CN101850512A - Three-coordinate positioner with large stroke, high rigidity and high precision - Google Patents
Three-coordinate positioner with large stroke, high rigidity and high precision Download PDFInfo
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- CN101850512A CN101850512A CN 201010151565 CN201010151565A CN101850512A CN 101850512 A CN101850512 A CN 101850512A CN 201010151565 CN201010151565 CN 201010151565 CN 201010151565 A CN201010151565 A CN 201010151565A CN 101850512 A CN101850512 A CN 101850512A
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Abstract
The invention discloses a three-coordinate positioner with large stroke, high rigidity and high precision. A main pillar and an auxiliary pillar are arranged on a base; a main pillar is provided with a Z-axis transmission unit; a Z-axis telescopic column is connected with the main pillar by the Z-axis transmission unit; the Z-axis telescopic column is connected with the auxiliary pillar by a roller sliding block; the Z-axis telescopic column is provided with an X longitudinal sliding plate and a Y transversal sliding plate; the X longitudinal sliding plate is provided with an X-axis transmission unit; the Y transversal sliding plate is provided with a Y-axis transmission unit; the Y transversal sliding plate is fixed with a bulb clamping device or vacuum adsorption equipment; a process bulb is arranged in the bulb clamping device; the positioner is controlled by a control system; and the main pillar and the auxiliary pillar are provided with lift working tables. The invention can make movement in three directions of X, Y and Z, can realize linkage control and has high movement precision and accurate positioning; the positioner has big safety working stroke and high rigidity; the Z direction is provided with a displacement and force sensor positioner, and thereby, the three-coordinate positioner has stable and reliable support. The three-coordinate positioner is the basic unit for the digital posture adjustment of aircraft components.
Description
Technical field
The present invention relates to a kind of big stroke, high rigidity, high accuracy three coordinate locator.
Background technology
Use a large amount of curved surfaces and the large component of irregular geometric shape in fields such as military affairs, Aeronautics and Astronautics, boats and ships.Their assembling process generally is to be assembled into fairly simple sub-assembly earlier by part, refills the section part and the parts that are made into more complicated, at last with each parts to being connected into complete product.When carrying out each parts butt joint assembling, require each parts in a big way, to move, and it is higher that each part pose is adjusted required precision, thereby guarantee joint unit assembly precision and the requirement of profile coordinating order of accuracy.
The butt joint assembling of parts is to be realized by certain frock.Changeless rigidity frock is adopted in traditional big parts assembling.The rigidization frock is at the concrete structure specialized designs, needs to consider the everywhere details, causes the frock complicated integral structure, and volume is big, and purposes is single.The frock automaticity is low, and the workload of artificial assembling is big, and the production cycle is long, cost is high.
In large aircraft was made, conventional rigid chemical industry dress can not satisfy big parts butt joint matching requirements, and the flexible frock with restructural function more and more is subject to people's attention.Adopt several (more than or equal to 3) big stroke, high rigidity, high accuracy three coordinate locator can constitute the big parts form regulation system of aircraft, thereby promote the efficient and the quality of big component attitude adjusting of aircraft and butt joint assembling significantly.
Summary of the invention
The purpose of this invention is to provide a kind of big stroke, high rigidity, high accuracy three coordinate locator.
Big stroke, high rigidity, high accuracy three coordinate locator comprise base, head tree, auxilliary column, Z axle telescopic mast, roller scroll box, X slide block, Y slide block, bulb clamping device, Z axle organ cover, control system, adjustment parallels, self-powered platform, Z through-drive unit, X-axis gear unit, Y-axis gear unit; Head tree, auxiliary strut are installed on base, and head tree is provided with Z through-drive unit, and Z axle telescopic mast is connected with head tree by Z through-drive unit, and Z axle telescopic mast is connected with auxiliary strut by the roller sliding shoe; Z axle telescopic mast is provided with X longitudinal slide, Y cross slide, be equipped with on the X longitudinal slide on X-axis gear unit, the Y cross slide Y-axis gear unit is installed, be fixed with bulb clamping device or vacuum absorption device on the Y cross slide, be provided with the technology bulb in the bulb clamping device, locator is controlled by control system; On head tree and auxilliary column, be provided with self-powered platform.
Described X indulges slide block, Y cross slider stroke is respectively 0.1～300mm, and Z axle telescopic mast impulse stroke is 0.1～2514mm.Described base, head tree, auxilliary column, Z axle telescopic mast, the vertical slide block of X, Y cross slider adopt reinforced casting.Described Z axle telescopic mast, the vertical slide block of X, Y cross slider are equipped with absolute linear grating chi, limit switch and mechanical stop limiter.In the described bulb clamping device servomotor, worm screw, worm gear and clamping element are housed.Be provided with displacement transducer and power sensor in the described bulb clamping device.Described Z through-drive unit, X-axis gear unit, Z through-drive unit include servo drive motor, decelerator, ball-screw, and servo drive motor is connected successively with decelerator, ball-screw.Described control system realizes each gear unit device control of locator by servo-drive card control servomotor.
Advantage of the present invention: 1) the trouble free service stroke is big, and X, Y direction can realize 300mm, and Z is to realizing the 2514mm moving range; 2) can realize accurately moving of X, Y, three directions of Z, X, Y, Z are to single coordinate setting precision 0.05mm/ total travel, and X, Y, Z are to single coordinate repetitive positioning accuracy 0.025mm/ total travel; 3) adopt main and auxiliary column together support Z axle telescopic mast, head tree guarantees its accurate motion, and auxilliary column guarantees extensible member rigidity by the roller rolling element, rigidity height in its impulse stroke scope.4) X, Y direction adopt the AC servo machinery driving of band brake sticking brake, clamping device can be locked in the optional position of X, Y direction, guarantee the stability to member supporting; The Z direction realizes self-locking by worm type of reduction gearing, supports reliable; 5) Z is to being provided with displacement transducer and power sensor, and the assurance bulb is fast and safely gone into position and safe in utilization; 6) X, Y, three directions of Z have designed limit switch and mechanical position limitation respectively, have structurally improved the security of system works; 7) ball-screw has designed protective cover, guarantees that its transmission accuracy and life-span are not affected by environment as far as possible; 8) X, Y, three directions of Z can realize synchronous interaction control; 9) the bulb clamp mechanism can be hinged with the balling-up of technological ball capitiform, and the technology bulb can freely be rotated in the bulb clamping device, or the replacing vacuum absorption device then can directly adsorb the fixing object; 10) clamp mechanism has certain unsteady clamping characteristic, clamps and do not destroy when unclamping current attitude.11) three by certain configuration or four big strokes, high rigidity, high accuracy three coordinate locators can constitute the posture adjustment system with different operating performance, have the characteristic of quick reconfiguration.
Description of drawings
Fig. 1 is big stroke, high rigidity, high accuracy three coordinate locator structure front view;
Fig. 2 is big stroke, high rigidity, high accuracy three coordinate locator structure side view;
Fig. 3 is big stroke, high rigidity, high accuracy three coordinate locator structure vertical view;
Among the figure: base 1, head tree 2, auxilliary column 3, Z axle telescopic mast 4, roller scroll box 5, X slide block 6, Y slide block 7, bulb clamping device 8, Z axle organ cover 9, control system 10, adjustment parallels 11, self-powered platform 12.
The specific embodiment
Shown in Fig. 1～3, big stroke, high rigidity, high accuracy three coordinate locator comprise base 1, head tree 2, auxilliary column 3, Z axle telescopic mast 4, roller scroll box 5, X slide block 6, Y slide block 7, bulb clamping device 8, Z axle organ cover 9, control system 10, adjust parallels 11, self-powered platform 12, Z through-drive unit 13, X-axis gear unit 14, Y-axis gear unit 15; Head tree 2, auxiliary strut 3 are installed on base 1, and head tree is provided with Z through-drive unit 13, and Z axle telescopic mast 4 is connected with head tree 2 by Z through-drive unit 13, and Z axle telescopic mast 4 is connected with auxiliary strut 3 by roller sliding shoe 5; Z axle telescopic mast 4 is provided with X longitudinal slide 6, Y cross slide 7, be equipped with on the X longitudinal slide 6 on X-axis gear unit 14, the Y cross slide 7 Y-axis gear unit 15 is installed, be fixed with bulb clamping device or vacuum absorption device 8 on the Y cross slide, be provided with the technology bulb in the bulb clamping device, locator is by control system 10 controls; On head tree 2 and auxilliary column 3, be provided with self-powered platform 12.
Described X indulges slide block 6, Y cross slider 7 strokes are respectively 0.1～300mm, and Z axle telescopic mast 4 impulse strokes are 0.1～2514mm.Described base 1, head tree 2, auxilliary column 3, Z axle telescopic mast 4, the vertical slide block 6 of X, Y cross slider 7 adopt reinforced casting.Described Z axle telescopic mast 4, the vertical slide block 6 of X, Y cross slider 7 are equipped with absolute linear grating chi, limit switch and mechanical stop limiter.In the described bulb clamping device 8 servomotor, worm screw, worm gear and clamping element are housed.Be provided with displacement transducer and power sensor in the described bulb clamping device 8.Described Z through-drive unit 13, X-axis gear unit 14, Z through-drive unit 15 include servo drive motor, decelerator, ball-screw, and servo drive motor is connected successively with decelerator, ball-screw.Described control system 10 realizes each gear unit device control of locator by servo-drive card control servomotor.
The present invention can realize the motion of three mutually perpendicular directions, and its impulse stroke is big, the positioning accuracy height, and the rigidity height operates steadily, and can carry out power and Position Hybrid Control, guarantees work safety, stable, reliable.As big positioning parts posture adjustment basis nucleus module, can constitute the flexible attitude-adjusting fixture system that satisfies the different operating performance requirement by reasonable disposition.At the big parts of different structure form and size, by certain reorganization, can satisfy the requirement of platform assembling altogether of different model parts, have sufficient flexibility.
When big parts are carried out posture adjustment, at first three-coordinate positioner bulb clamping device ball-and-socket is adjusted to be assemblied in parts on the theoretical installation site of technology bulb conform to.After the build-up member lifting puts in place, if there is error in the installation of technology bulb, can produce certain follow-up shift by the characteristic that the bulb clamping device is followed automatically into the position, record the displacement size, and realize that in the motion of respective direction each technology bulb goes into the position by three-coordinate positioner by sensor.After parts were gone into the position, according to the path planning algorithm of design, the coordinated movement of various economic factors that is driven three-coordinate positioner by control system realized big component attitude adjusting.Adopt laser tracker to measure in the posture adjustment process, and calculate the attitude of big parts with this measured value.When build-up member was adjusted to ideal position, the driven by servomotor worm screw drove worm gear and realizes that scroll chuck clamps the technology bulb, and the holding member attitude does not change, and increases the stability that supports.
Use step of the present invention as follows:
1) determines the layout of big stroke, high rigidity, high accuracy three coordinate locator according to the big parts of posture adjustment, constitute the posture adjustment system;
2) position is just stepped in the big parts lifting of posture adjustment;
3) make the technology bulb fast and safely accurately go into the position by displacement transducer;
4) three-jaw clamps the technology bulb
5) control system is carried out the adjustment of big parts attitude;
6) the big parts of vacuum absorption device fixing;
7) finish the follow-up involutory or manufacturing procedure of big parts.
Claims (8)
1. a big stroke, high rigidity, high accuracy three coordinate locator is characterized in that comprising base (1), head tree (2), auxilliary column (3), Z axle telescopic mast (4), roller scroll box (5), X slide block (6), Y slide block (7), bulb clamping device (8), Z axle organ cover (9), control system (10), adjust parallels (11), self-powered platform (12), Z through-drive unit (13), X-axis gear unit (14), Y-axis gear unit (15); Head tree (2), auxiliary strut (3) are installed on base (1), head tree is provided with Z through-drive unit (13), Z axle telescopic mast (4) is connected with head tree (2) by Z through-drive unit (13), and Z axle telescopic mast (4) is connected with auxiliary strut (3) by roller sliding shoe (5); Z axle telescopic mast (4) is provided with X longitudinal slide (6), Y cross slide (7), be equipped with on the X longitudinal slide (6) on X-axis gear unit (14), the Y cross slide (7) Y-axis gear unit (15) is installed, be fixed with bulb clamping device or vacuum absorption device (8) on the Y cross slide, be provided with the technology bulb in the bulb clamping device, locator is controlled by control system (10); On head tree (2) and auxilliary column (3), be provided with self-powered platform (12).
2. a kind of big stroke according to claim 1, high rigidity, high accuracy three coordinate locator is characterized in that described X indulges slide block (6), Y cross slider (7) stroke is respectively 0.1～300mm, and Z axle telescopic mast (4) impulse stroke is 0.1～2514mm.
3. a kind of big stroke according to claim 1, high rigidity, high accuracy three coordinate locator, it is characterized in that described base (1), head tree (2), auxilliary column (3), Z axle telescopic mast (4), the vertical slide block (6) of X, Y cross slider (7) adopt reinforced casting.
4. according to the described a kind of big stroke of claim one, high rigidity, high accuracy three coordinate locator, it is characterized in that described Z axle telescopic mast (4), the vertical slide block (6) of X, Y cross slider (7) are equipped with absolute linear grating chi, limit switch and mechanical stop limiter.
5. a kind of big stroke according to claim 1, high rigidity, high accuracy three coordinate locator is characterized in that, in the described bulb clamping device (8) servomotor, worm screw, worm gear and clamping element are housed.
6. a kind of big stroke according to claim 1, high rigidity, high accuracy three coordinate locator is characterized in that, are provided with displacement transducer and power sensor in the described bulb clamping device (8).
7. a kind of big stroke according to claim 1, high rigidity, high accuracy three coordinate locator, it is characterized in that, described Z through-drive unit (13), X-axis gear unit (14), Z through-drive unit (15) include servo drive motor, decelerator, ball-screw, and servo drive motor is connected successively with decelerator, ball-screw.
8. a kind of big stroke according to claim 1, high rigidity, high accuracy three coordinate locator is characterized in that, described control system (10) realizes each gear unit device control of locator by servo-drive card control servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201010151565 CN101850512A (en) | 2010-04-20 | 2010-04-20 | Three-coordinate positioner with large stroke, high rigidity and high precision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010151565 CN101850512A (en) | 2010-04-20 | 2010-04-20 | Three-coordinate positioner with large stroke, high rigidity and high precision |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582846A (en) * | 2012-02-14 | 2012-07-18 | 南京航空航天大学 | Three-dimensional steering mechanism load simulator and loading method therefor |
| CN102736554A (en) * | 2012-07-05 | 2012-10-17 | 浙江大学 | Method for designing heavy loading three-coordinate numerical control positioner based on rigidity matching |
| CN102862048A (en) * | 2012-09-21 | 2013-01-09 | 西安飞机工业（集团）有限责任公司 | Three-coordinate supporting, positioning and adjusting mechanism |
| CN103273447A (en) * | 2013-06-19 | 2013-09-04 | 吉林大学 | Universal precision numerical control support vertical column |
| CN105136076A (en) * | 2015-05-29 | 2015-12-09 | 厦门大学 | Large-stroke linkage mechanism two-dimensional plane roundness error calibration method |
| CN107161355A (en) * | 2017-05-23 | 2017-09-15 | 浙江大学 | A kind of aircraft wing skins digital control location device |
| CN107322544A (en) * | 2017-07-07 | 2017-11-07 | 浙江大学 | A kind of mechanical posture adjusting system of wing root rib positioning tool |
| CN107607287A (en) * | 2017-09-01 | 2018-01-19 | 南京航空航天大学 | Three Degree Of Freedom automatic calibration device |
| CN108080910A (en) * | 2017-12-12 | 2018-05-29 | 大连四达高技术发展有限公司 | A kind of packaged type digitizes docking system |
| CN111085952A (en) * | 2019-12-19 | 2020-05-01 | 北京卫星制造厂有限公司 | Zero calibration device for large-scale space mechanical arm joint |
| CN112059954A (en) * | 2020-08-28 | 2020-12-11 | 上海轩田工业设备有限公司 | Multi-product multi-layer high-rotation tool platform clamp jig |
| CN113561143A (en) * | 2021-08-19 | 2021-10-29 | 沈阳飞机工业（集团）有限公司 | Displacement-controllable three-coordinate adjusting device and using method thereof |
| CN116449772A (en) * | 2023-06-16 | 2023-07-18 | 成都飞机工业（集团）有限责任公司 | Multi-axis cooperative motion control method, device, equipment and medium |
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| CN2124457U (en) * | 1992-05-03 | 1992-12-09 | 国营青岛前哨机械厂 | Horizontal arm type three-coordinate measurer |
| CN101362289A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | Globular hinge type three-coordinate flexible attitude-adjusting unit |
| CN101362328A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | Vacuum adsorption type three-coordinate flexible attitude-adjusting unit |
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2010
- 2010-04-20 CN CN 201010151565 patent/CN101850512A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2124457U (en) * | 1992-05-03 | 1992-12-09 | 国营青岛前哨机械厂 | Horizontal arm type three-coordinate measurer |
| CN101362289A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | Globular hinge type three-coordinate flexible attitude-adjusting unit |
| CN101362328A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | Vacuum adsorption type three-coordinate flexible attitude-adjusting unit |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582846B (en) * | 2012-02-14 | 2016-04-20 | 南京航空航天大学 | Three-dimensional reorientation mechanism load simulator and loading method thereof |
| CN102582846A (en) * | 2012-02-14 | 2012-07-18 | 南京航空航天大学 | Three-dimensional steering mechanism load simulator and loading method therefor |
| CN102736554A (en) * | 2012-07-05 | 2012-10-17 | 浙江大学 | Method for designing heavy loading three-coordinate numerical control positioner based on rigidity matching |
| CN102736554B (en) * | 2012-07-05 | 2014-06-04 | 浙江大学 | Method for designing heavy loading three-coordinate numerical control positioner based on rigidity matching |
| CN102862048A (en) * | 2012-09-21 | 2013-01-09 | 西安飞机工业（集团）有限责任公司 | Three-coordinate supporting, positioning and adjusting mechanism |
| CN103273447A (en) * | 2013-06-19 | 2013-09-04 | 吉林大学 | Universal precision numerical control support vertical column |
| CN105136076A (en) * | 2015-05-29 | 2015-12-09 | 厦门大学 | Large-stroke linkage mechanism two-dimensional plane roundness error calibration method |
| CN107161355B (en) * | 2017-05-23 | 2019-06-18 | 浙江大学 | A kind of aircraft wing skins digital control location device |
| CN107161355A (en) * | 2017-05-23 | 2017-09-15 | 浙江大学 | A kind of aircraft wing skins digital control location device |
| CN107322544A (en) * | 2017-07-07 | 2017-11-07 | 浙江大学 | A kind of mechanical posture adjusting system of wing root rib positioning tool |
| CN107322544B (en) * | 2017-07-07 | 2020-04-28 | 浙江大学 | Mechanical attitude adjusting system of wing root rib positioning tool |
| CN107607287A (en) * | 2017-09-01 | 2018-01-19 | 南京航空航天大学 | Three Degree Of Freedom automatic calibration device |
| CN108080910A (en) * | 2017-12-12 | 2018-05-29 | 大连四达高技术发展有限公司 | A kind of packaged type digitizes docking system |
| CN111085952A (en) * | 2019-12-19 | 2020-05-01 | 北京卫星制造厂有限公司 | Zero calibration device for large-scale space mechanical arm joint |
| CN112059954A (en) * | 2020-08-28 | 2020-12-11 | 上海轩田工业设备有限公司 | Multi-product multi-layer high-rotation tool platform clamp jig |
| CN113561143A (en) * | 2021-08-19 | 2021-10-29 | 沈阳飞机工业（集团）有限公司 | Displacement-controllable three-coordinate adjusting device and using method thereof |
| CN116449772A (en) * | 2023-06-16 | 2023-07-18 | 成都飞机工业（集团）有限责任公司 | Multi-axis cooperative motion control method, device, equipment and medium |
| CN116449772B (en) * | 2023-06-16 | 2023-10-03 | 成都飞机工业（集团）有限责任公司 | Multi-axis cooperative motion control method, device, equipment and medium |
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Effective date of registration: 20110818 Address after: 310027 Hangzhou, Zhejiang Province, Xihu District, Zhejiang Road, No. 38, No. Applicant after: Zhejiang University Co-applicant after: Xi'an Aircraft Industry Group Co., Ltd. Address before: 310027 Hangzhou, Zhejiang Province, Xihu District, Zhejiang Road, No. 38, No. Applicant before: Zhejiang University |
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