CN101362325A - Self-adapting location apparatus based on and universal ball seat - Google Patents
Self-adapting location apparatus based on and universal ball seat Download PDFInfo
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- CN101362325A CN101362325A CNA2008101213550A CN200810121355A CN101362325A CN 101362325 A CN101362325 A CN 101362325A CN A2008101213550 A CNA2008101213550 A CN A2008101213550A CN 200810121355 A CN200810121355 A CN 200810121355A CN 101362325 A CN101362325 A CN 101362325A
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Abstract
The invention discloses an adaptive positioning device based on an air float and a universal ball seat. The adaptive positioning device comprises the air float, the universal ball seat and a sectionalized guiding core shaft, the air float and the universal ball seat comprise an air inlet, a bottom plate, an air hole, a first spring, a centering sleeve, a bottom seat, an outer cylinder, a ball seat, a second spring, a spring seat, a ball body and a guide sleeve, wherein, the bottom seat and the outer cylinder are arranged on the bottom plate in sequence, an air cavity is arranged between the bottom plate and the bottom seat, the air inlet and the air hole are arranged on the bottom seat, the ball seat is arranged inside the outer cylinder and on the bottom seat, the ball seat is connected with the inner wall of the outer cylinder through the first spring and the centering sleeve, the ball body and the second spring are arranged on the ball seat, the spring seat is arranged on the ball body, the guide sleeve is arranged at the upper end of the ball body, the bottom plate, the bottom seat, the ball seat, the ball body and the guide sleeve are provided with center holes, and the sectionalized guiding core shaft is connected with the mechanical system to be fixed through a coupling screw. The adaptive positioning device has the advantages that when the position and the angle of the sectionalized guiding core shaft are deviated relatively to the center holes of the guide sleeve and the ball body, the device can have excellent adaptive performance.
Description
Technical field
The present invention relates to into a device, relate in particular to a kind of self adaptation and go into a device based on air supporting and universal ball seat.
Background technology
A rigid mechanical system is connected with fixed platform by the flexible attitude-adjusting frock, can make the rigid mechanical system be in certain theoretical spatiality by the flexible attitude-adjusting frock.In general, it is relatively poor that this flexible attitude-adjusting frock is resisted the ability of outside imposed load (as fine finishining cutting force, butt joint assembly force etc.), therefore need provide auxiliary retention system.When going into position, fixing after the pose adjustment of rigid mechanical system, because mechanical system exists intrinsic foozle, rigging error, spatial pose to adjust equal error, make how will automatically be inserted in the centre bore of assisting retention system and lock the technology mandrel by rigidly connected cylindric technology mandrel with it, and do not destroy the good spatial pose of mechanical system adjusted, become the technical barrier in fields such as Aeronautics and Astronautics.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of self adaptation to go into a device based on air supporting and universal ball seat.
Go into a device based on the self adaptation of air supporting and universal ball seat and comprise air supporting and universal ball seat and segmentation guiding mandrel, air supporting and universal ball seat comprise air inlet, base plate, pore, first spring, centring sleeve, base, urceolus, ball seat, second spring, spring base, spheroid, fairlead, be provided with base on the base plate successively, urceolus, be provided with air cavity between base plate and the base, base is provided with air inlet, pore, and communicate with air cavity, in the urceolus, base is provided with ball seat, ball seat and outer tube inner wall are by first spring, centring sleeve joins, ball seat is provided with spheroid, second spring, spheroid is provided with spring base, and second spring is installed in the spring base, and the spheroid upper end is provided with fairlead, base plate, base, ball seat, spheroid, fairlead is provided with centre bore, and segmentation guiding mandrel is connected with treating the solid mechanical system by attachment screw.
Described segmentation guiding mandrel adopts A, B, four sections guide frames of C, D, and wherein, the A section is 20 °～30 ° a inverted cone surface, and the B section is a spherical crown surface, and the C section is 1 °～3 ° a inverted cone surface, and the D section is the face of cylinder, forms pit in the junction of C section and B section.The center-hole diameter of spheroid and fairlead is identical with D section face of cylinder diameter with B section spherical crown surface.The entrance face of fairlead has cone structure.Form static air pressure plane thrust bearing arrangement between ball seat and the base.
The beneficial effect that the present invention compared with prior art has: (1) when the air inlet of base air inlet, the suffered resistance of motion that segmentation guiding mandrel inserts fairlead, spheroid is little, can not influence the pose of mechanical system, and device has excellent self adaptation to go into a performance; (2) spring, centring sleeve make device have self-centering and reset function; (3) be easy to realize automation control that controllability is strong during the collaborative work of many covering devices in industry spot; (4) at different application scenarios, be easy to realize that self adaptation goes into the seriation of many sizes polytypic of a device, it is low to design and develop difficulty.
Description of drawings
Fig. 1 is based on the self adaptation of air supporting and universal ball seat and goes into an apparatus structure schematic diagram;
Fig. 2 is that self adaptation of the present invention is gone into the structural representation after finish the position;
Among the figure: air inlet 1, base plate 2, pore 3, first spring 4, centring sleeve 5, base 6, urceolus 7, ball seat 8, second spring 9, spring base 10, spheroid 11, fairlead 12, segmentation guiding mandrel 13, attachment screw 14, treat solid mechanical system 15.
The specific embodiment
As Fig. 1, shown in 2, go into a device based on the self adaptation of air supporting and universal ball seat and comprise air supporting and universal ball seat and segmentation guiding mandrel 13, air supporting and universal ball seat comprise air inlet 1, base plate 2, pore 3, first spring 4, centring sleeve 5, base 6, urceolus 7, ball seat 8, second spring 9, spring base 10, spheroid 11, fairlead 12, be provided with base 6 on the base plate 2 successively, urceolus 7, be provided with air cavity between base plate 2 and the base 6, base 6 is provided with air inlet 1, pore 3, and communicate with air cavity, in the urceolus 7, base 6 is provided with ball seat 8, ball seat 8 passes through first spring 4 with urceolus 7 inwalls, centring sleeve 5 joins, ball seat 8 is provided with spheroid 11, second spring 9, spheroid 11 is provided with spring base 10, second spring 9 is installed in the spring base 10, spheroid 11 upper ends are provided with fairlead 12, base plate 2, base 6, ball seat 8, spheroid 11, fairlead 12 is provided with centre bore, and segmentation guiding mandrel 13 is connected with treating solid mechanical system 15 by attachment screw 14.
Described segmentation guiding mandrel 13 adopts A, B, four sections guide frames of C, D, and wherein, the A section is 20 °～30 ° a inverted cone surface, and the B section is a spherical crown surface, and the C section is 1 °～3 ° a inverted cone surface, and the D section is the face of cylinder, forms pit in the junction of C section and B section.The center-hole diameter of spheroid 11 and fairlead 12 is identical with D section face of cylinder diameter with B section spherical crown surface.The entrance face of fairlead 12 has cone structure.Form static air pressure plane thrust bearing arrangement between ball seat 8 and the base 6.
The course of work of the present invention is as follows: after the mechanical system spatial pose was adjusted, at first base air inlet 1 air inlet formed air film between ball seat 8 lower surfaces and base 6 upper surfaces, make ball seat 8 freedom of entry quick condition thereon.Posture adjustment mechanism descends then, make with the rigidly connected segmentation guiding of mechanical system mandrel 13 along z to negative movement, be inserted in spheroid 11, the fairlead 12, because the initial position deviation and the angular deviation of segmentation guiding mandrel 13 and fairlead 12 centre bores, the segmentation guiding mandrel A section conical surface, the guide effect of the fairlead 12 inlet conical surfaces, guiding segmentation guiding mandrel B section sphere enters spheroid 11 centre bores, and promotion spheroid 11 rotates and translation.Posture adjustment mechanism continues to descend and makes segmentation guiding mandrel B section sphere continue to move and promote spheroid 11, ball seat 8 generation translations along spheroid 11 centre bores.Go into smooth and easy when the pit that forms between segmentation guiding mandrel B section sphere and the C section conical surface can make that the relative spheroid 11 centre bore axis of segmentation guiding mandrel axis have certain angle.When the segmentation guiding mandrel C section conical surface touched fairlead 12, the C section conical surface promoted spheroid 11 and rotates, and B section sphere continues to promote the spheroid translation.When the segmentation guiding mandrel D section face of cylinder enters into fairlead 12 centre bores, under the effect on the segmentation guiding mandrel B section sphere and the D section face of cylinder, promote spheroid 11 translations and enter spheroid 11 centre bore design attitudes until segmentation guiding mandrel 13, base air inlet 1 stops air inlet, can guarantee that the self adaptation of segmentation guiding mandrel under the condition that the mechanical system pose does not change is gone into the position.When segmentation guiding mandrel 13 withdrawed from fairlead, ball centre hole, under the effect of first spring 4, second spring 9, centring sleeve 5, spring base 10, device automatically reset to initial position, and package unit enters readiness for operation next time.
Claims (5)
1. the self adaptation based on air supporting and universal ball seat is gone into a device, it is characterized in that comprising air supporting and universal ball seat and segmentation guiding mandrel (13), air supporting and universal ball seat comprise air inlet (1), base plate (2), pore (3), first spring (4), centring sleeve (5), base (6), urceolus (7), ball seat (8), second spring (9), spring base (10), spheroid (11), fairlead (12), be provided with base (6) on the base plate (2) successively, urceolus (7), be provided with air cavity between base plate (2) and the base (6), base (6) is provided with air inlet (1), pore (3), and communicate with air cavity, in the urceolus (7), base (6) is provided with ball seat (8), ball seat (8) passes through first spring (4) with urceolus (7) inwall, centring sleeve (5) joins, ball seat (8) is provided with spheroid (11), second spring (9), spheroid (11) is provided with spring base (10), second spring (9) is installed in the spring base (10), spheroid (11) upper end is provided with fairlead (12), base plate (2), base (6), ball seat (8), spheroid (11), fairlead (12) is provided with centre bore, and segmentation guiding mandrel (13) is connected with treating solid mechanical system (15) by attachment screw (14).
2. a kind of self adaptation based on air supporting and universal ball seat according to claim 1 is gone into a device, it is characterized in that described segmentation guiding mandrel (13) adopts A, B, four sections guide frames of C, D, wherein, the A section is 20 °～30 ° a inverted cone surface, the B section is a spherical crown surface, the C section is 1 °～3 ° a inverted cone surface, and the D section is the face of cylinder, forms pit in the junction of C section and B section.
3. a kind of self adaptation based on air supporting and universal ball seat according to claim 1 is gone into a device, it is characterized in that the center-hole diameter of described spheroid (11) and fairlead (12) is identical with D section face of cylinder diameter with B section spherical crown surface.
4. a kind of self adaptation based on air supporting and universal ball seat according to claim 1 is gone into a device, it is characterized in that, the entrance face of described fairlead (12) has cone structure.
5. a kind of self adaptation based on air supporting and universal ball seat according to claim 1 is gone into a device, it is characterized in that, forms static air pressure plane thrust bearing arrangement between described ball seat (8) and the base (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008101213550A CN100560302C (en) | 2008-09-26 | 2008-09-26 | Go into a device based on the self adaptation of air supporting and universal ball seat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008101213550A CN100560302C (en) | 2008-09-26 | 2008-09-26 | Go into a device based on the self adaptation of air supporting and universal ball seat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101362325A true CN101362325A (en) | 2009-02-11 |
| CN100560302C CN100560302C (en) | 2009-11-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008101213550A Expired - Fee Related CN100560302C (en) | 2008-09-26 | 2008-09-26 | Go into a device based on the self adaptation of air supporting and universal ball seat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100560302C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303261A (en) * | 2011-06-17 | 2012-01-04 | 南京航空航天大学 | Self-adapting fine-tuning device for pressure foot of automatic drill-rivet end effector |
| CN104175093A (en) * | 2014-03-05 | 2014-12-03 | 浙江大学 | Chamfer-free hole shaft automatic assembling mechanism based on air floating centering |
| CN104999388A (en) * | 2015-06-09 | 2015-10-28 | 大连四达高技术发展有限公司 | Trapezoidal thread electric lock ball clamping and supporting structure |
| CN107639242A (en) * | 2017-09-30 | 2018-01-30 | 广州蓝圣智能科技有限公司 | A kind of flexibly direct writing device mechanism for industrial robot end |
| CN110640722A (en) * | 2019-09-24 | 2020-01-03 | 日照市科技中等专业学校 | Industrial robot connects base convenient to angle of adjustment |
-
2008
- 2008-09-26 CN CNB2008101213550A patent/CN100560302C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303261A (en) * | 2011-06-17 | 2012-01-04 | 南京航空航天大学 | Self-adapting fine-tuning device for pressure foot of automatic drill-rivet end effector |
| CN104175093A (en) * | 2014-03-05 | 2014-12-03 | 浙江大学 | Chamfer-free hole shaft automatic assembling mechanism based on air floating centering |
| CN104175093B (en) * | 2014-03-05 | 2017-01-04 | 浙江大学 | A kind of automatic assembling mechanism of axle without chamfered bore based on air supporting centering |
| CN104999388A (en) * | 2015-06-09 | 2015-10-28 | 大连四达高技术发展有限公司 | Trapezoidal thread electric lock ball clamping and supporting structure |
| CN107639242A (en) * | 2017-09-30 | 2018-01-30 | 广州蓝圣智能科技有限公司 | A kind of flexibly direct writing device mechanism for industrial robot end |
| CN107639242B (en) * | 2017-09-30 | 2024-04-09 | 沈阳敏能汽车零部件有限公司 | Flexible actuator mechanism for tail end of industrial robot |
| CN110640722A (en) * | 2019-09-24 | 2020-01-03 | 日照市科技中等专业学校 | Industrial robot connects base convenient to angle of adjustment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100560302C (en) | 2009-11-18 |
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Granted publication date: 20091118 Termination date: 20100926 |