CN108284959B - Six-degree-of-freedom mounting platform - Google Patents
Six-degree-of-freedom mounting platform Download PDFInfo
- Publication number
- CN108284959B CN108284959B CN201711293199.1A CN201711293199A CN108284959B CN 108284959 B CN108284959 B CN 108284959B CN 201711293199 A CN201711293199 A CN 201711293199A CN 108284959 B CN108284959 B CN 108284959B
- Authority
- CN
- China
- Prior art keywords
- frame
- switching
- plane
- driving gear
- seat
- 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.)
- Active
Links
- 238000009434 installation Methods 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000007306 turnover Effects 0.000 claims abstract description 4
- 230000007246 mechanism Effects 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000002457 bidirectional effect Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
Images
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
The application discloses a six-degree-of-freedom mounting platform, which comprises a chassis, a Z-direction column, a switching frame, a posture adjusting frame and the like; the chassis is of a plane frame structure, and the Z-direction column is provided with a lifting support structure capable of realizing screw rod transmission; the Z-direction columns are fixed at four corners of the chassis, support ball heads at the four corners of the switching frame respectively form a spherical hinge structure with support structures on the four Z-direction columns, and the switching frame is fixed above the posture adjusting frame through the sliding seat; during installation, the switching frame performs up-and-down translation and turnover motion along the Z-direction column, and the posture adjusting frame performs translation and rotation motion in an XY plane along the upper surface of the switching frame.
Description
Technical Field
The application relates to an assembly technology of large parts of an airplane, in particular to a six-degree-of-freedom mounting platform for lower lifting mounting of an engine.
Background
In the aircraft manufacturing process, engine installation is an important link, engines are different in size from hundreds of kilograms to tons, the engine installation mode is roughly divided into an upper hoisting mode and a lower hoisting mode, the hoisting mode is divided into a factory building truss car hoisting mode and an in-frame crane installation mode, the hoisting space freedom degree is completely released, the operation is simple, the operation process time is short, but the freedom degree is limited to be over-free, and if the crane operation step is too large, products are easy to collide; the lower part is lifted and installed mainly by taking a lower fulcrum as a main supporting point to lift and install the engine, the lower part is lifted and prepared for more time and the equipment is more complicated, but the lifting and installing precision is more accurately controlled, and the installation is safer.
The lifting and loading are divided into controllable lifting and loading and free lifting and loading, the free lifting and loading is similar to the lifting and loading, but the step pitch is easier to adjust, and the controllable lifting and loading has extremely high requirements on process equipment. When the engine is installed by the controllable lifting method, the engine and the nacelle are installed in all translation and rotation directions of XYZ and need to be precisely adjusted, so that accurate servo control must be performed in all directions, and meanwhile, during installation, fixed positioning needs to be released according to installation retarding force in the XY plane direction, so that the structural requirement on the working platform is strict.
Along with the development of tool positioning technology and the deepening of application of automation technology, the engine is installed in a controllable and precise lifting installation mode to be a necessary trend, and corresponding technological equipment is necessarily developed.
Disclosure of Invention
The application aims to provide a six-degree-of-freedom mounting platform which can be used for implementing precise lifting and mounting of an aircraft engine.
In order to achieve the above purpose, the following technical scheme is adopted to realize the purpose:
a six-degree-of-freedom mounting platform comprises a chassis, four Z-direction columns, a switching frame and a posture adjusting frame, wherein the chassis is of a quadrilateral plane frame structure, the Z-direction columns consist of stand columns and a lifting support structure with screw rod transmission on the inner side of the stand columns, the switching frame comprises a switching framework, a support ball head, a Y-direction release slide rail, an XY bidirectional release slide rail, a sliding seat and a plane single-point adjusting mechanism, and the posture adjusting frame is of a plane support frame structure; the upper surface of the chassis is a placing table surface of the whole six-degree-of-freedom mounting platform, four Z-direction columns are fixed at four corners of the chassis, supporting ball heads at the four corners of the switching frame respectively form a spherical hinge structure with lifting supporting structures on the four Z-direction columns, and the posture adjusting frame is fixed above the switching frame through a sliding seat on the switching frame; the lifting support structure on the Z-direction column drives the switching frame to move up and down and turn over along the Z-direction column, and meanwhile, the plane single-point adjusting mechanism drives the posture adjusting frame to move in an XY plane along the upper surface of the switching frame in a translation and rotation mode.
In the main structure of the six-degree-of-freedom mounting platform, the main structure of the switching frame is a switching framework which is a cuboid structure formed by square pipe trusses; the sliding seat consists of a sliding mounting seat, a retainer, a steel ball and a sliding seat, wherein the retainer is used for placing the steel ball and is fixed on the sliding mounting seat, and the sliding seat is supported on the steel ball in the sliding mounting seat; the plane single-point adjusting mechanism comprises a servo motor, a speed reducer, a gear box, a driving gear, an installation angle seat, a transmission shaft, a pushing shaft, a pulling pressure sensor, a vertical pin joint, a vertical pin installation seat, a coupling and the like, wherein the gear box is of a 'fan' -shaped structure, the pushing shaft comprises a guide shaft of a polished rod and a meshing shaft with threads, the vertical pin joint is a plane block with a long circular hole on the surface and a connection threaded hole on the side surface, and the vertical pin installation seat is of a 'return' shaped structure; the wing surface of the gear box is arranged on the side surface of the mounting angle seat, the driving shaft with a driving gear and the pushing shaft with a driving gear are arranged in the gear box in parallel, one end of the driving shaft is connected with the speed reducer and the servo motor through a coupler, the middle part of the driving shaft is connected with the driving gear in a key mode, one end of the pushing shaft is connected with a vertical pin joint through a pull pressure sensor with screws at two ends, the pushing shaft part and the driving gear form internal and external thread fit, and a vertical pin is inserted into a long circular hole of the vertical; the support ball heads are arranged at four corners of the lower plane of the switching framework, one support ball head is directly connected with the switching framework, the other support ball head is connected with the switching framework through a Y-direction release slide rail, and the two support ball heads are connected with the switching framework through XY bidirectional release slide rails; placing four to eight groups of sliding seats on the upper plane of the switching framework according to the bearing capacity; the plane single-point adjusting mechanism is arranged on the side face of each group of sliding seats through a vertical pin mounting seat according to two groups in the long direction and one group in the short direction, and is arranged on the upper surface of the switching frame through a mounting angle seat, the servo motor drives the transmission shaft and the driving gear to rotate, the driving gear drives the driving gear to rotate, and the driving gear drives the pushing shaft to slide back and forth.
When the engine or other structures are installed, the supporting points of the related objects can be arranged on the posture adjusting frame to fix the objects. Then, the Z-direction column is lifted to drive the switching frame to lift and rotate, and the plane single-point adjusting mechanism drives the posture adjusting frame to translate and rotate in the XY plane, so that the six-degree-of-freedom installation of the object in the space is realized.
The six-degree-of-freedom engine space installation method has the advantages that the six-degree-of-freedom installation of the engine space is achieved by utilizing the three-two-one-degree-of-freedom release principle, the plane ball and other basic principles, the six-degree-of-freedom engine space installation method has the advantages of being high in precision, small in structure occupied space, moderate in installation time and the like, and has universal applicability to positioning assembly with precision lifting requirements for aircraft engines and the.
The present application will be described in further detail with reference to the following drawings and examples.
Drawings
FIG. 1 is a structural assembly diagram of a six-DOF mounting platform;
FIG. 2 is a view of the structure of the adapter;
FIG. 3 is a view showing a structure of a slide mount;
FIG. 4 is a schematic view of a planar single point adjustment mechanism;
FIG. 5 is a cross-sectional view of the planar single point adjustment mechanism;
fig. 6 is an exploded view of a planar single point adjustment mechanism.
In fig. 1 to 6: 1. a chassis; 2. a Z-direction column; 3. a transfer rack; 4. a posture adjusting frame; 5. a column; 6. a lifting support structure; 7. switching the framework; 8. a ball head is supported; 9. y-direction release slide rails; 10. XY bidirectional release slide rail; 11. a sliding seat; 12. a planar single point adjustment mechanism; 13. a sliding mounting seat; 14. a holder; 15. a steel ball; 16. a slide base; 17. a servo motor; 18. a speed reducer; 19. a gear case; 20. a drive gear; 21. a driving gear; 22. mounting an angle seat; 23. a drive shaft; 24. pushing the shaft; 25. a pull pressure sensor; 26. a vertical pin; 27. a vertical pin joint; 28. a vertical pin mounting seat; 29. a coupling is provided.
Detailed Description
Referring to fig. 1 to 5, in a specific application, a six-degree-of-freedom mounting platform comprises a chassis 1, a Z-direction column 2, a switching frame 3 and a posture adjusting frame 4; the chassis 1 is a quadrilateral plane frame structure, the Z-direction column 2 is composed of an upright post 5 and a lifting support structure 6 with screw rod transmission on the inner side thereof, the switching frame 3 is composed of a switching framework 7, a support ball 8, a Y-direction release slide rail 9, an XY bidirectional release slide rail 10, a sliding seat 11, a plane single-point adjusting mechanism 12 and the like, and the posture adjusting frame 4 is a plane support frame structure; the chassis 1 is used as a placing table top of the whole six-degree-of-freedom mounting platform, the lower ends of the upright columns 5 of the Z-direction columns 2 are fixed at four corners of the chassis 1, the supporting ball heads 8 at the four corners of the switching frame 3 respectively form a spherical hinge structure with the lifting supporting structures 6 on the four Z-direction columns 2, and the posture adjusting frame 4 is fixed above the switching frame 3 through the sliding seat 11; during installation, the switching frame 3 performs up-and-down translation and turnover motion along the Z-direction column 2, and the plane single-point adjusting mechanism 12 drives the posture adjusting frame 4 to perform translation and rotation motion in an XY plane along the upper surface of the switching frame 3.
The switching framework 7 is a main body structure of the switching frame 3 and is a cuboid structure formed by square pipe trusses; the sliding seat 11 consists of a sliding installation seat 13, a retainer 14, a steel ball 15 and a sliding seat 16, wherein the retainer 14 is used for placing the steel ball 15 and is fixed on the sliding installation seat 13, and the sliding seat 16 is supported on the steel ball 15 in the sliding installation seat 13; the plane single-point adjusting mechanism 12 comprises a servo motor 17, a speed reducer 18, a gear box 19, a driving gear 20, a driving gear 21, an installation angle seat 22, a transmission shaft 23, a pushing shaft 24, a pulling pressure sensor 25, a vertical pin 26, a vertical pin joint 27, a vertical pin installation seat 28, a coupling 29 and the like, wherein the gear box 19 is of a 'fan' shaped structure, the pushing shaft 24 comprises a guide shaft of a polished rod and an engagement shaft with threads, the vertical pin joint 27 is a plane block with a long circular hole on the surface and a connection threaded hole on the side surface, and the vertical pin installation seat 28 is of a 'return' shaped structure; the wing surface of the gear box 19 is arranged on the side surface of the mounting angle seat 22, the driving gear 21 of the transmission shaft 23 and the driving gear 20 of the pushing shaft 24 are arranged in the gear box 19 in parallel, one end of the transmission shaft 23 is connected with the speed reducer 18 and the servo motor 17 through the coupler 29, the middle part of the transmission shaft 23 is connected with the driving gear 21 in a key mode, one end of the pushing shaft 24 is connected with the vertical pin joint 27 through the pull pressure sensor 25 with screws at two ends, the middle part of the pushing shaft 24 is in internal and external thread fit with the driving gear 20, and the vertical pin 26 is inserted into the long circular hole; the support ball heads 8 are arranged at four corners of the lower plane of the switching framework 7, one support ball head 8 is directly connected with the switching framework 7, one support ball head 7 is connected with the switching framework 7 through a Y-direction release slide rail 9, and the two support ball heads 8 are connected with the switching framework 7 through an XY bidirectional release slide rail 10; the sliding seat 11 is placed on the upper plane of the switching framework 7 according to four to eight groups of bearing; the plane single-point adjusting mechanisms 12 are arranged on the side surfaces of the sliding seats 11 through vertical pin mounting seats 17 according to two groups in the long direction and one group in the short direction, and are arranged on the upper surface of the adapter rack through mounting angle seats 22. The servo motor 17 drives the transmission shaft 23 and the driving gear 21 thereof to rotate, the driving gear 21 drives the driving gear 20 to rotate, and the driving gear 20 drives the pushing shaft 24 to slide back and forth.
When the engine or other structures are installed, the posture adjusting frame 4 can be provided with supporting points of related objects so as to fix the objects. Then, the lifting support structure 6 of the Z-direction column 2 drives the switching frame 3 to lift and rotate, and the plane single-point adjusting mechanism 12 drives the posture adjusting frame 4 to translate and rotate in the XY plane, so that six-degree-of-freedom installation of the object in space is realized.
Claims (1)
1. A six-degree-of-freedom mounting platform comprises a chassis, four Z-direction columns, a switching frame and a posture adjusting frame, and is characterized in that the chassis is of a quadrilateral plane frame structure, the Z-direction columns consist of upright columns and a lifting support structure with screw rod transmission on the inner side of the upright columns, the switching frame comprises a switching framework, a support ball head, a Y-direction release slide rail, an XY two-way release slide rail, a sliding seat and a plane single-point adjusting mechanism, and the posture adjusting frame is of a plane support frame structure; the upper surface of the chassis is a placing table surface of the whole six-degree-of-freedom mounting platform, four Z-direction columns are fixed at four corners of the chassis, supporting ball heads at the four corners of the switching frame respectively form a spherical hinge structure with lifting supporting structures on the four Z-direction columns, and the posture adjusting frame is fixed above the switching frame through a sliding seat on the switching frame; the lifting support structure on the Z-direction column drives the switching frame to perform vertical translation and turnover motion along the Z-direction column, meanwhile, the plane single-point adjusting mechanism drives the posture adjusting frame to perform translation and rotation motion in an XY plane along the upper surface of the switching frame, the main structure of the switching frame is a switching framework, and the switching framework is a cuboid structure formed by square pipe trusses; the sliding seat consists of a sliding installation seat, a retainer, a steel ball and a sliding seat, wherein the retainer is used for placing the steel ball and is fixed on the sliding installation seat, and the sliding seat is arranged in the sliding installation seat and is supported on the steel ball; the plane single-point adjusting mechanism consists of a servo motor, a speed reducer, a gear box, a driving gear, an installation angle seat, a transmission shaft, a pushing shaft, a pulling pressure sensor, a vertical pin joint, a vertical pin installation seat and a coupling, wherein the gear box is of a 'fan' -shaped structure, the pushing shaft consists of a guide shaft of a polished rod and a meshing shaft with threads, the vertical pin joint is a plane block with a long circular hole on the surface and a connection threaded hole on the side surface, and the vertical pin installation seat is of a 'return' shaped structure; the wing surface of the gear box is arranged on the side surface of the mounting angle seat, a driving gear is arranged on a transmission shaft, a driving gear is arranged on a pushing shaft, the transmission shaft and the pushing shaft are arranged in the gear box in parallel, one end of the transmission shaft is connected with a speed reducer and a servo motor through a coupler, the middle part of the transmission shaft is connected with the driving gear in a key mode, one end of the pushing shaft is connected with a vertical pin joint through a pull pressure sensor with screws at two ends, the middle part of the pushing shaft and the driving gear form internal and external thread fit, and a vertical pin is; the support ball heads are arranged at four corners of the lower plane of the switching framework, one support ball head is directly connected with the switching framework, the other support ball head is connected with the switching framework through a Y-direction release slide rail, and the two support ball heads are connected with the switching framework through XY bidirectional release slide rails; placing four to eight groups of sliding seats on the upper plane of the switching framework according to the bearing capacity; the plane single-point adjusting mechanism is arranged on the side face of each group of sliding seats through a vertical pin mounting seat according to two groups in the long direction and one group in the short direction, and is arranged on the upper surface of the switching frame through a mounting angle seat, the servo motor drives the transmission shaft and the driving gear to rotate, the driving gear drives the driving gear to rotate, and the driving gear drives the pushing shaft to slide back and forth.
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 CN108284959A (en) | 2018-07-17 |
| CN108284959B true 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) |
Families Citing this family (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 |
| 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 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060213306A1 (en) * | 2005-03-14 | 2006-09-28 | Hayes Matthew J D | Apparatus for multi-axis rotation and translation |
| CN102001451B (en) * | 2010-11-12 | 2013-05-29 | 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 |
| CN107160130B (en) * | 2017-06-19 | 2018-11-27 | 江西洪都航空工业集团有限责任公司 | A kind of aircraft engine installation equipment |
| CN107352043B (en) * | 2017-06-26 | 2019-10-29 | 大连理工大学 | A kind of six axis posture adjustment platforms for the installation of aircraft engine complete machine |
-
2017
- 2017-12-08 CN CN201711293199.1A patent/CN108284959B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108284959A (en) | 2018-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108284959B (en) | Six-degree-of-freedom mounting platform | |
| CN101575013B (en) | Intelligent three dimensional microgravity air feet | |
| CN101726352B (en) | Six-degree-of-freedom (DOF) reset device for balance calibration system | |
| CN206344050U (en) | One kind miniaturization spatial locator device | |
| CN107676584B (en) | Electric adjusting bracket for accelerator | |
| CN109896410B (en) | Four-degree-of-freedom vertical mounting platform | |
| CN211439876U (en) | Sliding six-degree-of-freedom platform | |
| CN107830358B (en) | Control device for electric adjusting bracket of accelerator | |
| CN111121538A (en) | Motor-driven rocket launching pad support arm | |
| CN109489974A (en) | A kind of flexible torque loading mechanism of multi-mode switching | |
| CN111623956A (en) | Triaxial angle adjustment frock | |
| CN207674065U (en) | Control device for accelerator motorized adjustment holder | |
| CN217468756U (en) | Antenna minor surface adjusting mechanism | |
| CN110949687A (en) | Six-degree-of-freedom real-time adjustable positioning butt joint device | |
| CN112141942B (en) | Multi-axis synchronous jacking mechanism for pre-elimination of gaps and multi-axis synchronous jacking method | |
| CN107167329B (en) | Aerodynamic loading test device for control surface of asymmetric aircraft | |
| CN111633407B (en) | Automatic tightening and aligning mechanism for rear crushing pipe of car coupler | |
| CN212004879U (en) | Computer display elevating gear | |
| CN209764402U (en) | Lifting translation motor mounting platform | |
| CN210060307U (en) | Automatic assembling device for railway cantilever assembly | |
| CN108241353B (en) | Function test clamp for electronic controller | |
| CN103573815A (en) | Micropositioner and gas bearing | |
| CN212844340U (en) | Three-axis adjusting module of process gearbox of heavy gearbox test bed | |
| CN116087771B (en) | Pitch system motor is to dragging experimental apparatus | |
| CN117516929B (en) | Multifunctional screw rod lifter test bed |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |