CN106563941B - For the vertical assembling equipment of component hole axle assembling - Google Patents
For the vertical assembling equipment of component hole axle assembling Download PDFInfo
- Publication number
- CN106563941B CN106563941B CN201610972108.6A CN201610972108A CN106563941B CN 106563941 B CN106563941 B CN 106563941B CN 201610972108 A CN201610972108 A CN 201610972108A CN 106563941 B CN106563941 B CN 106563941B
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- Prior art keywords
- slide unit
- cam
- vertical
- degree
- boom
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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
A kind of vertical assembling equipment for the assembling of component hole axle, including：It is set on vertical a wide range of feed mechanism and is used to ensure the passive compliant device of passive security and the six degree of freedom precision pose_adjuster for accurate posture adjustment function being set on laterally a wide range of feed mechanism, wherein：Orifice to be assembled is set in passive compliant device and face is set to the shaft member to be assembled on six degree of freedom precision pose_adjuster.For the present invention for completing aero-engine assembling, apparatus structure is compact, grading control, performance accuracy height, six degree of freedom posture adjustment, efficiency of assembling is high, ensures the passive security of accessory to be installed.
Description
Technical field
It is specifically a kind of for hole axle precision assembly between component the present invention relates to a kind of equipment in mounting technology field
Vertical assembling equipment.
Background technology
Between current Chinese large-sized fanjet Low Pressure Turbine Rotor assembling and other large components in assembling process, still greatly
Amount is using by hand by crane completion assembly technology, it is easy to cause to collide with and clamping stagnation, inefficiency, the operating experience of worker are
Influence the key factor of assembling quality.And with the research and development of high-performance enginer, connection fit precision requirement is higher and higher, by hand
Assembling can not be met the requirements.For this significant problem, a set of intelligent assembling equipment is developed to complete the high pressure of engine
Rotor assembles, and improves assembly precision, while ensure the passive security of the core components such as rotor.
Invention content
The present invention can only realize the three degree of freedom movement of a movement two rotation for existing apparatus, it is impossible to meet large-scale boat
The demand of the empty vertical five degree of freedom movements of assembling of engine high pressure rotor, it is impossible to match applied to the makeup of high pressure rotor upright intelligent
And without a wide range of accurate posture adjustment function, the defects of posture adjustment precision is insufficient, propose a kind of for the vertical of component hole axle assembling
Formula assembling equipment, for completing aero-engine assembling, apparatus structure is compact, grading control, performance accuracy are high, six degree of freedom tune
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 being used to ensure passive security being set on vertical a wide range of feed mechanism
And the six degree of freedom precision pose_adjuster for accurate posture adjustment function on laterally a wide range of feed mechanism is set to, wherein：
Orifice to be assembled is set in passive compliant device and face is set to the shaft member to be assembled on six degree of freedom precision pose_adjuster.
The vertical a wide range of feed mechanism includes：Vertical column and Z-direction slide unit, wherein：Slide unit passes through silk with column
Thick stick guide rail connects.
The laterally a wide range of feed mechanism includes：Pedestal, X to slide unit and Y-direction slide unit, wherein：X passes through X to slide unit
It is connect to lead screw guide rails with pedestal, Y-direction slide unit is connected by Y-direction lead screw guide rails with X to slide unit.
The six degree of freedom precision pose_adjuster is connect with X to slide unit, and passive compliant device is connect with Z-direction slide unit.
The concrete structure of the passive compliant device includes：The cam follower being respectively arranged at the top and bottom of fixed platform
Mechanism and plane unfolding mechanism, elastic boom that one end is rotatablely connected respectively with fixed platform and plane unfolding mechanism and with elasticity
The moving platform of sunpender other end rotation connection drives elastic boom rotation by the cam ejection pin mechanism of harmonic speed reducer driving, real
Existing elastic boom change of pitch angle.
The cam ejection pin mechanism includes：The mandril sliding block machine that motor, harmonic speed reducer, cam and four are radially set
Structure, wherein：Harmonic speed reducer is connected with motor output shaft, and the mandril of mandril slide block mechanism is in contact with cam, and sliding block is set to
Fixed platform sliding rail, cam are set to fixed platform center.
The 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 are rotatablely connected
Closed loop is formed, the centre of L-shaped connecting rod is equipped with revolute pair and the totally eight revolute pairs corresponding rotation connection two-by-two of two groups of L-shaped connecting rods, and two
Totally four head and the tail rotating joints pass through revolute pair and the mandril slide block mechanism phase in cam ejection pin mechanism respectively in group L-shaped connecting rod
Even.
The elastic boom includes：The boom body and elastic parts of G character form structures, wherein：The both ends of elastic parts point
It is not connected with one end of boom body and middle part, middle part and the fixed platform of boom body are rotatablely connected, described one end and plane developing machine
Structure is rotatablely connected, and the other end is rotatablely connected with moving platform, and specifically, elastic boom passes through revolute pair and cam ejection pin mechanism sliding block
Upper rotation counter-base is connected；Planar development mechanism is connected by revolute pair with one end of elastic boom；The elastic boom other end passes through
Universal hinge or revolute pair are connected with moving platform.
The six degree of freedom precision pose_adjuster includes：Moving platform, motion in one dimension branch and moving platform, wherein：It is to be installed
It is fixedly installed on moving platform with shaft member, six motion in one dimension branches each by the driving of Zigzag type electric cylinders pass through flexural pivot respectively
Chain and universal hinge are connected with moving platform and fixed platform, and fixed platform is set on laterally a wide range of feed mechanism.
Technique effect
Compared with prior art, the present invention arranges compliant device and the separation of six degree of freedom precision pose_adjuster, so as to real
Existing high-precision positioning 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 component when contacting.The equipment can realize long hole axle precision assembly, reduce position error, ensure assembling
Safety realizes hole axle precision assembly.
Description of the drawings
Fig. 1 just waits side views 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 hides silent flatform vertical view for passive compliant device；
Fig. 6 is passive compliant device planar development mechanism vertical view；
Fig. 7 is six degree of freedom precision pose_adjuster；
In figure：Cam follower 1, sliding block 2, sliding rail 3, fixed platform 4, rotation 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, shaft member to be assembled 28, six degree of freedom precision posture adjustment
Mechanism 29, Y-direction slide unit 30, X are to slide unit 31, pedestal 32, moving platform 33, spherical hinge 34, one-dimensional force snesor 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 by it is lateral and it is vertical on a large scale into
It is realized to mechanism, vertical a wide range of feed mechanism includes：Vertical column 23 and Z-direction slide unit 25；Laterally a wide range of feed mechanism packet
It includes：Pedestal 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 accurate posture adjustment by screw slide rails, and X is slided to slide unit 31 with Y-direction
Platform 30 is connected by screw slide rails, and the passive compliant device 26 for ensureing passive security is fixedly connected with Z-direction slide unit 25, and six certainly
It is fixedly connected by the accurate pose_adjuster 29 of degree with Y-direction slide unit 30, hole axle part to be assembled is respectively the same as six degree of freedom precision pose_adjuster
29 are connected with passive compliant device 26 by fixture.
The assembling process obtains hole axle relative position by introducing the fine measuring instruments such as laser tracker, by big
The coarse adjustment of range feed mechanism is directed at hole axle；Adjusting in real time 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, sliding block 2, sliding 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
Swing rod 10, the elastic boom upper end are connected by rotating counter-base 5 with sliding 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：Revolute pair between 16 end of L-shaped connecting rod
Connection forms cradle head 21,22, is connected between 16 midpoint of L-shaped connecting rod and forms cradle head 21；Cradle head 21 passes through revolute pair
It is connect with cradle head 14, cradle head 14 is connect by revolute pair with rotation counter-base 13.
As Figure 4-Figure 6, the present apparatus expansion and shrink by motor 6 drive cam ejection pin mechanism 1 realize, on mandril 7
Under revolute pair and U pairs for coordinating the amount of feeding, 3 stress of planar development mechanism is functioned as and is locked when motor 6 is not fed
7 top revolute pair of mandril.The motor 6 is inputted as driving, driving device movement.By adjusting link angle, end is realized
Different-stiffness performance on moving platform 5, realization passively comply with assembling.
The cam ejection pin mechanism 1 and elastic boom 7 have the arrangement form of circumference array distribution.
As shown in fig. 7, for six degree of freedom precision pose_adjuster 29, wherein：Shaft member 28 to be assembled is fixedly installed on moving platform
On 33, six motion in one dimension branches driven each by Zigzag type electric cylinders 36 are respectively by spherical hinge 34 and universal hinge 37 with moving
Platform 33 is connected with fixed platform 38, and fixed platform 38 is set on laterally a wide range of feed mechanism.
The motion in one dimension branch is equipped with one-dimensional force snesor 35.
In the present embodiment, by designing parameters and the bullets such as cam ejection pin mechanism, material, the size of changing elastic element 8
Property 7 length of sunpender can be changed in different-stiffness performance.
Above-mentioned specific implementation can by those skilled in the art under 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 subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (4)
1. a kind of vertical assembling equipment for the assembling of component hole axle, which is characterized in that including：It is set to vertical a wide range of feeding
In mechanism for ensure the passive compliant device of passive security and be set on laterally a wide range of feed mechanism for essence
The six degree of freedom precision pose_adjuster of close posture adjustment function, wherein：Orifice to be assembled is set in passive compliant device and face is set
The shaft member to be assembled being placed on six degree of freedom precision pose_adjuster；
The passive compliant device includes：The cam ejection pin mechanism and planar development being respectively arranged at the top and bottom of fixed platform
Mechanism, the elastic boom and rotated with the elastic boom other end that one end is rotatablely connected respectively with fixed platform and plane unfolding mechanism
The moving platform of connection drives elastic boom rotation by the cam ejection pin mechanism of harmonic speed reducer driving, realizes elastic boom inclination angle
Variation；
The cam ejection pin mechanism includes：The mandril slide block mechanism that motor, harmonic speed reducer, cam and four are radially set,
Wherein：Harmonic speed reducer is connected with motor output shaft, and the mandril of mandril slide block mechanism is in contact with cam, and sliding block, which is set to, to be allocated
Platform sliding rail, cam are set to fixed platform center；
The 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 rotation connection composition
Closed loop, the centre of L-shaped connecting rod is equipped with revolute pair and the totally eight revolute pairs corresponding rotation connection two-by-two of two groups of L-shaped connecting rods, two groups of L-shaped
Totally four head and the tail rotating joints are connected respectively by revolute pair with the mandril slide block mechanism in cam ejection pin mechanism in connecting rod；
The elastic boom includes：The boom body and elastic parts of G character form structures, wherein：The both ends of elastic parts respectively with
One end and middle part of boom body are connected, and middle part and the fixed platform of boom body are rotatablely connected, and described one end turns with planar development mechanism
Dynamic connection, the other end are rotatablely connected with moving platform, and specifically, elastic boom in revolute pair and cam ejection pin mechanism sliding block by turning
Dynamic counter-base is connected；Planar development mechanism is connected by revolute pair with one end of elastic boom；The elastic boom other end passes through universal
Hinge or revolute pair are connected with moving platform.
2. vertical assembling equipment according to claim 1, it is characterized in that, the vertical a wide range of feed mechanism includes：
Vertical column and Z-direction slide unit, wherein：Slide unit is connect with column by lead screw guide rails；The laterally a wide range of feed mechanism packet
It includes：Pedestal, X to slide unit and Y-direction slide unit, wherein：X is connect by X to slide unit to lead screw guide rails with pedestal, and Y-direction slide unit passes through Y-direction
Lead screw guide rails are connected with X to slide unit；The six degree of freedom precision pose_adjuster is connect with Y-direction slide unit, passive compliant device and Z
It is connected to slide unit.
3. vertical assembling equipment according to claim 1, it is characterized in that, the cam, shape line radius and angle of rotation
Degree has linear transitive relation.
4. vertical assembling equipment according to claim 1, it is characterized in that, the six degree of freedom precision pose_adjuster packet
It includes：Fixed platform, motion in one dimension branch and moving platform, wherein：Shaft member to be assembled is fixedly installed on moving platform, six each by
The motion in one dimension branch of Zigzag type electric cylinders driving is connected respectively by spherical hinge and universal hinge with moving platform and fixed platform, fixed platform
It is set on laterally a wide range of feed mechanism.
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 CN106563941A (en) | 2017-04-19 |
| CN106563941B true CN106563941B (en) | 2018-06-08 |
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| 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 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4290203A (en) * | 1980-04-07 | 1981-09-22 | Lord Corporation | Insertion compliance device |
| CN101907893B (en) * | 2010-07-02 | 2012-05-23 | 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 |
| CN104526346B (en) * | 2014-12-19 | 2016-08-17 | 上海交通大学 | Have that to comply with the high pressure rotor upright intelligent makeup of structure equipped standby |
| CN104647027B (en) * | 2014-12-19 | 2017-02-22 | 上海交通大学 | Vertical intelligent high-pressure rotor assembly device with elastic structure |
| CN104589021B (en) * | 2014-12-24 | 2016-10-05 | 上海交通大学 | There is the horizontal intelligent assembling equipment of high pressure rotor complying with structure |
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