3 thereof, the second horizontal direction shift servo controlling organization 4, the second rotation direction servo-control mechanism 5, the 3rd rotation direction servo-control mechanism 6, dowel mechanism 7 moves in first guide rail, 14 upper edges, first horizontal direction.Clutch shaft bearing and bearing block 11, second bearing and bearing block 15 and first guide rail 14 are installed on first cylindrical shell 16, and first cylindrical shell 16 is installed on the workbench.
As shown in Figure 2, the first rotation direction servo-control mechanism 2 comprises: second servomotor 17, second shaft coupling 18, first small Spur gear 20, first spur gear 23, first power shaft 19, first output shaft 24, the 3rd bearing 22, the 4th bearing 25, the 5th bearing 26 and second cylindrical shell 21.Second servomotor 17 is connected with first power shaft 19 by second shaft coupling 18, first small Spur gear 20 and first power shaft 19 are connected, the first spur gear 23 and first output shaft 24 are connected, first power shaft 19 and first output shaft 24 are by the 3rd bearing 22, the 4th bearing 25 is connected with second cylindrical shell 21 respectively, first output shaft 24 is connected with vertical direction shift servo controlling organization 3, second cylindrical shell 21 is connected with first outer cylinder body 34 of vertical direction shift servo controlling organization 3 by the 3rd bearing 26, and first output shaft 24 drives vertical direction shift servo controlling organization 3 and the second top horizontal direction shift servo controlling organization 4 thereof, the second rotation direction servo-control mechanism 5, the 3rd rotation direction servo-control mechanism 6, dowel mechanism 7 rotates along first rotation direction.
As shown in Figure 2, vertical direction shift servo controlling organization 3 comprises: the 3rd servomotor 27, the 3rd shaft coupling 28, the 6th bearing and bearing block 29, second feed screw nut 30, second ball-screw 31, first outer cylinder body 34, first inner barrel 33 and slip serrate slot group 32.First outer cylinder body 34 is connected with the first rotation direction servo-control mechanism 2, the 3rd servomotor 27 is fixedly mounted on first outer cylinder body 34, be connected with second ball-screw 31 by the 3rd shaft coupling 28, the 6th bearing and bearing block 29 are connected with second ball-screw 31 and are installed on first outer cylinder body 34, second ball-screw 31 is played a supportive role, second feed screw nut 30 on second ball-screw 31 is connected with first inner barrel 33, first inner barrel 33 is connected with first outer cylinder body 34 by slip serrate slot group 32, thereby second ball-screw 31 drives first inner barrel 33 and vertically moves up and down along slip serrate slot 32, first inner barrel, 33 upper ends are connected with the second horizontal direction servo-control mechanism 4, drive the second horizontal direction servo-control mechanism 4 and the second top rotation direction servo-control mechanism 5 thereof, the 3rd rotation direction servo-control mechanism 6, dowel mechanism 7 moving vertically.
As shown in Figure 2, the second horizontal direction shift servo controlling organization 4 comprises: the 4th servomotor 35, second electric machine support 36, tetrad axial organ 37, the 7th bearing and bearing block 38, the 8th bearing and bearing block 41, the 3rd ball-screw 42, the 3rd feed screw nut 39, second guide rail 43 and the 3rd cylindrical shell 40.The 4th servomotor 35 is installed on the 3rd cylindrical shell 40 by second electric machine support 36, and be connected with the 3rd ball-screw 42 by tetrad axial organ 37, the 7th bearing and bearing block 38, the 8th bearing and bearing block 41 are connected with the 3rd ball-screw 42, play fixed supporting role, the 3rd feed screw nut 39 and second guide rail 43 are connected with the second rotation direction servo-control mechanism 5 on the 3rd ball-screw 42, drive the second rotation direction servo-control mechanism 5 and top the 3rd rotation direction servo-control mechanism 6 and dowel mechanism 7 moves in second guide rail, 43 upper edges, second horizontal direction.The 7th bearing and bearing block 38, the 8th bearing and bearing block 41 and second guide rail 43 are installed on the 3rd cylindrical shell 40, and the 3rd cylindrical shell 40 is connected with first inner barrel 33 of vertical direction shift servo controlling organization 3.
As shown in Figure 3, the second rotation direction servo-control mechanism 5 comprises: the 5th servomotor 44, second inner barrel the 45, the 11 bearing 46, second outer cylinder body 47,5-linked axial organ 48, second power shaft 49, second output shaft 50, second largest spur gear 51, second small Spur gear 52, the 9th bearing 53, the tenth bearing 54.The 5th servomotor 44 is connected with second power shaft 49 by 5-linked axial organ 48, second small Spur gear 52 and second power shaft 49 are connected, second power shaft 49 is connected with second inner barrel 45 by the 9th bearing 53, second largest spur gear 51 is connected with second output shaft 50 by the tenth bearing 54, second largest spur gear 51 is affixed on second inner barrel 45, second inner barrel 45 is connected with second outer cylinder body 47 by the 11 bearing 46, thereby drives the unitary rotation of second inner barrel 45 by the rotation of the 5th servomotor 44.
As shown in Figure 3, the 3rd rotation direction servo-control mechanism 6 comprises: the 6th servomotor 55, the 6th shaft coupling 56, the 3rd power shaft 57, the 3rd small Spur gear 58, the third-largest spur gear 59, cone pinion 61, large bevel gear 62, the 3rd output shaft 64 and the 12 bearing the 60, the 13 bearing 63 and the 14 bearing 65.The 6th servomotor 55 is fixedly mounted in second inner barrel 45 of the second rotation direction servo-control mechanism 5, be connected with the 3rd power shaft 57 by the 6th shaft coupling 56, the 3rd small Spur gear 58 and the 3rd power shaft 57 are connected, second output shaft 50 of the third-largest spur gear 59 and the second rotation direction servo-control mechanism 5 is connected, the other end and the cone pinion 61 of second output shaft 50 of the second rotation direction servo-control mechanism 5 are connected, be connected with the large bevel gear 62 and the 3rd output shaft 64 of cone pinion 61 engagements, the 3rd output shaft 64 two ends and dowel mechanism 7 are connected, drive dowel mechanism 7 and rotate, the 3rd power shaft 57 and the 3rd output shaft 64 are respectively by the 12 bearing 60, the 13 bearing 63 and the 14 bearing 65 are connected on second inner barrel 45 of the second rotation direction servo-control mechanism 5.
As shown in Figure 3, dowel mechanism 7 comprises: locating pin bracket 66 and alignment pin 67.Locating pin bracket 66 two ends are fixedly attached to the 3rd output shaft 64 two ends of the 3rd rotation direction servo-control mechanism 6, and alignment pin 67 is installed on the locating pin bracket 66, can change according to the difference of alignment pin 67 sizes of different part positioning requirements.
The present embodiment flexible locating cramping apparatus is before using, each motion control mechanism original state is: first to move horizontally servo-control mechanism 1 moving direction consistent with the certain level direction of principal axis of the required adjustment amount maximum of car load vehicle body coordinate system, and second moves horizontally servo-control mechanism 4 moving directions and first, and to move horizontally perpendicular another horizontal axis of car load vehicle body coordinate system of servo-control mechanism 1 moving direction consistent; Second feed screw nut 30 on the first horizontal direction shift servo controlling organization 1 on first feed screw nut 12 and the vertical direction shift servo controlling organization 3 all is in the centre position of movement travel scope separately, the 3rd feed screw nut 39 of the second horizontal direction shift servo controlling organization 4 is in from the nearest position of servomotor, and promptly stroke is zero position.Utilize three coordinate measuring machine or laser surveying instrument on assembly station, to set up car load coordinate O 1, and the alignment pin 67 initial coordinate O of measurement flexible locating cramping apparatus of the present invention 2Determine alignment pin 67 theoretical design coordinates by part or assembly CAD.With alignment pin 67 initial coordinate values and theoretical design coordinate figure input control system, calculate the movement travel of each motion control mechanism of flexible locating cramping apparatus of the present invention and carry out motion control, make positioning fixture alignment pin 67 move to theoretical design attitude.
Present embodiment combines by controlling automatically with vehicle body position components anchor clamps, can be according to the variation of different bodywork parts position location, realize the three-dimensional fix of bodywork parts fast and exactly, applicable to the measurement support of the off-line three-dimensional coordinates measurement of multiple similar vehicle welding post positioning fixture of vehicle body soldering production line and bodywork parts.

Claims (8)

1, a kind of by servo-controlled flexible locating cramping apparatus, it is characterized in that, whole anchor clamps are followed successively by the first horizontal direction shift servo controlling organization, the first rotation direction servo-control mechanism, vertical direction shift servo controlling organization, the second horizontal direction shift servo controlling organization, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism from the lower to the upper, wherein:
The first horizontal direction shift servo controlling organization is installed on the workbench, be connected with the first rotation direction servo-control mechanism, drive the first rotation direction servo-control mechanism and top vertical direction shift servo controlling organization, the second horizontal direction shift servo controlling organization, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism moves along first horizontal direction;
The first rotation direction servo-control mechanism and vertical direction shift servo controlling organization are connected, and drive vertical direction shift servo controlling organization and the top second horizontal direction shift servo controlling organization, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism thereof and rotate along first rotation direction;
The vertical direction shift servo controlling organization and the second horizontal direction shift servo controlling organization are connected, and drive the second horizontal direction shift servo controlling organization and the top second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism moves in the vertical direction;
The second horizontal direction shift servo controlling organization is connected with the second rotation direction servo-control mechanism, drives the second rotation direction servo-control mechanism and top the 3rd rotation direction servo-control mechanism and dowel mechanism moves along second horizontal direction;
The 3rd rotation direction servo-control mechanism is fixedly mounted on the second rotation direction servo-control mechanism, and the second rotation direction servo-control mechanism drives second rotation direction and the 3rd rotation direction servo-control mechanism rotates along second rotation direction together;
Dowel mechanism is fixedly mounted on the 3rd rotation direction servo-control mechanism, is controlled the rotation of the 3rd rotation direction by the 3rd rotation direction servo-control mechanism.
2, according to claim 1 by servo-controlled flexible locating cramping apparatus, it is characterized in that, the described first horizontal direction shift servo controlling organization comprises: first servomotor, first electric machine support, first shaft coupling, clutch shaft bearing and bearing block, second bearing and bearing block, first ball-screw, first feed screw nut, first guide rail and first cylindrical shell, first servomotor is installed on first cylindrical shell by first electric machine support, and be connected with first ball-screw by first shaft coupling, clutch shaft bearing and bearing block, second bearing and bearing block are connected with first ball-screw, play fixed supporting role, first feed screw nut and first guide rail are connected with the first rotation direction servo-control mechanism on first ball-screw, drive the first rotation direction servo-control mechanism and top vertical direction shift servo controlling organization thereof, the second horizontal direction shift servo controlling organization, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism move in the first guide rail upper edge, first horizontal direction, clutch shaft bearing and bearing block, second bearing and bearing block and first guide rail are installed on first cylindrical shell, and first cylindrical shell is installed on the workbench.
3, according to claim 1 by servo-controlled flexible locating cramping apparatus, it is characterized in that, the described first rotation direction servo-control mechanism comprises: second servomotor, second shaft coupling, first small Spur gear, first spur gear, first power shaft, first output shaft, the 3rd bearing, the 4th bearing, the 5th bearing and second cylindrical shell, second servomotor is connected with first power shaft by second shaft coupling, first small Spur gear and first power shaft are connected, the first spur gear and first output shaft fixed connection, first power shaft is connected with second cylindrical shell with the 4th bearing by the 3rd bearing respectively with first output shaft, first output shaft and vertical direction shift servo controlling organization are connected, second cylindrical shell is connected with first outer cylinder body of vertical direction shift servo controlling organization by the 5th bearing, and first output shaft drives vertical direction shift servo controlling organization and the second top horizontal direction shift servo controlling organization thereof, the second rotation direction servo-control mechanism, the 3rd rotation direction servo-control mechanism and dowel mechanism rotate along first rotation direction.
4, according to claim 1 by servo-controlled flexible locating cramping apparatus, it is characterized in that, described vertical direction shift servo controlling organization comprises: the 3rd servomotor, the 3rd shaft coupling, the 6th bearing and bearing block, second ball-screw, second feed screw nut, first outer cylinder body, first inner barrel and slip serrate slot group, first outer cylinder body is connected with the first rotation direction servo-control mechanism, the 3rd servomotor is fixedly mounted on first outer cylinder body, be connected with second ball-screw by the 3rd shaft coupling, second feed screw nut on second ball-screw is connected with first inner barrel, first inner barrel is connected with first outer cylinder body by slip serrate slot group, thereby second ball-screw drives first inner barrel and vertically moves up and down along the slip serrate slot, first inner barrel upper end is connected with the second horizontal direction servo-control mechanism, drives the second horizontal direction servo-control mechanism and the second top rotation direction servo-control mechanism thereof, the 3rd rotation direction servo-control mechanism and dowel mechanism moving vertically.
5, according to claim 1 by servo-controlled flexible locating cramping apparatus, it is characterized in that, the described second horizontal direction shift servo controlling organization comprises: the 4th servomotor, second electric machine support, the tetrad axial organ, the 7th bearing and bearing block, the 8th bearing and bearing block, the 3rd ball-screw, the 3rd feed screw nut, second guide rail and the 3rd cylindrical shell, the 4th servomotor is installed on the 3rd cylindrical shell by second electric machine support, and be connected with the 3rd ball-screw by the tetrad axial organ, the 7th bearing and bearing block, the 8th bearing and bearing block are connected with the 3rd ball-screw, play fixed supporting role, the 3rd feed screw nut and second guide rail are connected with the second rotation direction servo-control mechanism on the 3rd ball-screw, drive the second rotation direction servo-control mechanism and top the 3rd rotation direction servo-control mechanism and dowel mechanism moves in the second guide rail upper edge, second horizontal direction, the 7th bearing and bearing block, the 8th bearing and bearing block and second guide rail are installed on the 3rd cylindrical shell, and first inner barrel of the 3rd cylindrical shell and vertical direction shift servo controlling organization is connected.
6, according to claim 1 by servo-controlled flexible locating cramping apparatus, it is characterized in that, the described second rotation direction servo-control mechanism comprises: the 5th servomotor, the 5-linked axial organ, second small Spur gear, second largest spur gear, second power shaft, second output shaft, the 9th bearing, the tenth bearing, the 11 bearing, second outer cylinder body and second inner barrel, the 5th servomotor is connected with second power shaft by the 5-linked axial organ, second small Spur gear and second power shaft are connected, second power shaft is connected with second inner barrel by the 9th bearing, second largest spur gear is connected with second output shaft by the tenth bearing, second largest spur gear is affixed on second inner barrel, second inner barrel is connected with second outer cylinder body by the 11 bearing, thereby drives the unitary rotation of second inner barrel by the rotation of the 5th servomotor.
7, according to claim 1 by servo-controlled flexible locating cramping apparatus, it is characterized in that, described the 3rd rotation direction servo-control mechanism comprises: the 6th servomotor, the 6th shaft coupling, the 3rd power shaft, the 3rd small Spur gear, the third-largest spur gear, cone pinion, large bevel gear, the 3rd output shaft and the 12 bearing, the 13 bearing, the 14 bearing, the 6th servomotor is fixedly mounted in second inner barrel of the second rotation direction servo-control mechanism, be connected with the 3rd power shaft by the 6th shaft coupling, the 3rd small Spur gear and the 3rd power shaft are connected, second output shaft fixed connection of the third-largest spur gear and the second rotation direction servo-control mechanism, the other end and the cone pinion of second output shaft of the second rotation direction servo-control mechanism are connected, large bevel gear and the 3rd output shaft fixed connection with the cone pinion engagement, the 3rd output shaft two ends and dowel mechanism are connected, the drive dowel mechanism rotates, and the 3rd power shaft and the 3rd output shaft are respectively by the 12 bearing and the 13 bearing, the 14 bearing is connected on second inner barrel of the second rotation direction servo-control mechanism.
8, according to claim 1 by servo-controlled flexible locating cramping apparatus, it is characterized in that, described dowel mechanism comprises: locating pin bracket and alignment pin, the locating pin bracket two ends are fixedly attached to the 3rd output shaft two ends of the 3rd rotation direction servo-control mechanism, and alignment pin is installed on the locating pin bracket.
CNB2008100348635A 2008-03-20 2008-03-20 Flexible locating cramping apparatus controlled by servo CN100534701C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2008100348635A CN100534701C (en) 2008-03-20 2008-03-20 Flexible locating cramping apparatus controlled by servo

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2008100348635A CN100534701C (en) 2008-03-20 2008-03-20 Flexible locating cramping apparatus controlled by servo

Publications (2)

Publication Number Publication Date
CN101249597A CN101249597A (en) 2008-08-27
CN100534701C true CN100534701C (en) 2009-09-02

Family

ID=39953284

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2008100348635A CN100534701C (en) 2008-03-20 2008-03-20 Flexible locating cramping apparatus controlled by servo

Country Status (1)

Country Link
CN (1) CN100534701C (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101987413B (en) * 2009-07-30 2013-08-07 中国商用飞机有限责任公司 Three-dimensional precision control supporting platform
CN101817405A (en) * 2010-03-30 2010-09-01 浙江大学 Heavy-duty three-dimensional positioner
CN102211630B (en) * 2011-04-15 2012-12-26 力帆实业(集团)股份有限公司 Quick switching and positioning device for high and low mixed model production
CN103433676A (en) * 2013-09-05 2013-12-11 安徽江淮汽车股份有限公司 Welding tool device
CN105171642B (en) * 2015-09-10 2016-11-09 山东大学 A kind of servo-controlled car roof combination flexible positioning device
CN105563001B (en) * 2016-03-22 2017-04-12 中国五冶集团有限公司 Clamp device for spin welding of a pipe fitting
CN105904127B (en) * 2016-06-17 2017-12-05 广州瑞松北斗汽车装备有限公司 A kind of vehicle body is flexible to carry production line
CN111578978A (en) * 2020-05-13 2020-08-25 青岛智腾科技有限公司 High-precision sensor calibration workbench

Also Published As

Publication number Publication date
CN101249597A (en) 2008-08-27

Similar Documents

Publication Publication Date Title
CN203679343U (en) Tail end hole forming actuator of robot
US7185412B2 (en) Multi-axis, processor-controlled, toolhead positioner
CN101386150B (en) Numerical control polishing machine for optical elements
US9272385B2 (en) Multi-carriage dual-spindle symmetrical grinding processing center
US8887361B2 (en) Vertical turning-milling complex machining center
CN104001974B (en) For the rotary movement-translation decoupling zero process unit in parallel of large thin-wall component milling
CN104589334A (en) Five-axis multifunctional manipulator
CN100402233C (en) High speed precision digital control grinding processing device based on PMAC
CN105171642B (en) A kind of servo-controlled car roof combination flexible positioning device
CN201483023U (en) Automatic horizontal milling and boring machine
CN102333700B (en) Device for manufacturing aircraft structure
CN101279422B (en) Parallel-series principle milling vehicle combined numerically controlled machine
CN201020662Y (en) High precision grinder wheel finishing device for complex section grinding wheel processing
CN201565785U (en) Two-dimensional numerical control workbench
CN102091799B (en) End effector for automatically drilling curved surface
CN103056658B (en) A kind of aggregation type lathe
CN106625665B (en) A kind of drilling milling machine device people's system of packaged type automatic addressing
CN202922582U (en) Parallel mechanism positioning platform used for aircraft assembly
CN201195245Y (en) Five-shaft five-linkage machining center
CN202062167U (en) Cartesian five-degree-of-freedom welding manipulator
CN205394043U (en) Four degree of freedom milling fixtures
CN203495476U (en) Hydraulic clamping fixture
CN102059496A (en) Pneumatic propulsion device of welding fixture positioning pin for automobile body and work method thereof
CN104191317A (en) Five-axis high-speed linkage machining center
CN201009089Y (en) Processing center mechanism of five-shaft linkage vane

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
EE01 Entry into force of recordation of patent licensing contract

Assignee: Liuzhou Yuanchi Plastic Co., Ltd.

Assignor: Shanghai Jiao Tong University

Contract record no.: 2010450000043

Denomination of invention: Flexible locating cramping apparatus controlled by servo

Granted publication date: 20090902

License type: Exclusive License

Open date: 20080827

Record date: 20100712

C41 Transfer of patent application or patent right or utility model
COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 200240 NO.800, DONGCHUAN ROAD, MINHANG DISTRICT, SHANGHAI TO: 545006 C-3, MIDDLE ROAD, YANGHE AVENUE, YANGHE INDUSTRIAL AREA, LIUZHOU CITY, GUANGXI PROVINCE

TR01 Transfer of patent right

Effective date of registration: 20110212

Address after: 545006 Guangxi Province, Liuzhou Yanghe Yanghe Industrial Zone Road Road C-3

Patentee after: Liuzhou Yuanchi Plastic Co., Ltd.

Address before: 200240 Dongchuan Road, Shanghai, No. 800, No.

Patentee before: Shanghai Jiao Tong University

ASS Succession or assignment of patent right

Owner name: LIUZHOU YUANCHI PLASTIC CO., LTD.

Free format text: FORMER OWNER: SHANGHAI JIAO TONG UNIVERSITY

Effective date: 20110212

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090902

Termination date: 20180320

CF01 Termination of patent right due to non-payment of annual fee