CN104875907B - Narrow space jumbo transports installs six degree of freedom air-floated vehicle - Google Patents
Narrow space jumbo transports installs six degree of freedom air-floated vehicle Download PDFInfo
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- CN104875907B CN104875907B CN201510324633.2A CN201510324633A CN104875907B CN 104875907 B CN104875907 B CN 104875907B CN 201510324633 A CN201510324633 A CN 201510324633A CN 104875907 B CN104875907 B CN 104875907B
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Abstract
Narrow space jumbo transports installs six degree of freedom air-floated vehicle, belongs to air-floated vehicle technical field.In order to solve to use traditional narrow space jumbo to transport the problem installing manual operation heaviness.Described air-floated vehicle includes that air floating platform, plane gas foot, gas foot connect support, air supporting support, movable degree of freedom device, front and back upset degree of freedom device, the most mobile and swing degree of freedom device and frock；Air supporting support is arranged on air floating platform, gas foot connects support and is fixed on air supporting support, connect at gas foot and plane gas foot is set between support and air floating platform, movable degree of freedom device, front and back upset degree of freedom device and the most mobile and degree of freedom device that swings are arranged on air supporting support, and movable degree of freedom device, front and back upset degree of freedom device and the most mobile and degree of freedom device that swings control that frock is movable respectively, upset front and back, the most mobile and swing.The present invention transports for jumbo and installs.
Description
Technical field
The invention belongs to air-floated vehicle technical field.
Background technology
Often need in the small spaces such as space station core nacelle the jumboes such as some similar racks are arranged on appointment position.Install
Process relates to transport and the big step of mounting and adjusting two of jumbo, it is desirable in transport and installation process, manual operation is light,
And require that work efficiency is higher, facilitate jumbo rapid-assembling/disassembling in small space.
In tradition small space, jumbo is installed and is mostly used artificial the most directly operation, and operation load is extremely limited, transport and
Fine position is inconvenient for, and inefficiency the most also has bigger potential safety hazard, and this kind of mode does not possess long term frequent to be made
Ability.Therefore, in using traditional traditional small space, the problem that there is manual operation heaviness installed by jumbo, carries
The transport in narrow space of the high jumbo and mounting and adjusting efficiency.
Summary of the invention
The invention aims to solve to use traditional narrow space jumbo to transport and heavy the asking of manual operation is installed
Topic, the present invention provides a kind of narrow space jumbo to transport and installs six degree of freedom air-floated vehicle.
The narrow space jumbo of the present invention transports installs six degree of freedom air-floated vehicle,
Described six degree of freedom air-floated vehicle includes that air floating platform, plane gas foot, gas foot connect support, air supporting support, move forward and backward
Degree of freedom device, front and back upset degree of freedom device, the most mobile and swing degree of freedom device and frock；
Air supporting support is arranged on air floating platform, and gas foot connects support and is fixed on air supporting support, connects support and gas at gas foot
Plane gas foot is set between floating platform,
Movable degree of freedom device, front and back upset degree of freedom device and vertically movement and the degree of freedom device that swings are respectively provided with
On air supporting support, movable degree of freedom device, front and back upset degree of freedom device and the most mobile and degree of freedom that swings
Device is used for controlling frock respectively and moves forward and backward, front and back overturns, vertically move and swing.
Described air supporting support includes I-shaped bracket, two rectangle supports and two auxiliary stands, and two rectangle supports are the most flat
Row is separately fixed at the both sides of I-shaped bracket, and two auxiliary stands are separately positioned on two rectangle supports, and described gas foot connects
Connect support and be fixed on the side of rectangle support.
Before and after described, upset degree of freedom device includes the first switching mechanism dual stage turbo reductor, Liang Ge spline fitted mechanism and the
Two switching mechanism dual stage turbo reductors；First switching mechanism dual stage turbo reductor and the second switching mechanism dual stage turbo slow down
Machine is symmetrically arranged on two auxiliary stands, and Liang Ge spline fitted mechanism is separately fixed at the both sides of frock,
Output shaft and a spline fitted mechanism of the first switching mechanism dual stage turbo reductor connect, the second switching mechanism twin-stage
The output shaft of worm speed reducer is connected with another spline fitted mechanism；
First switching mechanism dual stage turbo reductor is active dual stage turbo reductor, the second switching mechanism dual stage turbo reductor
For passive dual stage turbo reductor.
Described vertical movement and the degree of freedom device that swings include that the first the most mobile slide block, the first vertical direction turbine slow down
The most mobile slide block of machine, the second vertical direction worm speed reducer and second；
First upright slide block and the first vertical direction worm speed reducer are installed on an auxiliary stand, the first vertical direction whirlpool
It is the most mobile that wheel reductor drives the first upright slide block to do on one auxiliary stand；
Second vertical direction worm speed reducer and the second the most mobile slide block are installed on another auxiliary stand, and second is vertical
Direction worm speed reducer drives the second vertical mobile slide block to do the most mobile on another auxiliary stand described, and first is the most square
Symmetrical to the installation site of worm speed reducer and the second vertical direction worm speed reducer；First switching mechanism dual stage turbo reductor
It is arranged on by the first the most mobile slide block and the second the most mobile slide block respectively with the second switching mechanism dual stage turbo reductor
On two auxiliary stands, the first vertical direction worm speed reducer and the second vertical direction worm speed reducer are actively dual stage turbo
Reductor.
Described movable degree of freedom device include slide block connector, screw, leading screw, two movable slide blocks, two straight
Line guide rail and front and back drive worm speed reducer；
Two line slideways are separately fixed on two rectangle supports, and two line slideways are parallel to each other, and two movable sliding
Block is separately positioned on two line slideways, and two movable slide blocks are connected by slide block connector, and slide block connector is being grown
Degree is vertically arranged with line slideway on direction；
Two auxiliary stands are arranged on two rectangle supports by two movable slide blocks respectively；
Front and back driving worm speed reducer to be fixed on I-shaped bracket, leading screw and two line slideway parallel alignment are arranged, leading screw
One end with front and back drive worm speed reducer is connected, the other end of leading screw pass through screw be connected with slide block connector.
Described six degree of freedom air-floated vehicle also includes that four carrying bolts, four carrying bolts are separately fixed at the four of I-shaped bracket
On the end face at individual angle.
Described six degree of freedom air-floated vehicle also includes two air supporting pressing plates, two air supporting supporting plates and two studs；
Two air supporting supporting plates are fixed with two rectangle support other ends respectively and are connected, and each air supporting pressing plate passes through a stud
It is connected through air supporting supporting plate and air floating platform are fixing.
The beneficial effects of the present invention is, the present invention utilizes plane gas full existing air-floated vehicle horizontal two-dimension during transporting big
Scope moves and horizontally rotates three degree of freedom, rubs minimum and manual operation is the lightest, only with a Rotating fields
Realize three degree of freedom, be substantially reduced quality and the complexity of whole frock；Upset and vertical direction degree of freedom realize
Mechanism is coupled as set of device, and this structure reduces total quality and the complexity of six degree of freedom air-floated vehicle equally, simultaneously
The differential regulation to mechanism is utilized to realize the swing degree of freedom of mounted equipment；Use air supporting press plate mechanism, on the one hand achieve
Antidumping function in installation process, on the other hand achieves the real-time light fine setting in jumbo installation process.The present invention
There is transport and regulate light, simple in construction, work efficiency height and safety advantages of higher.
Accompanying drawing explanation
Fig. 1 is that the principle of the narrow space jumbo transport installation six degree of freedom air-floated vehicle described in detailed description of the invention one is shown
It is intended to.
Fig. 2 is the partial enlarged drawing of Fig. 1.
Fig. 3 is the structural representation of air supporting supporting plate.
Detailed description of the invention
In conjunction with Fig. 1, Fig. 2 and Fig. 3, present embodiment being described, the narrow space jumbo described in present embodiment transports peace
Dress six degree of freedom air-floated vehicle, described six degree of freedom air-floated vehicle includes that air floating platform 1, two gas foots of 20, four plane gas foots connect
Connect support 2, air supporting support, movable degree of freedom device, front and back upset degree of freedom device, vertically movement and swing
Degree of freedom device and frock 6；
Air supporting support is arranged on air floating platform 20, and the both sides of air supporting support are respectively provided with a gas foot and connect support 2, at gas
Arranging plane gas foot 1 between foot connection support 2 and air floating platform 20, four plane gas foots 1 are symmetrically installed,
Movable degree of freedom device, front and back upset degree of freedom device and vertically movement and the degree of freedom device that swings are respectively provided with
On air supporting support, movable degree of freedom device, front and back upset degree of freedom device and the most mobile and degree of freedom that swings
Device is used for controlling frock 6 respectively and moves forward and backward, front and back overturns, vertically move and swing, and mounted equipment is arranged on
In frock 6.
The quantity of air floating platform 20 can be one, it is also possible to is two, is exactly two air floating platforms 20 as shown in Figure 1；
Overturn degree of freedom device before and after present embodiment and be arranged on the bottom of air-floated vehicle, in the case of space hold is less,
By four the plane gas foots 1 being symmetrically installed, it is achieved horizontal two-dimension position and horizontal rotation three degree of freedom, during transport
Rubbing minimum, manual operation is very convenient, and plane gas foot bearing capacity is relatively big (more than single gas foot bearing capacity 200kg),
The installation requirements of most jumbo can be met.This kind of implementation simple in construction, reduces the quality of whole frock,
Meet manually-operated portability simultaneously, improve and transport and installation effectiveness.
Described air supporting support includes I-shaped bracket 13-1, two rectangle support 13-2 and two auxiliary stand 13-3, two
Rectangle support 13-2 is parallel to each other and is separately fixed at the both sides of I-shaped bracket 13-1, and two auxiliary stand 13-3 set respectively
Putting on two rectangle support 13-2, described gas foot connects support 2 and is fixed on the side of rectangle support 13-2.
Before and after described, upset degree of freedom device includes the first switching mechanism dual stage turbo reductor 4, Liang Ge spline fitted mechanism 8
With the second switching mechanism dual stage turbo reductor 10；First switching mechanism dual stage turbo reductor 4 and the second switching mechanism are double
Level worm speed reducer 10 is symmetrically arranged on two auxiliary stand 13-3, and Liang Ge spline fitted mechanism 8 is separately fixed at
The both sides of frock 6, the output shaft of the first switching mechanism dual stage turbo reductor 4 and a spline fitted mechanism connection, second
The output shaft of switching mechanism dual stage turbo reductor 10 is connected with another spline fitted mechanism；
First switching mechanism dual stage turbo reductor 4 is actively dual stage turbo reductor, the second switching mechanism dual stage turbo deceleration
Machine 10 is passive dual stage turbo reductor.
Overturn degree of freedom device before and after present embodiment and be arranged on the upper strata of air-floated vehicle, use dual stage turbo reductor to realize setting
Overturning degree of freedom before and after putting the mounted equipment in frock 6, the most a set of switching mechanism dual stage turbo slows down
Machine, actively, opposite side is passive, prevents manual operation in switching process asynchronous and damages structure in side；Reductor
Use spline fitted between output shaft and mounted equipment interface, improve structural strength；
Described vertical movement and the degree of freedom device that swings include that first the most mobile slide block the 3, first vertical direction turbine subtracts
Speed machine the 5, second vertical direction worm speed reducer 7 and the second the most mobile slide block 9；First upright slide block 3 and first is vertical
Direction worm speed reducer 5 is installed on an auxiliary stand 13-3, and the first vertical direction worm speed reducer 5 drives first
Upright slide block 3 does the most mobile on one auxiliary stand 13-3；
Second vertical direction worm speed reducer 7 and the second the most mobile slide block 9 are installed on another auxiliary stand 13-3,
Second vertical direction worm speed reducer 7 drives the second the most mobile slide block 9 to do perpendicular on described another auxiliary stand 13-3
Translation is moved, and the installation site of the first vertical direction worm speed reducer 5 and the second vertical direction worm speed reducer 7 is symmetrical；First
Switching mechanism dual stage turbo reductor 4 and the second switching mechanism dual stage turbo reductor 10 are the most mobile sliding by first respectively
Block 3 and the second the most mobile slide block 9 are arranged on two auxiliary stand 13-3.
Left and right two set vertical direction dual stage turbo reductor is all placed in and vertically moves on slide block, and slide block all lifts whirlpool by both sides
Wheel reductor drives, it is achieved frock 6 vertical direction one-movement-freedom-degree.The lifting worm speed reducer of the left and right sides is actively,
Differential regulation both sides reductor can realize the degree of freedom that swings of mounted equipment, it is achieved the exact position of equipment adjusts.Gas
Floating car upset degree of freedom realizes mechanism and vertical direction degree of freedom realizes mechanism and is coupled in a set of mechanism, simple in construction and quality
Lighter.
Described movable degree of freedom device include slide block connector 21, screw 11,12, two movable slide blocks of leading screw,
Two line slideways 14 and front and back driving worm speed reducer 15；
Two line slideways 14 are separately fixed on two rectangle support 13-2, and two line slideways 14 are parallel to each other, and two
Individual movable slide block is separately positioned on two line slideways 14, and two movable slide blocks are by slide block connector 21
Connecting, slide block connector 21 is vertically arranged with line slideway 14 in the longitudinal direction；Two auxiliary stand 13-3 lead to respectively
Cross two movable slide blocks to be arranged on two rectangle support 13-2；Worm speed reducer 15 is front and back driven to be fixed on I shape
On support 13-1, leading screw 12 and two line slideway 14 parallel alignment are arranged, one end of leading screw 12 with front and back drive turbine
Reductor 15 connects, and the other end of leading screw 12 is connected with slide block connector 21 by screw 11.
Present embodiment drives worm speed reducer 15 to coordinate with leading screw 12 before and after using, it is achieved mounted equipment is at line slideway
The motion of low friction on 14, it is achieved the exact position of mounted equipment fore-and-aft direction motion adjusts, movable degree of freedom device
It is installed on below air-floated vehicle bottom frame peak, at utmost reduces the space hold of air-floated vehicle.
Described six degree of freedom air-floated vehicle also includes that four carrying bolts 16, four carrying bolts 16 are separately fixed at I shape and prop up
On the end face at four angles of frame 13-1.
Described six degree of freedom air-floated vehicle also includes 17, two air supporting supporting plates 18 of two air supporting pressing plates and two studs 19；
Two air supporting supporting plates 18 are fixed with two rectangle support 13-2 other ends respectively and are connected, and each air supporting supporting plate 17 is by one
Stud 19 is fixed with air floating platform 20 through air supporting supporting plate 18 and is connected.
Air supporting pressing plate 17 in Fig. 2 is connected with air-floated vehicle afterbody, and air supporting pressing plate 17 is positioned at above air supporting supporting plate 18, double end spiral shell
Bolt 19 is through the round rectangle 22 of air supporting supporting plate 18 center position in Fig. 3, by solid with air floating platform 20 for air supporting pressing plate 17
Even, prevent air-floated vehicle from toppling in installation.
Air supporting pressing plate 17 is connected with outside air feed equipment pipeline, reverse jet, forms air film between air supporting supporting plate 18,
Therebetween frictional force is minimum, not only provides resistance to tipping moment but also can realize the real time position adjustment of air-floated vehicle, installed at equipment
In journey, manual operation is the lightest, more traditional manual mode of operation, and this kind of mode work efficiency is higher, possesses long term frequent
The ability used.
Claims (7)
1. narrow space jumbo transports and installs six degree of freedom air-floated vehicle, it is characterised in that described six degree of freedom air-floated vehicle bag
Include air floating platform (20), plane gas foot (1), gas foot connection support (2), air supporting support, movable degree of freedom dress
Put, front and back overturn degree of freedom device, the most mobile and swing degree of freedom device and frock (6)；
Air supporting support is arranged on air floating platform (20), and gas foot connects support (2) and is fixed on air supporting support, connects at gas foot
Connect and plane gas foot (1) be set between support (2) and air floating platform (20),
Movable degree of freedom device, front and back upset degree of freedom device and vertically movement and the degree of freedom device that swings are respectively provided with
On air supporting support, movable degree of freedom device, front and back upset degree of freedom device and the most mobile and degree of freedom that swings
Device is used for controlling frock (6) respectively and moves forward and backward, front and back overturns, vertically move and swing.
Narrow space jumbo the most according to claim 1 transports installs six degree of freedom air-floated vehicle, it is characterised in that
Described air supporting support includes I-shaped bracket (13-1), two rectangle supports (13-2) and two auxiliary stands (13-3),
Two rectangle supports (13-2) are parallel to each other and are separately fixed at the both sides of I-shaped bracket (13-1), two auxiliary stands (13-3)
Being separately positioned on two rectangle supports (13-2), described gas foot connects support (2) and is fixed on rectangle support (13-2)
Side.
Narrow space jumbo the most according to claim 2 transports installs six degree of freedom air-floated vehicle, it is characterised in that
Before and after described, upset degree of freedom device includes the first switching mechanism dual stage turbo reductor (4), Liang Ge spline fitted mechanism
(8) and the second switching mechanism dual stage turbo reductor (10)；First switching mechanism dual stage turbo reductor (4) and second
Switching mechanism dual stage turbo reductor (10) is symmetrically arranged on two auxiliary stands (13-3), two spline fitted
Mechanism (8) is separately fixed at the both sides of frock (6),
Output shaft and a spline fitted mechanism of the first switching mechanism dual stage turbo reductor (4) connect, the second switching mechanism
The output shaft of dual stage turbo reductor (10) is connected with another spline fitted mechanism；
First switching mechanism dual stage turbo reductor (4) is active dual stage turbo reductor, and the second switching mechanism dual stage turbo subtracts
Speed machine (10) is passive dual stage turbo reductor.
Narrow space jumbo the most according to claim 3 transports installs six degree of freedom air-floated vehicle, it is characterised in that
Described vertical movement and the degree of freedom device that swings include the first the most mobile slide block (3), the first vertical direction turbine
The most mobile slide block (9) of reductor (5), the second vertical direction worm speed reducer (7) and second；
First upright slide block 3 and the first vertical direction worm speed reducer (5) are installed on an auxiliary stand (13-3),
First vertical direction worm speed reducer (5) drives the first upright slide block 3 to do on one auxiliary stand (13-3) vertically
Mobile；
Second vertical direction worm speed reducer (7) and the second the most mobile slide block (9) are installed in another auxiliary stand (13-3)
On, the second vertical direction worm speed reducer (7) drives the second the most mobile slide block (9) described another auxiliary stand (13-3)
On do vertically mobile, the installation position of the first vertical direction worm speed reducer (5) and the second vertical direction worm speed reducer (7)
Put symmetry；First switching mechanism dual stage turbo reductor (4) and the second switching mechanism dual stage turbo reductor (10) lead to respectively
Cross the first the most mobile slide block (3) and the second the most mobile slide block (9) is arranged on two auxiliary stands (13-3), the
One vertical direction worm speed reducer (5) and the second vertical direction worm speed reducer (7) are actively dual stage turbo reductor.
Narrow space jumbo the most according to claim 4 transports installs six degree of freedom air-floated vehicle, it is characterised in that
Described movable degree of freedom device includes slide block connector (21), screw (11), leading screw (12), two shiftings front and back
Movable slider, two line slideways (14) and front and back drive worm speed reducer (15)；
Two line slideways (14) are separately fixed on two rectangle supports (13-2), and two line slideways (14) are mutual
Parallel, two movable slide blocks are separately positioned on two line slideways (14), and two movable slide blocks pass through slide block
Connector (21) connects, and slide block connector (21) is vertically arranged with line slideway (14) in the longitudinal direction；
Two auxiliary stands (13-3) are arranged on two rectangle supports (13-2) by two movable slide blocks respectively；
Front and back driving worm speed reducer (15) to be fixed on I-shaped bracket (13-1), leading screw (12) is led with two straight lines
Rail (14) parallel alignment is arranged, and one end of leading screw (12) is connected with front and back driving worm speed reducer (15), leading screw (12)
The other end be connected with slide block connector (21) by screw (11).
6. transporting according to the narrow space jumbo described in claim 2 or 5 and install six degree of freedom air-floated vehicle, its feature exists
In,
Described six degree of freedom air-floated vehicle also includes that four carrying bolts (16), four carrying bolts (16) are separately fixed at work
On the end face at four angles of font support (13-1).
Narrow space jumbo the most according to claim 6 transports installs six degree of freedom air-floated vehicle, it is characterised in that
Described six degree of freedom air-floated vehicle also includes two air supporting pressing plates (17), two air supporting supporting plates (18) and two studs (19)；
Two air supporting supporting plates (18) are fixed with two rectangle support (13-2) other ends respectively and are connected, each air supporting pressing plate (17)
Fixed with air floating platform (20) through air supporting supporting plate (18) by a stud (19) and be connected.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510324633.2A CN104875907B (en) | 2015-06-12 | 2015-06-12 | Narrow space jumbo transports installs six degree of freedom air-floated vehicle |
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| CN201510324633.2A CN104875907B (en) | 2015-06-12 | 2015-06-12 | Narrow space jumbo transports installs six degree of freedom air-floated vehicle |
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| CN104875907B true CN104875907B (en) | 2017-01-04 |
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| CN113305794B (en) * | 2021-06-17 | 2022-11-22 | 北京电子工程总体研究所 | Air floatation-based flexible sleeve cabin-penetrating assembly device and assembly method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2009147240A (en) * | 2007-12-18 | 2009-07-02 | Dainippon Printing Co Ltd | Substrate supporting apparatus, substrate supporting method, substrate processing apparatus, substrate processing method, and method of manufacturing display apparatus constitutional member |
| CN201464201U (en) * | 2009-06-15 | 2010-05-12 | 哈尔滨工业大学 | Three-dimensional microgravity intelligent air foot |
| CN101813129B (en) * | 2010-05-07 | 2011-12-28 | 浙江工业大学 | Three-dimensional air-floation follow-up device |
| CN102556372B (en) * | 2011-12-28 | 2015-04-29 | 哈尔滨工业大学 | Semi-active six-degree-of-freedom simulation device |
| CN103963032B (en) * | 2014-05-05 | 2015-11-25 | 中国科学院长春光学精密机械与物理研究所 | The four-dimensional adjusting device of a kind of large space optical sensor |
| CN104290932B (en) * | 2014-10-21 | 2016-03-30 | 哈尔滨工业大学 | The longitudinal gravity-compensated device of space mechanism's six degree of freedom microgravity simulated implementation system |
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