CN108284959A - A kind of six degree of freedom mounting platform - Google Patents
A kind of six degree of freedom mounting platform Download PDFInfo
- Publication number
- CN108284959A CN108284959A CN201711293199.1A CN201711293199A CN108284959A CN 108284959 A CN108284959 A CN 108284959A CN 201711293199 A CN201711293199 A CN 201711293199A CN 108284959 A CN108284959 A CN 108284959A
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- change
- frame
- driving gear
- skeleton
- over frame
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- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 239000000203 mixture Substances 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000010276 construction Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 4
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B64D27/40—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
Abstract
This application discloses a kind of six degree of freedom mounting platforms, are made of chassis, Z-direction column, Change-over frame, posture adjustment frame etc.；Chassis is plane frame structure, Z-direction column be provided with can screw rod transmission lifting support structure；Z-direction column is fixed on the quadrangle on chassis, and the support bulb of the quadrangle of Change-over frame forms spherical hinge structure with the support construction on four Z-direction columns respectively, and Change-over frame is fixed on by slide above posture adjustment frame；When installation, Change-over frame does upper and lower translation, flip-flop movement along Z-direction column, and posture adjustment frame does translation, rotary motion in X/Y plane along Change-over frame upper surface.
Description
Technical field
This application involves the mounting technology of Large Aircraft Components, especially a kind of lower lifting for engine install six from
By degree mounting platform.
Background technology
During aircraft manufacturing, engine installation is wherein important link, and size is not from hundreds of kilograms to several tons for engine
One, and the mounting means of engine is roughly divided into top lifting, lower part lifts and fills two kinds, lifting is divided into the vehicle lifting of workshop purlin and frame
Crane installs two kinds, and lifting spatial degrees of freedom discharges completely, and easy to operate, the operating process time is short, but is constrained to degree of freedom
Excessively freely, if crane operation step is excessive, it is easy to product be caused to stagger along；Lower part lifting installation is mainly based on the fulcrum of lower part
It is lifted to install engine, lower part lifting opposite lifting time is more, it is more complicated to equip, but lifts dress precision controlling
More accurate, installation is safer.
It lifts dress to be divided into dress and freely to lift dress controllably to lift, freely lifts and fill similar with lifting, but step distance adjustment is easier, controllably
It is then high to technological equipment requirement to lift dress.When controllable act dress method installation engine, since engine and nacelle are mounted on XYZ
Each translation direction of rotation is required to accurate adjustment, so all directions must carry out accurate SERVO CONTROL, while when mounted
Need to discharge stationary positioned according to installation drag again in X/Y plane direction, so, structural requirement for workbench and its
Strictly.
With the development of tool locating technology and going deep into for automation technology application, controllable accurate act fills mounting means
Carrying out installation engine becomes a kind of inexorable trend, and developing corresponding technological equipment becomes inevitable.
Invention content
The purpose of the application is to provide a kind of six degree of freedom mounting platform, it is possible to implement is lifted to the precision of aircraft engine
Installation.
To achieve the above objectives, the application, which adopts the following technical scheme that, is achieved：
A kind of six degree of freedom mounting platform, including chassis, four Z-direction columns, Change-over frame, posture adjustment frame, chassis are flat for quadrangle
Face frame structure, Z-direction column are made of the lifting support structure of column and its inner band screw rod transmission, and Change-over frame includes switching bone
Frame, support bulb, Y-direction release sliding rail, the two-way release sliding rails of XY, slip base, plane single-point adjustment mechanism, posture adjustment frame is plane branch
Support frame structure；Chassis upper surface is the placed mesa of entire six degree of freedom mounting platform, and four Z-direction columns are fixed on chassis
The support bulb of quadrangle, the quadrangle of Change-over frame forms spherical hinge structure, posture adjustment frame with the lifting support structure on four Z-direction columns respectively
It is fixed on above Change-over frame by the slip base on Change-over frame；Lifting support structure on Z-direction column drives Change-over frame along Z-direction column
Upper and lower translation, flip-flop movement are done, while plane single-point adjustment mechanism drives posture adjustment frame to be done in X/Y plane along Change-over frame upper surface
Translation, rotary motion.
In the primary structure of six degree of freedom mounting platform, the agent structure of Change-over frame is switching skeleton, and switching skeleton is
The rectangular parallelepiped structure of square tube truss composition；Slip base is made of sliding mounting base, retainer, steel ball, slide, and retainer places steel
Ball is fixed in sliding mounting base, and slide is in sliding mounting base inner support on steel ball；Plane single-point adjustment mechanism is by servo electricity
Machine, retarder, gear-box, driving gear, driving gear, installation angled seat, transmission shaft, impeller-hub, pull pressure sensor, perpendicular pin,
The compositions such as perpendicular pin connector, perpendicular pin mount, shaft coupling, gear-box are " all " word structures, impeller-hub by polished rod guiding axis and band
The engagement shaft of screw thread forms, and it is flat blocks of the surface with slotted hole and side band connection threaded hole to erect pin connector, erects pin mount
For " returning " shape structure；Gear-box aerofoil is mounted on installation angled seat side, and transmission shaft band driving gear drives gear with impeller-hub band
Be installed in parallel in gear-box, transmission shaft one end is connect by shaft coupling with retarder, servo motor, among transmission shaft position with
Driving gear is keyed, and impeller-hub one end is connect by the pull pressure sensor of double headed roller screw rod with perpendicular pin connector, pushes between centers
Position coordinates with driving gear shape at internal and external threads, erects pin and is erected in pin connector slotted hole by perpendicular pin mount insertion；Support ball
Head is arranged on four angles of switching skeleton lower plane, and a support bulb and switching skeleton are direct-connected, and a support bulb passes through Y
It is connect to release sliding rail with switching skeleton, two support bulbs are connect by the two-way release sliding rails of XY with switching skeleton；According to holding
It carries power and places four to eight group slip bases plane on switching skeleton；Plane single-point adjustment mechanism is according to two groups of length direction, short direction
One group is mounted on each group slip base side by perpendicular pin mount, and Change-over frame upper surface, servo electricity are mounted on by installing angled seat
Machine drives transmission shaft and its driving gear rotation, driving gear that driving gear rotation, driving gear band is driven to move before and after impeller-hub
Sliding.
When carrying out engine or other structures installation, the supporting point of related item can be set on posture adjustment frame with fixture
Part.Then, the lifting, rotation and plane single-point adjustment mechanism for Change-over frame being moved by the lifting belt of Z-direction column drive posture adjustment frame in XY
Translation, rotation in plane realize six degree of freedom of the object in space and install.
The application discharges the basic principles such as principle and Plane Ball using three or two single-degree-of-freedoms, realizes engine space
Six degree of freedom is installed, and has the characteristics that precision is high, structure occupies little space, the set-up time is moderate, has to aircraft engine etc.
The positioning assembly that precision lifting requires has general applicability.
The application is described in further detail with reference to the accompanying drawings and embodiments.
Description of the drawings
A kind of six degree of freedom mounting platform structure composition figures of Fig. 1；
Fig. 2 Change-over frame structure charts；
Fig. 3 slip base structure charts；
Fig. 4 plane single-point adjustment mechanism structure charts；
Fig. 5 plane single-point adjustment mechanism sectional views；
Fig. 6 plane single-point adjustment mechanism part explosive views.
In Fig. 1~Fig. 6：1, chassis；2, Z-direction column；3, Change-over frame；4, posture adjustment frame；5, column；6, lifting support structure；7、
Switching skeleton；8, bulb is supported；9, Y-direction discharges sliding rail；10, the two-way release sliding rails of XY；11, slip base；12, plane single-point adjusts
Mechanism；13, mounting base is slid；14, retainer；15, steel ball；16, slide；17, servo motor；18, retarder；19, gear-box；
20, gear is driven；21, driving gear；22, angled seat is installed；23, transmission shaft；24, impeller-hub；25, pull pressure sensor；26, it erects
Pin；27, pin connector is erected；28, pin mount is erected；29, shaft coupling.
Specific implementation mode
Referring to Fig. 1~Fig. 5, in a particular application, a kind of six degree of freedom mounting platform, including chassis 1, Z-direction column 2, switching
Frame 3, posture adjustment frame 4；Chassis 1 be quadrangular plan frame structure, Z-direction column 2 by column 5 and its inner band screw rod transmission lifting branch
Support structure 6 forms, and Change-over frame 3 is by switching skeleton 7, support bulb 8, Y-direction release sliding rail 9, the two-way release sliding rails 10 of XY, slip base
11, the compositions such as plane single-point adjustment mechanism 12, posture adjustment frame 4 are planar support frame structure；Pacify as entire six degree of freedom on chassis 1
The placed mesa of assembling platform, 5 lower end of column of Z-direction column 2 are fixed on the quadrangle on chassis 1, the support bulb 8 of the quadrangle of Change-over frame 3
Spherical hinge structure is formed with the lifting support structure 6 on four Z-direction columns 2 respectively, posture adjustment frame 4 is fixed on Change-over frame by slip base 11
3 tops；When installation, Change-over frame 3 does upper and lower translation, flip-flop movement along Z-direction column 2, and plane single-point adjusts 12 structure of machine and drives posture adjustment
Frame 4 does translation, rotary motion in X/Y plane along 3 upper surface of Change-over frame.
The switching skeleton 7 is the agent structure of Change-over frame 3, for the rectangular parallelepiped structure of square tube truss composition；Described
Slip base 11 is made of sliding mounting base 13, retainer 14, steel ball 15, slide 16, and retainer 14 places steel ball 15 and is fixed on cunning
It moves in mounting base 13, slide 16 is in sliding 13 inner support of mounting base on steel ball 15；The plane single-point adjustment mechanism 12 by
Servo motor 17, retarder 18, gear-box 19, driving gear 20, driving gear 21, installation angled seat 22, transmission shaft 23, impeller-hub
24, compositions, the gear-box 19 such as pull pressure sensor 25, perpendicular pin 26, perpendicular pin connector 27, perpendicular pin mount 28, shaft coupling 29 are
" all " word structures, impeller-hub 24 by polished rod guiding axis and threadedly engage axis and form, it is that surface band is oval to erect pin connector 27
The flat blocks in hole and side band connection threaded hole, it is " returning " shape structure to erect pin mount 28；19 aerofoil of gear-box is mounted on installation
22 side of angled seat, transmission shaft 23 are installed in parallel in gear-box 19 with driving gear 20 with driving gear 21 and impeller-hub 24, pass
23 one end of moving axis is connect by shaft coupling 29 with retarder 18, servo motor 17,23 intermediate position of transmission shaft and driving gear 21
Key connection, 24 one end of impeller-hub is connect by the pull pressure sensor 25 of double headed roller screw rod with perpendicular pin connector 27, in impeller-hub 24
Between position form internal and external threads cooperation with driving gear 20, erect pin 26 and pass through perpendicular pin mount 28 and be inserted into and erect 27 slotted hole of pin connector
It is interior；The setting of support bulb 8 is in 7 lower plane quadrangle of switching skeleton, and a support bulb 8 and switching skeleton 7 are direct-connected, one
Support bulb 7 discharges sliding rail 9 by Y-direction and connect with switching skeleton 7, two support bulbs 8 by the two-way release sliding rails of XY 10 and
Skeleton 7 of transferring connects；Slip base 11 places four to eight groups plane on switching skeleton 7 according to carrying；Plane single-point adjustment mechanism
12 are mounted on 11 side of each group slip base according to two groups of length direction, one group of short direction by perpendicular pin mount 17, pass through established angle
Seat 22 is mounted on Change-over frame upper surface.Servo motor 17 drives transmission shaft 23 and its driving gear 21 to rotate, 21 band of driving gear
Dynamic driving gear 20 rotates, and driving gear 20 drives the front and back sliding of impeller-hub 24.
When carrying out engine or other structures installation, the supporting point of related item can be set on posture adjustment frame 4 with fixation
Object.Then, lifting, rotation and the plane single-point adjustment mechanism 12 of Change-over frame 3 are driven by the lifting support structure 6 of Z-direction column 2
Translation, rotation of the posture adjustment frame 4 in X/Y plane are driven, six degree of freedom of the object in space is realized and installs.
Claims (2)
1. a kind of six degree of freedom mounting platform, including chassis, four Z-direction columns, Change-over frame, posture adjustment frame, it is characterised in that chassis is
Quadrangular plan frame structure, Z-direction column are made of the lifting support structure of column and its inner band screw rod transmission, and Change-over frame includes
Skeleton, support bulb, the Y-direction of transferring discharge sliding rail, the two-way release sliding rails of XY, slip base, plane single-point adjustment mechanism, and posture adjustment frame is
Planar support frame structure；Chassis upper surface is the placed mesa of entire six degree of freedom mounting platform, and four Z-direction columns are fixed on
The support bulb of the quadrangle on chassis, the quadrangle of Change-over frame forms spherical hinge structure with the lifting support structure on four Z-direction columns respectively,
Posture adjustment frame is fixed on by the slip base on Change-over frame above Change-over frame；Lifting support structure on Z-direction column drives Change-over frame edge
It Z-direction column and does upper and lower translation, flip-flop movement, while plane single-point adjustment mechanism drive posture adjustment frame is XY along Change-over frame upper surface and puts down
Translation, rotary motion in face.
2. a kind of six degree of freedom mounting platform according to claim 1, it is characterised in that the agent structure of the Change-over frame
For skeleton of transferring, switching skeleton is the rectangular parallelepiped structure of square tube truss composition；Slip base by sliding mounting base, retainer, steel ball,
Slide forms, and retainer is placed steel ball and is fixed in sliding mounting base, and slide is in sliding mounting base inner support on steel ball；Plane
Single-point adjustment mechanism is by servo motor, retarder, gear-box, driving gear, driving gear, installation angled seat, transmission shaft, promotion
The compositions such as axis, pull pressure sensor, perpendicular pin, perpendicular pin connector, perpendicular pin mount, shaft coupling, gear-box is " all " word structures, is pushed
Axis by polished rod guiding axis and threadedly engage axis and form, it is surface band slotted hole and side band connection threaded hole to erect pin connector
Flat blocks, erect pin mount be " returning " shape structure；Gear-box aerofoil is mounted on installation angled seat side, transmission shaft band driving gear
It is installed in parallel in gear-box with impeller-hub band driving gear, transmission shaft one end is connected by shaft coupling and retarder, servo motor
Connect, position is keyed with driving gear among transmission shaft, impeller-hub one end by the pull pressure sensor of double headed roller screw rod with it is perpendicular
Pin connector connects, and between centers position is pushed to coordinate at internal and external threads with driving gear shape, erects pin and is inserted into perpendicular pin by perpendicular pin mount
In connector slotted hole；Support bulb is arranged on four angles of switching skeleton lower plane, and a support bulb and switching skeleton are straight
Even, a support bulb discharges sliding rail by Y-direction and connect with switching skeleton, two support bulbs by the two-way release sliding rails of XY and
Skeleton of transferring connects；Four to eight group slip bases plane on switching skeleton is placed according to bearing capacity；Plane single-point adjustment mechanism according to
Each group slip base side is mounted on by perpendicular pin mount according to two groups of length direction, one group of short direction, is mounted on by installing angled seat
Change-over frame upper surface, servo motor drive transmission shaft and its driving gear rotation, driving gear to drive driving gear rotation, driving
Gear drives the front and back sliding of impeller-hub.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293199.1A CN108284959B (en) | 2017-12-08 | 2017-12-08 | Six-degree-of-freedom mounting platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711293199.1A CN108284959B (en) | 2017-12-08 | 2017-12-08 | Six-degree-of-freedom mounting platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108284959A true CN108284959A (en) | 2018-07-17 |
| CN108284959B CN108284959B (en) | 2021-03-26 |
Family
ID=62831871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711293199.1A Active CN108284959B (en) | 2017-12-08 | 2017-12-08 | Six-degree-of-freedom mounting platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108284959B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027725A (en) * | 2019-04-26 | 2019-07-19 | 扬州万方电子技术有限责任公司 | A kind of translation rotation convergent movement device |
| CN111022392A (en) * | 2019-12-04 | 2020-04-17 | 江西洪都航空工业集团有限责任公司 | Hydraulic lifting posture-adjusting system |
| CN112623260A (en) * | 2020-07-29 | 2021-04-09 | 西安飞机工业（集团）有限责任公司 | Positioning and mounting method of sleeve type structure |
| RU207632U1 (en) * | 2021-07-30 | 2021-11-08 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский авиационный институт (национальный исследовательский университет)" | Joint assembly of the elements of the turntable of the test facility of the accident-resistant fuel system of the helicopter |
| CN113910153A (en) * | 2021-10-29 | 2022-01-11 | 中航通飞华南飞机工业有限公司 | Supporting and fixing platform for assisting vertical fin disassembly and assembly |
| CN114536284A (en) * | 2022-03-11 | 2022-05-27 | 无锡市星迪仪器有限公司 | Six-degree-of-freedom adjusting platform |
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| US20060213306A1 (en) * | 2005-03-14 | 2006-09-28 | Hayes Matthew J D | Apparatus for multi-axis rotation and translation |
| CN102001451A (en) * | 2010-11-12 | 2011-04-06 | 浙江大学 | Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method |
| JP2015093622A (en) * | 2013-11-13 | 2015-05-18 | 三菱重工業株式会社 | Aircraft vertical tail attachment apparatus and aircraft vertical tail attachment method |
| CN205952324U (en) * | 2016-07-30 | 2017-02-15 | 深圳市劲拓自动化设备股份有限公司 | Accurate appearance mounting platform of transferring of omnidirectional movement type engine |
| CN107160130A (en) * | 2017-06-19 | 2017-09-15 | 江西洪都航空工业集团有限责任公司 | A kind of aircraft engine installs equipment |
| CN107352043A (en) * | 2017-06-26 | 2017-11-17 | 大连理工大学 | A kind of six axle posture adjustment platforms for aircraft engine whole machine installation |
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2017
- 2017-12-08 CN CN201711293199.1A patent/CN108284959B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20060213306A1 (en) * | 2005-03-14 | 2006-09-28 | Hayes Matthew J D | Apparatus for multi-axis rotation and translation |
| CN102001451A (en) * | 2010-11-12 | 2011-04-06 | 浙江大学 | Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method |
| JP2015093622A (en) * | 2013-11-13 | 2015-05-18 | 三菱重工業株式会社 | Aircraft vertical tail attachment apparatus and aircraft vertical tail attachment method |
| CN205952324U (en) * | 2016-07-30 | 2017-02-15 | 深圳市劲拓自动化设备股份有限公司 | Accurate appearance mounting platform of transferring of omnidirectional movement type engine |
| CN107160130A (en) * | 2017-06-19 | 2017-09-15 | 江西洪都航空工业集团有限责任公司 | A kind of aircraft engine installs equipment |
| CN107352043A (en) * | 2017-06-26 | 2017-11-17 | 大连理工大学 | A kind of six axle posture adjustment platforms for aircraft engine whole machine installation |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027725A (en) * | 2019-04-26 | 2019-07-19 | 扬州万方电子技术有限责任公司 | A kind of translation rotation convergent movement device |
| CN111022392A (en) * | 2019-12-04 | 2020-04-17 | 江西洪都航空工业集团有限责任公司 | Hydraulic lifting posture-adjusting system |
| CN112623260A (en) * | 2020-07-29 | 2021-04-09 | 西安飞机工业（集团）有限责任公司 | Positioning and mounting method of sleeve type structure |
| RU207632U1 (en) * | 2021-07-30 | 2021-11-08 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский авиационный институт (национальный исследовательский университет)" | Joint assembly of the elements of the turntable of the test facility of the accident-resistant fuel system of the helicopter |
| CN113910153A (en) * | 2021-10-29 | 2022-01-11 | 中航通飞华南飞机工业有限公司 | Supporting and fixing platform for assisting vertical fin disassembly and assembly |
| CN114536284A (en) * | 2022-03-11 | 2022-05-27 | 无锡市星迪仪器有限公司 | Six-degree-of-freedom adjusting platform |
| CN114536284B (en) * | 2022-03-11 | 2023-09-01 | 无锡市星迪仪器有限公司 | Six-degree-of-freedom adjusting platform |
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| Publication number | Publication date |
|---|---|
| CN108284959B (en) | 2021-03-26 |
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