CN106563941A - Vertical-type assembling equipment for part hole and shaft assembling - Google Patents
Vertical-type assembling equipment for part hole and shaft assembling Download PDFInfo
- Publication number
- CN106563941A CN106563941A CN201610972108.6A CN201610972108A CN106563941A CN 106563941 A CN106563941 A CN 106563941A CN 201610972108 A CN201610972108 A CN 201610972108A CN 106563941 A CN106563941 A CN 106563941A
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- CN
- China
- Prior art keywords
- vertical
- slide unit
- boom
- cam
- assembling equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B23P19/00—Machines 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
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
-
- 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
- B23P19/00—Machines 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
The invention discloses vertical-type assembling equipment for part hole and shaft assembling. The vertical-type assembling equipment comprises a passive compliance device which is arranged on a vertical wide-range feeding mechanism and used for guaranteeing passive safety, and a six-degrees-of-freedom precision posture-adjusting mechanism which is arranged on a horizontal wide-range feeding mechanism and used for achieving the precision posture-adjusting function. A to-be-assembled hole part is arranged on the passive compliance device and directly faces a to-be-assembled shaft part arranged on the six-degrees-of-freedom precision posture-adjusting mechanism. The vertical-type assembling equipment is used for completing aero-engine assembly. The device is compact in structure, capable of achieving stepped control, high in operation precision, high in assembling efficiency, and capable of achieving six-degrees-of-freedom posture adjustment and guaranteeing the passive safety of the to-be-assembled parts.
Description
Technical field
The present invention relates to a kind of equipment in mounting technology field, specifically a kind of for hole axle precision assembly between part
Vertical assembling equipment.
Background technology
Between the assembling of current Chinese large-sized fanjet Low Pressure Turbine Rotor and other large components in assembling process, still greatly
Amount completes assembly technology using manual by crane, it is easy to cause to collide with and clamping stagnation, inefficiency, and the operating experience of workman is
Affect the key factor of assembling quality.It is manual and with the research and development of high-performance enginer, connection quality of fit requires more and more higher
Assembling cannot meet requirement.For this significant problem, develop a set of intelligent assembling equipment to complete the high pressure of electromotor
Rotor is assembled, and improves assembly precision, while ensureing the passive security of the core components such as rotor.
The content of the invention
The present invention can only realize the three degree of freedom motion that a movement two is rotated for existing apparatus, it is impossible to meet large-scale boat
The vertical demand for assembling five degree of freedom motions of empty engine high pressure rotor, it is impossible to be applied to the makeup of high pressure rotor upright intelligent and match somebody with somebody
And there is no the defects such as accurate posture adjustment function on a large scale, posture adjustment precision deficiency, propose a kind of for the vertical of part hole axle assembling
Formula assembling equipment, for completing aero-engine assembling, apparatus structure is compact, grading control, performance accuracy high, six degree of freedom is adjusted
Appearance, efficiency of assembling are high, ensure the passive security of accessory to be installed.
The present invention is achieved by the following technical solutions：
The present invention includes：The passive compliant device for ensureing passive security being arranged on vertical feed mechanism on a large scale
And the six degree of freedom precision pose_adjuster for accurate posture adjustment function being arranged on horizontal feed mechanism on a large scale, wherein：
Orifice to be assembled is arranged in passive compliant device and the shaft member to be assembled just to being arranged on six degree of freedom precision pose_adjuster.
Described vertical feed mechanism on a large scale includes：Vertical column and Z-direction slide unit, wherein：Slide unit passes through silk with column
Thick stick guide rail connects.
Described horizontal feed mechanism on a large scale includes：Base, X to slide unit and Y-direction slide unit, wherein：X to slide unit passes through X
It is connected with base to lead screw guide rails, Y-direction slide unit is connected with X by Y-direction lead screw guide rails to slide unit.
Described six degree of freedom precision pose_adjuster is connected with X to slide unit, and passive compliant device is connected with Z-direction slide unit.
The concrete structure of described passive compliant device includes：It is respectively arranged at the cam follower of fixed platform top and bottom
Mechanism and plane development mechanism, one end rotate with fixed platform and plane development mechanism respectively the elastic boom that is connected and with elasticity
The suspension rod other end rotates the moving platform of connection, and the cam ejection pin mechanism driven by harmonic speed reducer drives elastic boom to rotate, real
Existing elastic boom change of pitch angle.
Described cam ejection pin mechanism includes：The push rod slide block machine that motor, harmonic speed reducer, cam and four are radially arranged
Structure, wherein：Harmonic speed reducer is connected with motor output shaft, and the push rod of push rod slide block mechanism contacts with cam, and slide block is arranged at
Fixed platform slide rail, cam is arranged at fixed platform central authorities.
Described planar development mechanism includes：Two groups of each four L-shaped connecting rods, wherein：Every group of L-shaped connecting rod head and the tail rotate connection
Closed loop is constituted, the centre of L-shaped connecting rod is provided with and rotates secondary and two groups of L-shaped connecting rod totally eight rotation pair corresponding rotation connections two-by-two, two
In group L-shaped connecting rod totally four head and the tail rotate junction point respectively by rotate it is secondary with cam ejection pin mechanism in push rod slide block mechanism phase
Even.
Described elastic boom includes：The boom body and elastic partss of G character form structures, wherein：The two ends of elastic partss point
It is not connected with one end and middle part of boom body, the middle part of boom body rotates with fixed platform and is connected, described one end and plane developing machine
Structure is rotated and connected, and the other end is rotated with moving platform and is connected, and specifically, elastic boom is by rotating secondary and cam ejection pin mechanism slide block
Upper rotation counter-base is connected；Planar development mechanism is connected by rotating pair with one end of elastic boom；The elastic boom other end passes through
Universal hinge or rotation pair are connected with moving platform.
Described six degree of freedom precision pose_adjuster includes：Moving platform, motion in one dimension side chain and moving platform, wherein：It is to be installed
It is fixedly installed on moving platform with shaft member, six motion in one dimension side chains driven each via Zigzag type electric cylinders pass through respectively ball pivot
Chain and universal hinge are connected with moving platform and fixed platform, and fixed platform is arranged at laterally on feed mechanism on a large scale.
Technique effect
Compared with prior art, compliant device and six degree of freedom precision pose_adjuster are separated arrangement by the present invention, so as to reality
Existing high-precision fixed bit function, six degree of freedom precision pose_adjuster can realize accurate positioning function, and passive compliant device is special
Situation hole axle wall does not damage part when contacting.The equipment can realize long hole axle precision assembly, reduce position error, it is ensured that assembling
Safety, realizes hole axle precision assembly.
Description of the drawings
Fig. 1 is just waiting side view for the present invention；
Fig. 2 is side view of the present invention；
Fig. 3 is front view of the present invention；
Fig. 4 is passive compliant device side view；
Fig. 5 is that passive compliant device hides silent flatform top view；
Fig. 6 is passive compliant device planar development mechanism top view；
Fig. 7 is six degree of freedom precision pose_adjuster；
In figure：Cam follower 1, slide block 2, slide rail 3, fixed platform 4, rotate counter-base 5, upper pendulum bar 6, catch 7, Flexible element 8,
Connection sheet 9, draft link 10, U counter-bases 11, moving platform 12, rotation counter-base 13, cradle head 14, planar development mechanism 15, L-shaped connect
Bar 16, cradle head 17, harmonic speed reducer 18, cam 19, motor 20, cradle head 21, cradle head 22, vertical column 23,
Switch board 24, Z-direction slide unit 25, passive compliant device 26, orifice to be assembled 27, the precision posture adjustment of shaft member to be assembled 28, six degree of freedom
Mechanism 29, Y-direction slide unit 30, X are to slide unit 31, base 32, moving platform 33, spherical hinge 34, one-dimensional force transducer 35, Zigzag type electric cylinders
36th, universal hinge 37, fixed platform 38.
Specific embodiment
As shown in Figures 1 to 3, in the present embodiment, the grand movement of hole axle to be assembled is entered on a large scale by horizontal with vertical
Realize to mechanism, vertical feed mechanism on a large scale includes：Vertical column 23 and Z-direction slide unit 25；Horizontal feed mechanism bag on a large scale
Include：Base 32, X to slide unit 31 and Y-direction slide unit 30, wherein：Z-direction slide unit 25 is connected with vertical column 23 by screw slide rails, Y-direction
Slide unit 30 is connected with the six degree of freedom precision pose_adjuster 29 for being used for accurate posture adjustment by screw slide rails, and X to slide unit 31 is slided with Y-direction
Platform 30 is connected by screw slide rails, and for ensureing that the passive compliant device 26 of passive security is fixedly connected with Z-direction slide unit 25, six certainly
It is fixedly connected with Y-direction slide unit 30 by the accurate pose_adjuster 29 of degree, hole axle part to be assembled is respectively with six degree of freedom precision pose_adjuster
29 and passive compliant device 26 by fixture connect.
Described assembling process obtains hole axle relative position by introducing the fine measuring instruments such as laser tracker, by big
The coarse adjustment of scope feed mechanism is directed at hole axle；Real-time regulation by Z-direction feed mechanism and six degree of freedom precision pose_adjuster 29 is complete
Into precision assembly, passive security is ensured by passive compliant device 26.
As Figure 4-Figure 6, in the present embodiment, cam ejection pin mechanism includes：Cam follower 1, slide block 2, slide rail 3, cam 19,
Harmonic speed reducer 18, motor 20；Elastic boom includes：Rotate counter-base 5, upper pendulum bar 6, catch 7, Flexible element 8, connection sheet 9, under
Fork 10, the elastic boom upper end is connected by rotating counter-base 5 with slide block 2, and lower end is connected by U counter-bases 11 with moving platform 12.
In the present embodiment, planar development mechanism 11 includes eight L-shaped connecting rods 16, wherein：Rotate between the end of L-shaped connecting rod 16 secondary
Connection forms cradle head 21,22, and connection between the midpoint of L-shaped connecting rod 16 forms cradle head 21；Cradle head 21 is secondary by rotating
It is connected with cradle head 14, cradle head 14 is connected by rotating pair with counter-base 13 is rotated.
As Figure 4-Figure 6, the expansion of this device and contraction drives cam ejection pin mechanism 1 to realize by motor 6, on push rod 7
Under rotation it is secondary and U is secondary for coordinating the amount of feeding, the stress of planar development mechanism 3 is functioned as locked when motor 6 does not feed
The top of push rod 7 rotates secondary.The motor 6 is input into as driving, driving device motion.By adjusting link angle, end is realized
Assembling is passively complied with different-stiffness performance on moving platform 5, realization.
Described cam ejection pin mechanism 1 and elastic boom 7 has the arrangement form of circumference array distribution.
As shown in fig. 7, be six degree of freedom precision pose_adjuster 29, wherein：Shaft member to be assembled 28 is fixedly installed on moving platform
On 33, six motion in one dimension side chains driven each via Zigzag type electric cylinders 36 pass through respectively spherical hinge 34 and universal hinge 37 and move
Platform 33 is connected with fixed platform 38, and fixed platform 38 is arranged at laterally on feed mechanism on a large scale.
Described motion in one dimension side chain is provided with one-dimensional force transducer 35.
In the present embodiment, by designing parameter and the bullets such as cam ejection pin mechanism, material, the size of modification flexible member 8
The property length of suspension rod 7 can be changed in different-stiffness performance.
It is above-mentioned be embodied as can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is defined by claims and by above-mentioned is not embodied as institute
Limit, each implementation in the range of it is by the constraint of the present invention.
Claims (8)
1. a kind of vertical assembling for the assembling of part hole axle is equipped, it is characterised in that included：It is arranged at and vertical feeds on a large scale
The passive compliant device for ensureing passive security in mechanism and be arranged at laterally on a large scale on feed mechanism for essence
The six degree of freedom precision pose_adjuster of close posture adjustment function, wherein：Orifice to be assembled is arranged in passive compliant device and just pair is setting
The shaft member to be assembled being placed on six degree of freedom precision pose_adjuster.
2. vertical assembling equipment according to claim 1, is characterized in that, described vertical feed mechanism on a large scale includes：
Vertical column and Z-direction slide unit, wherein：Slide unit is connected with column by lead screw guide rails；Described horizontal feed mechanism bag on a large scale
Include：Base, X to slide unit and Y-direction slide unit, wherein：X to slide unit is connected to lead screw guide rails by X with base, and Y-direction slide unit passes through Y-direction
Lead screw guide rails connect with X to slide unit；Described six degree of freedom precision pose_adjuster is connected with X to slide unit, passive compliant device and Z
To slide unit connection.
3. vertical assembling equipment according to claim 1, is characterized in that, described passive compliant device includes：Set respectively
Be placed in fixed platform top and bottom cam ejection pin mechanism and plane development mechanism, one end respectively with fixed platform and plane developing machine
The moving platform that structure rotates the elastic boom of connection and is connected with the rotation of the elastic boom other end, by the convex of harmonic speed reducer driving
Wheel post rod mechanism drives elastic boom to rotate, and realizes elastic boom change of pitch angle.
4. vertical assembling equipment according to claim 3, is characterized in that, described cam ejection pin mechanism includes：It is motor, humorous
The push rod slide block mechanism that ripple decelerator, cam and four are radially arranged, wherein：Harmonic speed reducer is connected with motor output shaft, top
The push rod of bar slide block mechanism contacts with cam, and slide block is arranged at fixed platform slide rail, and cam is arranged at fixed platform central authorities.
5. vertical assembling equipment according to claim 3, is characterized in that, described planar development mechanism includes：Two groups each
Four L-shaped connecting rods, wherein：Every group of L-shaped connecting rod rotates from beginning to end connection composition closed loop, and the centre of L-shaped connecting rod is provided with rotation pair and two
Group L-shaped connecting rod rotates pair corresponding rotation connection two-by-two for totally eight, and totally four head and the tail rotation junction points lead to respectively in two groups of L-shaped connecting rods
Cross rotation pair to be connected with the push rod slide block mechanism in cam ejection pin mechanism.
6. vertical assembling equipment according to claim 3, is characterized in that, described elastic boom includes：G character form structures
Boom body and elastic partss, wherein：The two ends of elastic partss are connected respectively with one end and middle part of boom body, the middle part of boom body
Rotate with fixed platform and be connected, described one end rotates with planar development mechanism and is connected, the other end is rotated with moving platform and is connected, specifically
Ground, elastic boom is connected by rotating pair with rotation counter-base on cam ejection pin mechanism slide block；Planar development mechanism is secondary by rotating
It is connected with one end of elastic boom；The elastic boom other end is connected by universal hinge or rotation pair with moving platform.
7. vertical assembling equipment according to claim 4, is characterized in that, described cam, its shape line radius and angle of rotation
Degree has linear transitive relation.
8. vertical assembling equipment according to claim 1, is characterized in that, described six degree of freedom precision pose_adjuster bag
Include：Moving platform, motion in one dimension side chain and moving platform, wherein：Shaft member to be assembled is fixedly installed on moving platform, six each via
The motion in one dimension side chain that Zigzag type electric cylinders drive is connected respectively by spherical hinge and universal hinge with moving platform and fixed platform, fixed platform
It is arranged on horizontal feed mechanism on a large scale.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972108.6A CN106563941B (en) | 2016-11-04 | 2016-11-04 | For the vertical assembling equipment of component hole axle assembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610972108.6A CN106563941B (en) | 2016-11-04 | 2016-11-04 | For the vertical assembling equipment of component hole axle assembling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106563941A true CN106563941A (en) | 2017-04-19 |
| CN106563941B CN106563941B (en) | 2018-06-08 |
Family
ID=58541692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610972108.6A Active CN106563941B (en) | 2016-11-04 | 2016-11-04 | For the vertical assembling equipment of component hole axle assembling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106563941B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107855745A (en) * | 2017-10-24 | 2018-03-30 | 北京航空航天大学 | A kind of suspension type aero-engine principal unit centered assembling mechanical system |
| CN109877561A (en) * | 2019-04-19 | 2019-06-14 | 苏州大学 | A kind of peg-in-hole assembly system based on one-dimensional force snesor |
| CN110369591A (en) * | 2019-08-09 | 2019-10-25 | 福建成功机床有限公司 | A kind of adaptive corner-moving adjustment special equipment of aviation part multiaxis |
| CN112776957A (en) * | 2020-12-31 | 2021-05-11 | 上海交通大学 | Ship block butt joint cooperative assembly trolley with swing angle compliance |
| CN113618390A (en) * | 2021-08-20 | 2021-11-09 | 西北工业大学 | Vertical automatic assembly centering device for aero-engine and use method thereof |
| CN116441924A (en) * | 2023-06-19 | 2023-07-18 | 四川顶锐液压设备制造有限公司 | Assembling system and assembling method for aero-engine unit body |
| CN116652546A (en) * | 2023-07-28 | 2023-08-29 | 常州雷森离合器有限公司 | Rotating shaft vertical installation device based on high-power clutch |
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|---|---|---|---|---|
| US4290203A (en) * | 1980-04-07 | 1981-09-22 | Lord Corporation | Insertion compliance device |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN104526346A (en) * | 2014-12-19 | 2015-04-22 | 上海交通大学 | High voltage rotor vertical intelligent assembling equipment with compliance structure |
| CN104589021A (en) * | 2014-12-24 | 2015-05-06 | 上海交通大学 | High-pressure rotor horizontal type intelligent assembling device with compliant structure |
| CN104647027A (en) * | 2014-12-19 | 2015-05-27 | 上海交通大学 | Vertical intelligent high-pressure rotor assembly device with elastic structure |
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2016
- 2016-11-04 CN CN201610972108.6A patent/CN106563941B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4290203A (en) * | 1980-04-07 | 1981-09-22 | Lord Corporation | Insertion compliance device |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN104526346A (en) * | 2014-12-19 | 2015-04-22 | 上海交通大学 | High voltage rotor vertical intelligent assembling equipment with compliance structure |
| CN104647027A (en) * | 2014-12-19 | 2015-05-27 | 上海交通大学 | Vertical intelligent high-pressure rotor assembly device with elastic structure |
| CN104589021A (en) * | 2014-12-24 | 2015-05-06 | 上海交通大学 | High-pressure rotor horizontal type intelligent assembling device with compliant structure |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107855745A (en) * | 2017-10-24 | 2018-03-30 | 北京航空航天大学 | A kind of suspension type aero-engine principal unit centered assembling mechanical system |
| CN107855745B (en) * | 2017-10-24 | 2019-06-28 | 北京航空航天大学 | A kind of suspension type aero-engine principal unit centered assembling mechanical system |
| CN109877561A (en) * | 2019-04-19 | 2019-06-14 | 苏州大学 | A kind of peg-in-hole assembly system based on one-dimensional force snesor |
| CN110369591A (en) * | 2019-08-09 | 2019-10-25 | 福建成功机床有限公司 | A kind of adaptive corner-moving adjustment special equipment of aviation part multiaxis |
| CN112776957A (en) * | 2020-12-31 | 2021-05-11 | 上海交通大学 | Ship block butt joint cooperative assembly trolley with swing angle compliance |
| CN113618390A (en) * | 2021-08-20 | 2021-11-09 | 西北工业大学 | Vertical automatic assembly centering device for aero-engine and use method thereof |
| CN116441924A (en) * | 2023-06-19 | 2023-07-18 | 四川顶锐液压设备制造有限公司 | Assembling system and assembling method for aero-engine unit body |
| CN116441924B (en) * | 2023-06-19 | 2023-08-22 | 四川顶锐液压设备制造有限公司 | Assembling system and assembling method for aero-engine unit body |
| CN116652546A (en) * | 2023-07-28 | 2023-08-29 | 常州雷森离合器有限公司 | Rotating shaft vertical installation device based on high-power clutch |
| CN116652546B (en) * | 2023-07-28 | 2023-10-03 | 常州雷森离合器有限公司 | Rotating shaft vertical installation device based on high-power clutch |
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|---|---|
| CN106563941B (en) | 2018-06-08 |
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