CN105773145A - Assembling platform with three degrees of freedom - Google Patents
Assembling platform with three degrees of freedom Download PDFInfo
- Publication number
- CN105773145A CN105773145A CN201610328812.8A CN201610328812A CN105773145A CN 105773145 A CN105773145 A CN 105773145A CN 201610328812 A CN201610328812 A CN 201610328812A CN 105773145 A CN105773145 A CN 105773145A
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- swing arm
- bearing
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- platform
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
Abstract
The invention discloses an assembling platform with three degrees of freedom. A platform (1) is connected with the upper ends of a fixed arm (47) and swinging arms I, II and III (8, 8' and 8'') through hooke hinges respectively; reducers (23) are fixed at the bottom ends of the fixed arm (47) and the swinging arms I, II and III (8, 8' and 8'') through flat keys (57) respectively; the swinging arm I (8) is connected with a supporting seat I (28) and the swinging arm III (8'') is connected with a supporting seat III (36) through core shafts I (27) respectively; and the swinging arm II (8') is connected with a positioning core shaft (31) through a jackscrew (33) and a peaking shaft (34). The assembling platform with three degrees of freedom is large in bearing capability, high in angle attitude control accuracy and large in stability, can be widely applied to the fields of integrated assembly, robots, machine tools and the like, can carry out lifting and forward, left and right leaning movements, can convey parts at the bottom of the platform when carrying out the movements so as to finish the functions of integrated assembly of special parts and can greatly improve the production efficiency.
Description
Technical field
The present invention relates to a kind of Spatial Parallel multiple-degree-of-freedom mechanism, particularly relate to a kind of Three Degree Of Freedom mounting plate that a translation two can be facilitated to rotate.
Background technology
Along with people are to deepening continuously that theory of mechanisms and motion platform are studied, various forms of parallel connection platforms have occurred in the middle of the life of people, parallel institution has that rigidity is big, bearing capacity is strong, error is little, precision is high, respond the series of advantages such as fast, and has wide application prospects in fields such as robot, lathe, special vehicle and emulation platforms.Described Three Degree Of Freedom mounting plate is except having conventional parallel mechanism have the feature that, moreover it is possible to transport parts at mesa base, it is possible to complete the integrated assembling function of particular component.
Summary of the invention
In order to meet all kinds of particular component being accurately positioned in integrated assembling process, parts are transported in bottom, the reliable fixing and requirement such as security related, reliability and maintainability, the present invention provides a kind of Three Degree Of Freedom mounting plate, this platform is the special equipment of integrated assembling, reliable and stable support can be provided for assembly, meet parts installation requirement thereon inside and outside assembly, and the function such as pitching, inclination can be provided for assembly debugging.
The present invention solves that its technical problem be the technical scheme is that a kind of Three Degree Of Freedom mounting plate, including platform, hook hinge, proximity switch, reductor, servomotor and digital display inclinometer.The upper end of described platform and fixed arm, swing arm I, II, III is coupled by hook hinge, servomotor through reductor and fixed arm, swing arm I, II, III, bottom couple, digital display angle instrument is contained in the middle part of described platform, proximity switch and fixed arm, swing arm I, II, III, is connected.Servomotor is fixed on reductor by flat key, reductor is fixed on fixed arm through flat key, swing arm I, II, III, bottom, hold-down support on fixed arm is threaded connection and is fixed on pedestal, swing arm I, swing arm III and bearing I, it is that cylindrical hinge connects between bearing III, swing arm II and bearing II is that hook hinge is connected, and bearing I, bearing II, hold-down support on bearing III and fixed arm is each attached on pedestal, the pedestal of the hook hinge being connected with platform and fixed arm, swing arm I, II, flange I on III is by threaded, the free bearing of this hook hinge is fixed on platform by threaded, and coordinate with locating shaft, for threadeding between locating shaft with platform.
Described Three Degree Of Freedom mounting plate has four support arms, the structure of four support arms is identical, it is followed successively by fixed arm, swing arm I, swing arm II and swing arm III, the top of four support arms is in approximately the same plane, and its planar location is just on foursquare four summits, when mounting plate is in initial position, when namely platform is parallel with pedestal, the bottom of four support arms is also in approximately the same plane, and the position on its four summits is identical with the position distribution on four summits, described top.It is connected formation cylindrical pair by mandrel I between swing arm I, swing arm III with bearing I, bearing III；Swing arm II is connected with positioning core axle with apical axis through jackscrew, and positioning core axle is fixing by threadeding with pendular ring, swing arm II is made to form revolute pair I with swinging interannular, it is connected by mandrel II between pendular ring with bearing II, make between pendular ring and bearing II, to form revolute pair II, described revolute pair I and revolute pair II and be collectively forming U pair.
It is threaded connection between described fixed arm and fairlead I, spacer, fairlead II and is fixed together, fixed arm, swing arm I, II, III all have oil ga(u)ge, be threaded between pole with flange I, pedestal；Fairlead III and ball-screw connect firmly, and ball screw and spacer shell connect firmly, and spacer shell and pole connect firmly, and form moving sets between fairlead III and pole；Fixed arm, is connected by flat key with reductor low speed end bottom ball-screw by threadeding with flange seat, and reductor speed end is connected by flat key with servomotor；Ball-screw low side is connected with axle sleeve, locking nut successively, and axle sleeve upper end is connected with angular contact ball bearing, and lower end is connected with self-aligning thrust roller bearing, flange III successively, and flange III and flange seat screw thread connect firmly.Swing arm I, II, III are identical with fixed arm with the connected mode of other parts
The described hook hinge free bearing being connected with platform and bearing holder (housing, cover) are threaded, bearing holder (housing, cover) and single-row tapered roller bearing I outer shroud interference fit, and single-row tapered roller bearing I internal ring coordinates with hinge, and hinge two ends are by axial lock nut I fastening；The pedestal of the hook hinge being connected with platform and axle connect firmly, and the other end is threadeded with flange IV, and axle coordinates with single-row tapered roller bearing II internal ring, and single-row tapered roller bearing II outer shroud coordinates with hinge, and the tip of the axis is fastened by axial lock nut II.
The invention has the beneficial effects as follows: this invention is the special equipment of integrated assembling, after all kinds of particular component being accurately positioned in integrated assembling process, pitching can be met, transport parts, the reliable fixing and requirement such as security related, reliability and maintainability at mesa base；The present invention can provide reliable and stable support for assembly, meets parts installation requirement thereon inside and outside assembly, and can provide the functions such as lifting, pitching, inclination for assembly debugging, and has compact conformation, good looking appearance and the advantage such as easy to operate.
Accompanying drawing explanation
Fig. 1 is the structural front view of Three Degree Of Freedom mounting plate；
Fig. 2 is the structure rearview of Three Degree Of Freedom mounting plate；
Fig. 3 is the structure chart (upward view) of platform；
Fig. 4 is the structure chart (tearing platform and Hooke's hinge, top view open) of Three Degree Of Freedom mounting plate；
Fig. 5 is one of the hook hinge internal structure that is connected with platform；
Fig. 6 is the two of the hook hinge internal structure that is connected with platform；
Fig. 7 is proximity switch structural representation；
Fig. 8 is fixed arm and swing arm internal structure；
Fig. 9 is fixed arm and swing arm bottom inner portion structure partial enlarged drawing；
Figure 10 is that swing arm I and swing arm III and bearing I and bearing III is connected internal structure；
Figure 11 is that swing arm II is connected internal structure with bearing II.
nullIn above-mentioned accompanying drawing: 1. platform，2. locating shaft，3. free bearing，4. hinge，5. pedestal，6. adjusting pad，7. flange I，8. swing arm I，8. swing arm II，8. swing arm III，9. fairlead I，10. spacer，11. fairlead II，12. pole，13. fairlead III，14. ball-screw，15. spacer shell，16. ball screw，17. flange II，18. angular contact ball bearing，19. axle sleeve，20. self-aligning thrust roller bearing，21. flange III，22. flange seat，23. reductor，24. servomotor，25. hold-down support，26. set I，27. mandrel I，28. bearing I，29. set II，30. pendular ring，31. positioning core axle，32. bearing II，33. jackscrew，34. apical axis，35. copper sheathing I，36. bearing III，37. copper sheathing II，38. pad I，39. adjusting pad I，40. bearing holder (housing, cover)，41. cover plate，42. axial lock nut I，43. pad II，44. adjusting pad II，45. single-row tapered roller bearing I，46. digital display angle instrument，47. fixed arm，48. locking nut，49. axle，50. axial lock nut II，51. flange IV，52 single-row tapered roller bearing II，53. oil ga(u)ge，54. proximity switch，55. mandrel II，56. pedestal，57. flat key.
Detailed description of the invention
Embodiment
Fig. 1～Figure 11 is an embodiment disclosed by the invention.This Three Degree Of Freedom mounting plate, including platform 1, hook hinge, proximity switch 54, reductor 23, servomotor 24 and digital display inclinometer 46；Described platform 1 and fixed arm 47, swing arm I8, swing arm II8, swing arm III8 upper end coupled by hook hinge, servomotor 24 through reductor 23 and fixed arm 47, swing arm I8, swing arm II8, swing arm III8 bottom couple, digital display angle instrument 46 is connected with platform 1, and proximity switch 54 is connected with fixed arm 47, swing arm I8, swing arm II8, swing arm III8.nullServomotor 24 is fixed on reductor 23 by flat key，Reductor 23 is fixed on fixed arm 47 through flat key、Swing arm I8、Swing arm II8、The bottom of swing arm III8，Hold-down support 25 on fixed arm 47 is threaded connection and is fixed on pedestal，Swing arm I8、Swing arm III8 and bearing I28、It is that cylindrical hinge connects between bearing III36，Swing arm II8 and bearing II32 is that hook hinge is connected，And bearing I28、Bearing II32、Hold-down support on bearing III36 and fixed arm 47 is each attached on pedestal 56，The pedestal 5 of the hook hinge being connected with platform and fixed arm 47、Swing arm I8、Swing arm II8、Flange I7 on swing arm III8 is by threaded，The free bearing 3 of this hook hinge is fixed on the platform 1 by threaded，And coordinate with locating shaft 2，For threadeding between locating shaft 2 with platform 1.
Described Three Degree Of Freedom mounting plate has four support arms, the structure of four support arms is identical, it is followed successively by fixed arm 47, swing arm I8, swing arm II8 and swing arm III8, the top of described four support arms in approximately the same plane, and its planar location just on foursquare four summits.When mounting plate is in initial position, when namely platform 1 is parallel with pedestal 56, the bottom of four support arms is also in approximately the same plane, and the position on its four summits is identical with the position distribution on four summits, described top.It is connected formation cylindrical pair by mandrel I27 between swing arm I8, swing arm III8 with bearing I28, bearing III36；Swing arm II8 is connected with positioning core axle with apical axis 34 through jackscrew 33, and positioning core axle 31 is fixing by threadeding with pendular ring 30, this makes formation revolute pair I between swing arm II8 and pendular ring 30, it is connected by mandrel II55 between pendular ring 30 with bearing II32, make between pendular ring 30 and bearing II32, to form revolute pair II, revolute pair I and revolute pair II and be collectively forming U pair.
It is threaded connection between described fixed arm 47 and fairlead I9, spacer 10, fairlead II11 and is fixed together, fixed arm 47, swing arm I8, swing arm II8, swing arm III8 all have oil ga(u)ge 53, is threaded between pole 12 with flange I7, pedestal 5；Fairlead III13 and ball-screw 14 connect firmly, and ball screw 16 and spacer shell 15 connect firmly, and spacer shell 15 and pole 12 connect firmly, and form moving sets between fairlead III13 and pole 12；Fixed arm 47, swing arm I8, swing arm II8, swing arm III8, are connected by flat key with reductor 23 low speed end bottom ball-screw 14 by threadeding with flange seat 22, and reductor 23 speed end is connected by flat key with servomotor 24；Ball-screw 14 low side is connected with axle sleeve 19, locking nut 48 successively, and axle sleeve 19 upper end is connected with angular contact ball bearing 18, and lower end is connected with self-aligning thrust roller bearing 20, flange III successively, and flange III21 and flange seat 22 screw thread connect firmly.Swing arm I8, swing arm II8, swing arm III8 are identical with the connected mode of the connected mode of other parts Yu described other parts of fixed arm 47.
The hook hinge free bearing 3 and the bearing holder (housing, cover) 40 that are connected with platform 1 are threaded, bearing holder (housing, cover) 40 and single-row tapered roller bearing I45 outer shroud interference fit, and single-row tapered roller bearing I45 internal ring coordinates with hinge 4, and hinge 4 two ends are by axial lock nut I42 fastening；Pedestal 5 and the axle 49 of the hook hinge being connected with platform 1 connect firmly, the other end is threadeded with flange IV51, axle 49 coordinates with single-row tapered roller bearing II52 internal ring, and single-row tapered roller bearing II52 outer shroud coordinates with hinge, and the end of axle 49 is fastened by axial lock nut II50.
Described Three Degree Of Freedom mounting plate have lean forward, left-leaning, Right deviation and the fixing function of arbitrarily angled locking, there is horizontal lifting and locking is fixing at an arbitrary position function, can by installing the frocks such as transition disc additional, it is achieved reliable, the safety of various rotating disc type assembly are fixed.Such as: in aero-engine assembling process, by its attitude is adjusted, allow the operator to station and can not complete assembling, this requirement of disintegration by ladder on the ground, design a kind of aero-engine Three Degree Of Freedom mounting plate being capable of the motion of space three degree of freedom very necessary.Specific works process is: during assembling elevating movement, four servomotors 24 simultaneously drive the ball-screw 14 in fixed arm 47, swing arm I8, swing arm II8 and swing arm III8 makes four poles 12 carry out elevating movement simultaneously, makes platform 1 complete elevating movement；Assembling is leaned forward when moving, the servomotor 24 of fixed arm 47 and swing arm I8 lower end does not work, the servomotor 24 of swing arm II8 and swing arm III8 lower end simultaneously drives the ball-screw 14 in swing arm II8 and swing arm III8 makes two poles 12 move, and completes the motion of leaning forward of platform 1；During assembling "Left"-deviationist motion, the servomotor 24 of fixed arm 47 and swing arm III8 lower end does not work, the servomotor 24 of swing arm I8 and swing arm II8 lower end simultaneously drives the ball-screw 14 in swing arm I8 and swing arm II makes two poles 12 move, and completes the left-leaning motion of platform；During assembling Right deviation motion, the servomotor 24 of swing arm I and swing arm II8 lower end does not work, the servomotor 24 of fixed arm 47 and swing arm III8 lower end simultaneously drives the ball-screw 14 in fixed arm 47 and swing arm III8 makes two poles 12 move, and completes the Right deviation motion of platform 1；Described platform 1 is by the functions such as the lifting of Three Degree Of Freedom mounting plate, pitching, inclination of having moved above.Digital display angle instrument 46 can be shown that the angle that platform 1 tilts, proximity switch 54 can control the position of motion.
Three Degree Of Freedom mounting plate adopts four actuators to drive, and bearing capacity is big, and angle attitude control accuracy is high, and degree of stability is big, can be widely applied to the fields such as integrated assembling, robot, lathe.The present invention can carry out elevating movement, leans forward, left-leaning and Right deviation motion, while carrying out these motions, can transport parts at mesa base, to complete the functions such as the integrated assembling of particular component, substantially increase production efficiency.
Claims (4)
1. a Three Degree Of Freedom mounting plate, including platform (1), hook hinge, proximity switch (54), reductor (23), servomotor (24) and digital display inclinometer (46), it is characterized in that: described platform (1) and fixed arm (47), swing arm I (8), swing arm II (8), the upper end of swing arm III (8) is coupled by hook hinge, the output shaft of described reductor (23) and fixed arm (47), swing arm I (8), swing arm II (8), the bottom of the ball-screw (14) of swing arm III (8) is coupled by flat key (57), described servomotor (24) and reductor (23) power shaft Flat dey joint；Described digital display angle instrument (46) is contained in the middle part of described platform (1), hold-down support (25) on described fixed arm (47) is threaded connection and is fixed on pedestal (56), described swing arm I (8), swing arm III (8) and bearing I (28), connect for cylindrical hinge between bearing III (36), described swing arm II (8) is that hook hinge is connected with bearing II (32), and bearing I (28), bearing II (32), hold-down support (25) on bearing III (36) and fixed arm (47) is each attached on pedestal (56)；Flange I (7) on the pedestal (5) of the hook hinge being connected with platform (1) and fixed arm (47), swing arm I (8), swing arm II (8), swing arm III (8) is by threaded, the free bearing (3) of this hook hinge is fixed on platform (1) by threaded, and coordinate with locating shaft (2), for threadeding between described locating shaft (2) with platform (1).
2. Three Degree Of Freedom mounting plate according to claim 1, it is characterized in that: four support arms that between described pedestal (56) with described platform (1), mounting structure is identical, four support arms are fixed arm (47) successively, swing arm I (8), swing arm II (8), swing arm III (8), the top of described four support arms is in approximately the same plane, and its planar location just on foursquare four summits, when described mounting plate is in initial position, namely when platform (1) is parallel with pedestal (56), the bottom of four support arms is also in approximately the same plane, the position on its four summits is identical with the position distribution on the four of top summits；It is connected formation cylindrical pair by mandrel I (27) between described swing arm I (8), swing arm III (8) and bearing I (28), bearing III (36)；Described swing arm II (8) is connected with positioning core axle (31) with apical axis (34) through jackscrew (33), and positioning core axle (31) is fixing by threadeding with pendular ring (30), make formation revolute pair I between swing arm II (8) and pendular ring (30), it is connected by mandrel II (55) between pendular ring (30) with bearing II (32), make between pendular ring (30) and bearing II (32), to form revolute pair II, described revolute pair I and revolute pair II and be collectively forming U pair.
3. Three Degree Of Freedom mounting plate according to claim 1 and 2, it is characterized in that: be threaded connection between described fixed arm (47) and fairlead I (9), spacer (10), fairlead II (11) and be fixed together, it arranges oil ga(u)ge (53)；For threadeding between pole (12) with flange I (7), pedestal (5), fairlead III (13) and ball-screw (14) connect firmly, ball screw (16) and spacer shell (15) connect firmly, spacer shell (15) and pole (12) connect firmly, and form moving sets between fairlead III (13) and pole (12)；Described fixed arm (47), swing arm I (8), swing arm II (8), swing arm III (8) with flange seat (22) by threadeding, ball-screw (14) low side is connected with axle sleeve (19), locking nut (48) successively, axle sleeve (19) upper end is connected with angular contact ball bearing (18), lower end is connected with self-aligning thrust roller bearing (20), flange III (21) successively, and flange III (21) and flange seat (22) screw thread connect firmly；The connected mode of described swing arm I (8), swing arm II (8), swing arm III (8) and other parts is identical with fixed arm (47).
4. Three Degree Of Freedom mounting plate according to claim 1, it is characterized in that: free bearing (3) and the bearing holder (housing, cover) (40) of described hook hinge are threaded, described bearing holder (housing, cover) (40) and single-row tapered roller bearing I (45) outer shroud interference fit, single-row tapered roller bearing I (45) internal ring coordinates with hinge (4), and hinge (4) two ends are fastened by axial lock nut I (42)；The pedestal (5) of described hook hinge and axle (49) connect firmly, the other end is threadeded with flange IV (51), axle (49) coordinates with single-row tapered roller bearing II (52) internal ring, single-row tapered roller bearing II (52) outer shroud coordinates with hinge (4), and the end of axle (49) is fastened by axial lock nut II (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610328812.8A CN105773145B (en) | 2016-05-18 | 2016-05-18 | Three Degree Of Freedom mounting plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610328812.8A CN105773145B (en) | 2016-05-18 | 2016-05-18 | Three Degree Of Freedom mounting plate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105773145A true CN105773145A (en) | 2016-07-20 |
| CN105773145B CN105773145B (en) | 2017-12-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610328812.8A Expired - Fee Related CN105773145B (en) | 2016-05-18 | 2016-05-18 | Three Degree Of Freedom mounting plate |
Country Status (1)
| Country | Link |
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| CN (1) | CN105773145B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635010A (en) * | 2021-08-12 | 2021-11-12 | 山西北方机械制造有限责任公司 | Accurate device that heels of low-angle |
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| CN101745905A (en) * | 2010-02-03 | 2010-06-23 | 北京航空航天大学 | Multi-degree of freedom adjustable assembling platform used for butt joint of aircraft wings |
| US7762531B2 (en) * | 2008-04-03 | 2010-07-27 | Mark Bond | Calibrated mechanical winch and method of manufacture |
| CN201803712U (en) * | 2010-08-15 | 2011-04-20 | 吉林大学 | Wheel clearance test table with three degrees of freedom |
| CN102975196A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | Double-rotational freedom parallel mechanism |
| CN103009376A (en) * | 2012-12-04 | 2013-04-03 | 天津大学 | Spatial three-dimensional rotation parallel mechanism |
| CN103624535A (en) * | 2013-11-11 | 2014-03-12 | 北京卫星环境工程研究所 | Precise adjustment device for pose of spacecraft |
-
2016
- 2016-05-18 CN CN201610328812.8A patent/CN105773145B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7762531B2 (en) * | 2008-04-03 | 2010-07-27 | Mark Bond | Calibrated mechanical winch and method of manufacture |
| CN101745905A (en) * | 2010-02-03 | 2010-06-23 | 北京航空航天大学 | Multi-degree of freedom adjustable assembling platform used for butt joint of aircraft wings |
| CN201803712U (en) * | 2010-08-15 | 2011-04-20 | 吉林大学 | Wheel clearance test table with three degrees of freedom |
| CN102975196A (en) * | 2012-12-04 | 2013-03-20 | 天津大学 | Double-rotational freedom parallel mechanism |
| CN103009376A (en) * | 2012-12-04 | 2013-04-03 | 天津大学 | Spatial three-dimensional rotation parallel mechanism |
| CN103624535A (en) * | 2013-11-11 | 2014-03-12 | 北京卫星环境工程研究所 | Precise adjustment device for pose of spacecraft |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635010A (en) * | 2021-08-12 | 2021-11-12 | 山西北方机械制造有限责任公司 | Accurate device that heels of low-angle |
| CN113635010B (en) * | 2021-08-12 | 2023-07-28 | 山西北方机械制造有限责任公司 | Small-angle accurate side-tipping device |
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| Publication number | Publication date |
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| CN105773145B (en) | 2017-12-12 |
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Granted publication date: 20171212 Termination date: 20180518 |