CN105619049B - Air-flotation type flexible assembly docking system - Google Patents

Air-flotation type flexible assembly docking system Download PDF

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Publication number
CN105619049B
CN105619049B CN201610217882.6A CN201610217882A CN105619049B CN 105619049 B CN105619049 B CN 105619049B CN 201610217882 A CN201610217882 A CN 201610217882A CN 105619049 B CN105619049 B CN 105619049B
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docking
air
picking
bay
supporting bracket
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CN105619049A (en
Inventor
齐乃明
姚蔚然
霍明英
刘延芳
赵钧
孙启龙
曹世磊
刘永孛
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes

Abstract

Air-flotation type flexible assembly docking system, is related to flexible assembly technical field.Solve the problems, such as that the low large-scale bay section formula Product Assembly precision of tradition, inefficient and flexibility are poor.It include actively assembling to picking up, passive assembly is to picking up and track;Described active assembling is to picking up and passive assembly is slided to picking up along same track, passive assembly docking car is used to lift passive docking bay section, actively assembling docking car is used to lift active mating bay section, and control the docking in active mating bay section along track extension direction to move, moved perpendicular to track extension direction, vertically moving on vertical direction, yaw rotation, pitch rotation and rolling rotate, so as to fulfill the docking of bay section is passively docked to being lifted on picking up with passive assembly;The mode that actively active mating bay section is lifted in assembling to picking up is air-flotation type.It is mainly used for carrying out large-scale bay section formula product smart docking.

Description

Air-flotation type flexible assembly docking system
Technical field
The present invention relates to flexible assembly technical field.
Background technology
At present, for large-scale bay section formula product, the assembly method largely used is mainly manual assembly, automation and flexibility Change is horizontal relatively low, and mounting technology still relies on the engineering experience of technologist and heavy mechanical equipment, whole operation process mistake In the individual level of skill for being limited to staff.Assembly precision such as fruit product is more demanding, and traditional assembly method is difficult to win Appoint.This problem is not solved, some the external methods of advanced product used in assembling are high-precision six-freedom degree assemblings pair Welding system, but required precision of this method to mechanical processing is higher, but it is flexible poor, so of high cost and difficulty is big.
The content of the invention
The present invention is in order to solve the problems, such as that the low large-scale bay section formula Product Assembly precision of tradition, inefficient and flexibility are poor, originally Invention provides a kind of air-flotation type flexible assembly docking system.
Air-flotation type flexible assembly docking system, it include actively assembling to picking up, passive assembly is to picking up and track;
Described active assembling to picking up and passive assembly is slided to picking up along same track,
Passive assembly docking car is used to lift passive docking bay section,
Actively assembling docking car is used to lift active mating bay section, and controls active mating bay section along track extension direction Docking is mobile, perpendicular to track extension direction is mobile, vertically moving on vertical direction, yaw rotation, pitch rotation and rolling Rotate, so as to fulfill the docking of bay section is passively docked to being lifted on picking up with passive assembly;
The mode that actively active mating bay section is lifted in assembling to picking up is air-flotation type.
The active is assembled to picking up including air floating platform railcar, rear air supporting bracket, rear shears, rear product support Ring, docking guided way, preceding air supporting bracket, preceding shears and preceding product filler ring;
Air floating platform railcar is slided along track,
The upper surface of air floating platform railcar is air-floatation planar,
Air supporting bracket and preceding air supporting bracket be by gas foot and air-floatation planar frictional connection afterwards,
Docking guided way is fixed in air floating platform railcar, and guided way is opposite with track is arranged in parallel for docking, preceding air supporting Bracket base is equipped with two transverse adjusting mechanisms, the front side of air supporting bracket, rear side before two transverse adjusting mechanisms are separately positioned on, The left and right swing in both sides of guided way is being docked for air supporting bracket before controlling,
Shears before preceding air supporting bracket is supported by elevating mechanism, preceding shears are rolled by carrying roller and preceding product filler ring Dynamic connection, preceding product filler ring are used to fix on front side of the bottom surface of active mating bay section;
Shears after air supporting bracket is supported by elevating mechanism afterwards, rear shears are rolled by carrying roller and rear product filler ring Dynamic connection, rear product filler ring are used to fix on rear side of the bottom surface of active mating bay section.
The passive assembly is to picking up including docking orbit car, supporting mechanism and position-limit mechanism;
The upper surface of docking orbit car is provided with slideway, slideway direction and parallel track, several limits are provided with slideway Position mechanism, supporting mechanism are connected by slideway with the upper surface slide of docking orbit car, and position-limit mechanism is used to limit supporting mechanism The extreme position slid back and forth.
The air-flotation type flexible assembly docking system, it further includes butt joint driving mechanism, the butt joint driving mechanism The upper surface of air supporting bracket before being arranged on, butt joint driving mechanism include docking driving motor, lateral movement plate, two laterally steerings Rail, thrust-floating bearing and runner;
The extension of the extension direction of air supporting bracket upper surface laterally steering rail and track before two laterally steering rails are fixed on Direction is vertical, sets a lateral movement plate above two laterally steering rails jointly, and lateral movement plate is along two laterally steerings Rail slides, and one end of lateral movement plate and thrust-floating bearing is rotatablely connected, and the other end of thrust-floating bearing drives with docking Dynamic motor is vertically fixedly connected,
The rotary output axis of docking driving motor drive the shaft of runner to rotate by belt, and runner is slided with docking guided way Dynamic connection.
The transverse adjusting mechanism includes horizontal drive motor, two spring rollers, horizontal screw and horizontal ball wire Bar;
Transverse ball lead screw is fixedly connected by fixing bracket with preceding air supporting bracket,
The output shaft of horizontal drive motor and one end of transverse ball lead screw are rotatablely connected, the screw thread on transverse ball lead screw Engaged with the screw thread on horizontal screw,
The arranged on left and right sides of horizontal screw by elastic mechanism fixed spring roller, two spring rollers respectively positioned at pair The both sides of guided way are connect, and are slidably connected with docking guided way.
The technology of two and the assembling of above non-standard product component are completed based on a set of air-flotation type flexible assembly docking mechanism, And then improve the efficiency of assembling and assembling quality of product.
In air-flotation type flexible assembly docking system of the present invention, the active assembling is to picking up and the passive dress Pairing, which picks up, parks on the track, is respectively intended to support the active mating bay section and the passive docking bay section, promotes Two sets of railcars are along the track close to the thick docking that can realize two bay sections.After completing thick docking, the passive docking bay section And the passive assembly is no longer moved to picking up fixation, the active mating bay section is assembled to picking up what is possessed by the active Six degree of freedom adjustment capability is realized and the passive accurate docking for docking bay section.The six degree of freedom to picking up is assembled in the active Position, attitude-adjusting system mutually decouples, it is ensured that the Adjustment precision of all directions is mutually interference-free.
The active assembling is the air floating platform railcar to picking up bottom, its upper surface is Air Bearing Surface, is used for The forward and backward air supporting bracket is supported, and two sets of air supporting brackets lift the active mating bay section, thereby realize the active Dock bay section docks movement, transverse shifting, zero fricting movement state of yaw rotation three degree of freedom, so farthest Reduce the adjustment power needed for these three frees degree.
The mobile driving of docking is based on the butt joint driving mechanism, using rack pinion pattern, ensures docking movement It is steady and accurate.
Transverse shifting, yaw rotation are based on two sets of transverse adjusting mechanisms, based on ball leading screw driving pattern, mechanism with Contact is based on the spring roller between the guided way, it is ensured that the compliance laterally adjusted, avoids producing because alignment error damages Product.
Vertically move, pitch rotation adjustment based on before described in the elevator drives above two sets of air supporting brackets, Shears is completed afterwards, and movement can be achieved to vertically move two sets of brackets in the same direction, and counter motion can realize pitch rotation.Before described, There is carrying roller between the forward and backward filler ring rolling frame above hoistable platform and platform afterwards, the free degree is provided for the pitching of bay section.
The forward and backward shears supports the forward and backward product filler ring to allow its free rolling, rolling in a manner of carrying roller Adjustment is rotated to realize based on product filler ring rotation before rolling ball screw driving.
The beneficial effect that the present invention is brought is, provided by the present invention a kind of flexible based on gas lubrication technology air-flotation type Docking system is assembled, is assembled for the large-scale non-standard product component in industrial production, assembling is improved relative to existing method Assembling speed is accelerated while precision and flexible assembling.The six-degree of freedom position of air-flotation type flexible assembly docking mechanism, posture Adjustment uses decoupling mode, it is contemplated that bay section product requires different, decoupling as slim-lined construction in the Adjustment precision of all directions Mode avoids the influence to integrated regulation precision caused by the error coupler of each free degree.The support of active bay section combines Air supporting support technology, realize its in the plane three degree of freedom movement micro tribology state, reduce this to greatest extent Driving force needed for three degree of freedom adjustment, so as to improve corresponding control accuracy.In transverse movement and the adjustment of yaw rotation Middle addition spring roller, it is ensured that adjust the compliance of process, avoid because alignment error damages product.
Brief description of the drawings
Fig. 1 is the overall structure diagram of air-flotation type flexible assembly docking system of the present invention;Wherein, attached drawing mark Note 4 represents passive docking bay section, and reference numeral 5 represents active mating bay section;
Fig. 2 is the structure diagram actively assembled in embodiment two to picking up;
Fig. 3 is docking driving motor, lateral movement plate, two laterally steering rails, thrust-revolution in embodiment four The relative position relation figure of bearing and runner;
Fig. 4 is the structure diagram of transverse adjusting mechanism in embodiment five;
Fig. 5 is the structure diagram of preceding air supporting bracket;
Fig. 6 is the structure diagram of rear air supporting bracket.
Embodiment
Embodiment one:Illustrate present embodiment referring to Fig. 1, the air-flotation type flexible assembly pair described in present embodiment Welding system, it includes actively assembling to picking up 1, passive assembly to picking up 2 and track 3;
Described active assembling to pick up 1 and passive assembly slided to picking up 2 along same track 3,
Passive assembly is used to lift passive docking bay section 4 to picking up 2,
Actively assembling is used to lift active mating bay section 5 to picking up 1, and controls active mating bay section 5 along 3 side of extension of track To docking it is mobile, perpendicular to 3 extension direction of track is mobile, vertically moving on vertical direction, yaw rotation, pitch rotation and Rolling rotates, and the passive docking for docking bay section 4 is lifted on 2 to picking up so as to fulfill with passive assembly;
Actively assembling is air-flotation type to picking up 1 mode for lifting active mating bay section 5.
Present embodiment, during the thick docking of product bay section:By active assembling to picking up 1 support active mating bay section 5, passive assembly passively docks bay section 4 to picking up 2 supports, and actively assembling to pick up 1 and passive assembly to pick up 2 park it is in-orbit On road 3, fixed passive assembly is moved to close to passive assembly to picking up 2 to picking up 2, by active assembling to picking up 1, is actively assembled To picking up 1 the active and passive docking for docking bay section is completed by adjusting the pose of active mating bay section 5.
The essence docking of product bay section:Including docking movement, transverse shifting, vertically move, yaw rotation, pitch rotation, rolling Walk around the position of dynamic six-freedom degree, pose adjustment.
Actively assembling is air-flotation type to picking up 1 mode for lifting active mating bay section 5, and air-flotation type lifts mode frictional force It is small, realize the micro tribology movement of active mating bay section 5, reduce the rigidity docking of active and passive docking bay section, make active mating cabin One end of section 5 is with during the passive one end docking for docking bay section 4, reducing rigid collision, enhancing the flexibility of docking, carry The high precision and efficiency of assembling of assembling.
Air-flotation type support technology is mainly used to realize the horizontal plane of the active assembled portion of product without frictional movement.In this way, Product just possesses from centering ability in docking operation, ensures the compliance on horizontal plane in assembling process, it is achieved thereby that dress The flexible adaptability of match system.In addition, air supporting supports so that the required driving force of institutional adjustment greatly reduces, and then can be with Control accuracy is improved, this is also the guarantee for improving assembling quality.
Embodiment two:Illustrate present embodiment, present embodiment and specific embodiment party referring to Fig. 2, Fig. 5 and Fig. 6 Difference lies in active assembling includes air floating platform to air-flotation type flexible assembly docking system described in formula one to picking up 1 Railcar 1-1, rear air supporting bracket 1-2, rear shears 1-3, rear product filler ring 1-4, docking guided way 1-5, preceding air supporting bracket 1-6, preceding shears 1-7 and preceding product filler ring 1-8;
Air floating platform railcar 1-1 is slided along track 3,
The upper surface of air floating platform railcar 1-1 is air-floatation planar,
Afterwards air supporting bracket 1-2 and preceding air supporting bracket 1-6 by gas foot 6 with air-floatation planar frictional connection,
Docking guided way 1-5 is fixed on air floating platform railcar 1-1, docking guided way 1-5 with track 3 is relatively parallel sets Put, preceding air supporting bracket 1-6 bottoms are equipped with two transverse adjusting mechanisms 7, air supporting support before two transverse adjusting mechanisms 7 are separately positioned on The front side of frame 1-6, rear side, the left and right swing in both sides of guided way 1-5 is being docked for air supporting bracket 1-6 before controlling,
Preceding air supporting bracket 1-6 supports preceding shears 1-7, preceding shears 1-7 by carrying roller with before by elevating mechanism 8 Product filler ring 1-8 rolls connection, and preceding product filler ring 1-8 is used to fix on front side of the bottom surface of active mating bay section 5;
Afterwards air supporting bracket 1-2 by elevating mechanism 8 support after shears 1-3, rear shears 1-3 by carrying roller with after Product filler ring 1-4 rolls connection, and rear product filler ring 1-4 is used to fix on rear side of the bottom surface of active mating bay section 5.
Present embodiment, during use, product filler ring 1-8 before can promoting, product filler ring 1-8 passes through carrying roller before making Rotated relative to preceding shears 1-7, so as to drive the rotation of whole active mating bay section 5.
Air supporting bracket 1-6 is docking the left and right swing in both sides of guided way 1-5 before being controlled by two transverse adjusting mechanisms 7, And rear air supporting bracket 1-2 and preceding air supporting bracket 1-6, by gas foot 6 and air-floatation planar frictional connection, frictional resistance is small, can realize The micromotion of air supporting bracket 1-2 and preceding air supporting bracket 1-6 afterwards, so as to drive the micromotion of active mating bay section 5, improves docking essence Degree.
Elevating mechanism 8 on current air supporting bracket 1-6 and the motor in the elevating mechanism 8 on rear air supporting bracket 1-2 are in the same direction During rotation, realize the vertical movement of 5 in the vertical direction of active mating bay section, the elevating mechanism 8 on current air supporting bracket 1-6 with When the motor in the elevating mechanism 8 on air supporting bracket 1-2 rotates backward afterwards, the pitch control of active mating bay section 5 is realized.
Elevating mechanism 8 can be achieved by the prior art.
Embodiment three:Illustrate present embodiment referring to Fig. 1, present embodiment with described in embodiment one Difference lies in the passive assembly includes docking orbit car 2-1, support to air-flotation type flexible assembly docking system to picking up 2 Mechanism 2-2 and position-limit mechanism 2-3;
The upper surface of docking orbit car 2-1 is provided with slideway, and slideway direction is parallel with track 3, is provided with slideway some A position-limit mechanism 2-3, supporting mechanism 2-2 are connected by slideway with the upper surface slide of docking orbit car 2-1, position-limit mechanism 2-3 For limiting the extreme position slid back and forth of supporting mechanism 2-2.
In present embodiment, after passively docking bay section 4 is fixed on the supporting mechanism 2-2 on docking orbit car 2-1, lead to It is spacing to supporting mechanism 2-2 progress to cross position-limit mechanism 2-3, reduces supporting mechanism 2-2 and is moved on docking orbit car 2-1, Strengthen stability and fixed effect.
Embodiment four:Illustrate present embodiment referring to Fig. 3, present embodiment with described in embodiment two Difference lies in it further includes butt joint driving mechanism to air-flotation type flexible assembly docking system, and the butt joint driving mechanism is set In the upper surface of preceding air supporting bracket 1-6, butt joint driving mechanism includes docking driving motor 1-9, lateral movement plate 1-10, two horizontal strokes To guided way 1-11, thrust-floating bearing 1-12 and runner 1-13;
Two laterally steering rail 1-11 be fixed on before air supporting bracket 1-6 upper surfaces laterally steering rail 1-11 extension direction with The extension direction of track 3 is vertical, sets a lateral movement plate 1-10 above two laterally steering rail 1-11 jointly, and laterally move Movable plate 1-10 is slided along two laterally steering rail 1-11, and one end of lateral movement plate 1-10 and thrust-floating bearing 1-12 rotates Connection, the other end of thrust-floating bearing 1-12 drive motor 1-9 is vertical to be fixedly connected with docking,
The rotary output axis of docking driving motor 1-9 drive the shaft of runner 1-13 to rotate by belt, runner 1-13 with Docking guided way 1-5 is slidably connected.
In present embodiment, when docking driving motor 1-9 work, runner 1-13 can be driven along docking guided way 1-5's Extension direction is moved, and realizes docking movement.
When air supporting bracket 1-6 is in the left and right swing in the both sides of docking guided way 1-5 before two transverse adjusting mechanisms 7 control, Runner 1-13 is static relative to docking guided way 1-5, and two laterally steering rail 1-11 are relative to docking driving motor 1-9, transverse direction Movable plate 1-10, two laterally steering rail 1-11, thrust-floating bearing 1-12 and runner 1-13 movements,
Embodiment five:Illustrate present embodiment, present embodiment and two or four institute of embodiment referring to Fig. 4 The air-flotation type flexible assembly docking system stated difference lies in, the transverse adjusting mechanism 7 include horizontal drive motor 7-1, Two spring roller 7-2, transverse direction screw 7-3 and transverse ball lead screw 7-4;
Transverse ball lead screw 7-4 is fixedly connected by fixing bracket with preceding air supporting bracket 1-6,
The output shaft of horizontal drive motor 7-1 is rotatablely connected with one end of transverse ball lead screw 7-4, transverse ball lead screw 7- Screw thread on 4 is engaged with the screw thread on horizontal screw 7-3,
The arranged on left and right sides of horizontal screw 7-3 passes through elastic mechanism fixed spring roller 7-2, two 7-2 points of spring rollers The both sides of guided way 1-5 Wei Yu not be docked, and are slidably connected with docking guided way 1-5.
Present embodiment, when the horizontal drive motor 7-1 in two transverse adjusting mechanisms 7 is rotated backward so that each Transverse ball lead screw 7-4 in transverse adjusting mechanism 7 is different relative to the direction of motion of horizontal screw 7-3, air supporting bracket before making 1-6 is docking the left and right swing in both sides of guided way 1-5, and runner 1-13 is static relative to docking guided way 1-5 at this time, two horizontal strokes To guided way 1-11 relative to docking driving motor 1-9, lateral movement plate 1-10, two laterally steering rail 1-11, thrusts-revolution Bearing 1-12 and runner 1-13 movements.
When the steering of the horizontal drive motor 7-1 output revolving shafts in each transverse adjusting mechanism 7 is identical, preceding air supporting bracket 1-6 is being moved up i.e. perpendicular to meeting guided way 1-5 extension sides:Dock the transverse direction of guided way 1-5, at this time runner 1-13 relative to It is static to dock guided way 1-5, two laterally steering rail 1-11 relative to docking driving motor 1-9, lateral movement plate 1-10, two Laterally steering rail 1-11, thrust-floating bearing 1-12 and runner 1-13 movements.
In use:
The thick docking of product bay section:By active assembling to picking up 2 support active mating bay sections 1 and passive assembly to picking up 5 The passive docking bay section 4 of support is parked on the track 3, and fixed passive assembly is to picking up 5, by active assembling to picking up 2 movements and leaning on Nearly actively assembling completes the thick docking of bay section to picking up.
The essence docking of product bay section:Including docking movement, transverse shifting, vertically move, yaw rotation, pitch rotation, rolling Walk around the position of dynamic six-freedom degree, pose adjustment.
The mobile driving of docking is based on butt joint driving mechanism, using rack pinion pattern, ensures the flat of docking movement It is steady and accurate.The rotary output axis of docking driving motor 1-9 drive the shaft of runner 1-13 to rotate by belt, runner 1-13 with Docking guided way 1-5 is slidably connected, so as to drive before and after active mating bay section prolongs abutting direction relative to air floating platform railcar It is mobile.Prolong the freedom of lateral movement of two laterally steering rail 1-11, and docking driving motor 1-9 by lateral movement plate 1-10 The revolution free degree with respect to thrust-floating bearing 1-12 ensures the relative motion of docking driving motor 1-9 and preceding air supporting bracket 1-6 Ability.
Transverse shifting, yaw rotation are based on two sets of transverse adjusting mechanisms 7.Transverse adjusting mechanism 7 drives transverse ball lead screw 7-4 drives horizontal screw 7-3, so as to promote docking guided way 1-5 by two spring roller 7-2.Two sets of transverse adjusting mechanisms 7 Movement can drive active mating bay section transverse shifting in the same direction, and counter motion can drive active mating bay section yaw rotation.
Vertically move, pitch rotation is adjusted based on the elevating mechanism 8 on preceding air supporting bracket 1-6 and rear air supporting bracket 1-2 in fact It is existing.When motor moves vertically moving for driving active mating bay section in the same direction in two sets of elevating mechanisms 8, counter motion driving is actively right Connect the pitch rotation of bay section.
Preceding shears and rear shears provide the pitch freedom of active mating bay section 5.
Rolling rotates adjustment and is based on moving with preceding product filler ring 1-8, drives 5 rolling of active mating cabin to rotate.

Claims (4)

1. air-flotation type flexible assembly docking system, it includes actively assembling to picking up (1), passive assembly to picking up (2) and track (3);
The active assembling is slided to picking up (1) and passive assembly to picking up (2) along same track (3),
Passive assembly is used to lift passive docking bay section (4) to picking up (2),
Actively assembling is used to lift active mating bay section (5) to picking up (1), and controls active mating bay section (5) to prolong along track (3) The docking of opening up direction is mobile, perpendicular to track (3) extension direction is mobile, vertically moving on vertical direction, yaw rotation, pitching Rotate and rolling rotates, the passive docking for docking bay section (4) is lifted on (2) to picking up so as to fulfill with passive assembly;
The mode that actively active mating bay section (5) is lifted in assembling to picking up (1) is air-flotation type;
It is characterized in that, the active assembling includes air floating platform railcar (1-1), rear air supporting bracket (1- to picking up (1) 2), rear shears (1-3), rear product filler ring (1-4), docking guided way (1-5), preceding air supporting bracket (1-6), preceding shears (1-7) and preceding product filler ring (1-8);
Air floating platform railcar (1-1) is slided along track (3),
The upper surface of air floating platform railcar (1-1) is air-floatation planar,
Air supporting bracket (1-2) and preceding air supporting bracket (1-6) be by gas foot (6) and air-floatation planar frictional connection afterwards,
Docking guided way (1-5) is fixed in air floating platform railcar (1-1), and docking guided way (1-5) and track (3) are relatively flat Row is set, and preceding air supporting bracket (1-6) bottom is equipped with two transverse adjusting mechanisms (7), and two transverse adjusting mechanisms (7) are set respectively In the front side of preceding air supporting bracket (1-6), rear side, the both sides of guided way (1-5) are being docked for air supporting bracket (1-6) before controlling Left and right swing,
Shears (1-7) before preceding air supporting bracket (1-6) is supported by elevating mechanism (8), preceding shears (1-7) pass through carrying roller Roll and connect with preceding product filler ring (1-8), preceding product filler ring (1-8) is used to fix on front side of the bottom surface of active mating bay section (5);
Shears (1-3) after air supporting bracket (1-2) is supported by elevating mechanism (8) afterwards, rear shears (1-3) pass through carrying roller Roll and connect with rear product filler ring (1-4), rear product filler ring (1-4) is used to fix on rear side of the bottom surface of active mating bay section (5).
2. air-flotation type flexible assembly docking system according to claim 1, it is characterised in that the passive assembly docking Car (2) includes docking orbit car (2-1), supporting mechanism (2-2) and position-limit mechanism (2-3);
The upper surface of docking orbit car (2-1) is provided with slideway, and slideway direction is parallel with track (3), is provided with slideway some A position-limit mechanism (2-3), supporting mechanism (2-2) are connected by slideway with the upper surface slide of docking orbit car (2-1), position restrainer Structure (2-3) is used for the extreme position slid back and forth for limiting supporting mechanism (2-2).
3. air-flotation type flexible assembly docking system according to claim 1, it is characterised in that it further includes docking driving machine Structure, the upper surface of air supporting bracket (1-6) before the butt joint driving mechanism is arranged on, butt joint driving mechanism include docking driving electricity Machine (1-9), lateral movement plate (1-10), two laterally steering rails (1-11), thrust-floating bearing (1-12) and runner (1- 13);
The extension direction of air supporting bracket (1-6) upper surface laterally steering rail (1-11) before two laterally steering rails (1-11) are fixed on It is vertical with the extension direction of track (3), a lateral movement plate (1-10) is set jointly above two laterally steering rails (1-11), And lateral movement plate (1-10) is slided along two laterally steering rails (1-11), lateral movement plate (1-10) and thrust-floating bearing One end rotation connection of (1-12), the other end of thrust-floating bearing (1-12) is with docking the vertical fixed company of driving motor (1-9) Connect,
The rotary output axis of docking driving motor (1-9) drive the shaft of runner (1-13) to rotate by belt, runner (1-13) It is slidably connected with docking guided way (1-5).
4. the air-flotation type flexible assembly docking system according to claim 1 or 3, it is characterised in that described laterally adjusts Mechanism (7) includes horizontal drive motor (7-1), two spring rollers (7-2), horizontal screw (7-3) and transverse ball lead screw (7- 4);
Transverse ball lead screw (7-4) is fixedly connected by fixing bracket with preceding air supporting bracket (1-6),
The output shaft of horizontal drive motor (7-1) is rotatablely connected with one end of transverse ball lead screw (7-4), transverse ball lead screw Screw thread on (7-4) is engaged with the screw thread on horizontal screw (7-3),
The arranged on left and right sides of horizontal screw (7-3) passes through elastic mechanism fixed spring roller (7-2), two spring rollers (7-2) Respectively positioned at the both sides of docking guided way (1-5), and it is slidably connected with docking guided way (1-5).
CN201610217882.6A 2016-04-08 2016-04-08 Air-flotation type flexible assembly docking system Active CN105619049B (en)

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