CN109894829A - A kind of five degree of freedom heavy duty assembly tooling - Google Patents
A kind of five degree of freedom heavy duty assembly tooling Download PDFInfo
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- CN109894829A CN109894829A CN201711282797.9A CN201711282797A CN109894829A CN 109894829 A CN109894829 A CN 109894829A CN 201711282797 A CN201711282797 A CN 201711282797A CN 109894829 A CN109894829 A CN 109894829A
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- assembly tooling
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Abstract
The invention belongs to manned astro-engineering space platform system applied technical field, specifically a kind of five degree of freedom heavy duty assembly tooling.Including main body frame, elevating mechanism, rotating mechanism and switching frame, wherein elevating mechanism is set on main body frame, and rotating mechanism is connect with elevating mechanism, and switching frame is connect with rotating mechanism, and switching frame is for carrying heavily loaded load.Frame of transferring includes the first frame, the second frame and interface board, wherein the first frame is connect with the second frame by connected structure, interface board is set to the interface of the first frame and the second frame and is fixedly connected with the first frame and the second frame, and interface board is connect with rotating mechanism.The present invention solve the problems, such as it is traditional artificial to the movement of scientific experiment cupboards, overturning, assembly it is time-consuming and laborious low with safety, and provide full automatic operation mode, substantially increase the ground operation efficiency of scientific experiment cupboards, reduce manually-operated cost.
Description
Technical field
The invention belongs to manned astro-engineering space platform system applied technical field, specifically a kind of five degree of freedom weight
Carry assembly tooling.
Background technique
With the development of aerospace industry, research of the mankind in terms of space science deepens continuously, and develops and utilizes space money
Source has become one of the important goal of current each scientific and technological power's competition.Space station is different scientific domain space science experiments
Common carrier, in China manned space station, scientific experiment cupboards are Experimental Establishments important in space station Laboratory Module and core nacelle,
With expansible mechanical, electrical, hot interface, its development can satisfy the requirement of most of natural subject clinical practice experiment.Due to
Scientific experiment cupboards volume is larger, heavier-weight, moves, overturns and assemble no special tooling and tool on the ground, by hand
Inconvenient for operation, safety is not high and efficiency is lower.
It is currently in the critical stage of Chinese Space station engineering construction, it is seldom in the research of scientific experiment cupboards this respect,
It is fewer and fewer dedicated for the tooling of ground-mounted.And the relevant astropower of international space station, for being used for ground moving, turning over
Turn and the tooling of assembly also lack corresponding research and introduces, there is presently no be suitable for the five of ground moving, overturning and assembly from
By spending heavily loaded assembly tooling.Therefore, carry out five degree of freedom heavy duty assembly tooling in the engineering application skill of China manned space station
Art research pushes manned space flight ground tooling to develop to intelligent, specialized, multi-functional, high efficiency direction, meets China's sky
Between stand the development of construction, there is very urgent demand.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of five degree of freedom heavy duty assembly tooling, the tooling be for
Related science experiment cabinet provides the ground dedicated unit of mobile overturning and assembly, and inconvenient to solve manual operations, safety is not
High and lower efficiency problem.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of five degree of freedom heavy duty assembly tooling, including main body frame, elevating mechanism, rotating mechanism and switching frame,
Middle elevating mechanism is set on the main body frame, and the rotating mechanism is connect with the elevating mechanism, the switching frame with
The rotating mechanism connection, the switching frame is for carrying heavily loaded load.
The switching frame includes the first frame, the second frame and interface board, wherein the first frame passes through with the second frame
Connected structure connection, the interface board be set to the interface of first frame and the second frame and with first frame
It is fixedly connected with the second frame, the interface board is connect with the rotating mechanism.
The connected structure includes being set to the interface of first frame ends and being set to second frame end
Portion and shank with the interface grafting.
The bottom of first frame and the second frame is equipped with traveling wheel.
The main body frame includes bottom plate, gantry type frame, burr adjustable tail margin and universal wheel, and the top of insole board is equipped with double
The gantry type frame of support construction, bottom are equipped with burr adjustable tail margin and universal wheel, realize support and walking by adjusting burr adjustable tail margin
Between switching.
The elevating mechanism includes sliding rail, lifting sliding table and lift drive mechanism, and wherein sliding rail is set to along the vertical direction
The two sides of the gantry type frame, the lifting sliding table are connect by sliding block with the sliding rail, the lift drive mechanism setting
It is connect on the bottom plate and with the lifting sliding table, the rotating mechanism is set in the lifting sliding table.
The lift drive mechanism includes support frame, lead screw, screw, lifting motor and speed reducer, and the lead screw is along vertical
The output axis connection of direction setting and lower end and the speed reducer, the input shaft of the speed reducer are defeated with the lifting motor
The upper end of axis connection out, the lead screw is supported by the support frame connecting with the gantry type frame, the screw and the silk
Thick stick forms screw thread pair, and the screw is connect with the lifting sliding table.
The rotating mechanism includes handwheel, turntable bearing and driving gear, and wherein turntable bearing and driving gear are mounted on
On the elevating mechanism, the turntable bearing and driving gear transmission connection, the turntable bearing are connect with the switching frame,
The driving gear is connect with the handwheel.
The turntable bearing includes relatively turnable outer ring and inner ring, and the excircle of the outer ring is and the driving tooth
Meshed gears structure is taken turns, the outer ring is connect with the switching frame, and the inner ring is connect with the elevating mechanism.
The turntable bearing is placed in turntable bearing shell, and the driving gear is placed in the driving gear shell
It is interior.
The invention has the advantages and beneficial effects that:
1. present invention employs gantry type frame main structure, under the requirement for meeting function and heavy duty, using Mecanum
The components such as wheel, motor reducer and ball-screw guide rail, make it have five freedom degrees, had both been able to satisfy the ground of scientific experiment cupboards
Mobile, overturning and assembly requirement, has carried out rational Design on Plane in configuration aspects, turning torque has been controlled in reasonable range
It is interior, outstanding advantages of there is safety, reliability, convenience, versatility, bear heavy duty.
2. the present invention is compared with the overturning of artificial ground, mobile and assembly scientific experiment cupboards, which has high efficiency.
3. invention has the characteristics that adaptability, there is special switching frame both to connect with scientific experiment cupboards in structure,
It is connected again with gantry type frame main structure, different scientific experiment cupboards ground overturnings, mobile and assembly can be met.Gantry type frame master
Structure has the standard interface connecting with switching frame, can satisfy the ground of a variety of different scientific experiment cupboards in the following Chinese Space station
Face overturning, mobile and assembly demand, have accomplished the structure adaptability and multi-functional maximization.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of elevating mechanism and rotating mechanism in the present invention；
Fig. 3 is cross-sectional view of the invention；
Fig. 4 is the A-A cross-sectional view of Fig. 3；
Fig. 5 is the structural schematic diagram of switching frame in the present invention；
Fig. 6 is the exploded view of switching frame in the present invention.
In figure: frame based on 1,101 be gantry type frame, and 102 be burr adjustable tail margin, and 103 be bottom plate, and 104 be universal wheel；
2 be elevating mechanism, and 201 be support frame, and 202 be lead screw, and 203 be sliding rail, and 204 be lifting sliding table, and 205 be sliding block,
206 be turntable bearing shell, and 207 be screw, and 208 be nut seat, and 209 be lifting motor, and 210 be speed reducer；
3 be rotating mechanism, and 301 be handwheel, and 302 be driving gear shell, and 303 be turntable bearing, and 3031 be outer ring, 3032
It is driving gear for inner ring, 304；
4 be switching frame, and 401 be the first frame, and 402 be the second frame, and 403 be interface board, and 404 be traveling wheel, and 405 are
Interface, 406 be shank.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1, a kind of five degree of freedom heavy duty assembly tooling provided by the invention, including main body frame 1, elevating mechanism
2, rotating mechanism 3 and switching frame 4, wherein elevating mechanism 2 is set on main body frame 1, and rotating mechanism 3 and elevating mechanism 2 connect
It connects, switching frame 4 is connect with rotating mechanism 3, and switching frame 4 is for carrying heavily loaded load.
Main body frame 1 includes bottom plate 103, gantry type frame 101, burr adjustable tail margin 102 and universal wheel 104, insole board 103
Top be equipped with the gantry type frame 101 of dual-support structure, bottom sets there are four burr adjustable tail margin 102 and four universal wheels 104, leads to
It crosses adjustment burr adjustable tail margin 102 and realizes the switching supported between walking.
Further, four universal wheels 104 are all made of Mecanum wheel, and comprehensive realization is mobile, flexibility is good.
Gantry type frame 101 uses dual-support structure, and the structure type is better than single support and cantilever design, structure type ratio
Relatively simple, easy to make, strength and stiffness are relatively high, bear load greatly, structural stability is good；Burr adjustable tail margin 102 can will be imperial
Portal frame main structure is fixed on specific position, provides good platform for assembly.
As shown in figure 5, switching frame 4 includes the first frame 401, the second frame 402 and interface board 403, wherein the first frame
Frame 401 is connect with the second frame 402 by connected structure, and interface board 403 is set to the first frame 401 and the second frame 402
It interface and is fixedly connected with the first frame 401 and the second frame 402, interface board 403 is connect with rotating mechanism 3.First frame
401 and second frame 402 bottom be equipped with convenient for walking traveling wheel 404, the first frame 401, the second frame 402 be equipped with
The standard of scientific experiment cupboards connection installs interface.
As shown in fig. 6, the connected structure includes being set to the interface 405 of 401 end of the first frame and being set to
Two frames, 402 end and shank 406 with 405 grafting of interface.
In one embodiment of the invention, the first frame 401 and the second frame 402 be all made of square tube and I-steel welding and
At structure type is simple, light weight, and strength and stiffness are high.First frame 401 and the second frame 402 are designed to that peace can be slided
The sliding pair of dress, so that its assembly between scientific experiment cupboards becomes extremely simple, assembly efficiency is greatly improved.First frame
401 and second frame 402 provide standard install interface, connect with scientific experiment cupboards, provided for scientific experiment cupboards ground-mounted
Good platform, versatility are preferable.Design has the Universal interface board being connected with revolving platform, and universal wheel on switching frame 4
For movable castor, its structure, which allows to transfer 360 ° of frame, to be rotated, so that it fast and safely pacifies with five degree of freedom mechanical mechanism
Dress.
As Figure 2-3, elevating mechanism 2 includes sliding rail 203, lifting sliding table 204 and lift drive mechanism, wherein sliding rail
203 are set to the two sides of gantry type frame 101 along the vertical direction, and lifting sliding table 204 is connect by sliding block 205 with sliding rail 203, rise
Drop driving mechanism is set on bottom plate 103 and connect with lifting sliding table 204, and rotating mechanism 3 is set in lifting sliding table 204.
Lift drive mechanism includes support frame 201, lead screw 202, screw 207, lifting motor 209 and speed reducer 210, lead screw
202 along the vertical direction setting and lower end and speed reducer 210 output axis connection, the input shaft and lifting motor of speed reducer 210
209 output axis connection, the upper end of lead screw 202 are supported by the support frame 201 connecting with gantry type frame 101, screw 207 with
Lead screw 202 forms screw thread pair, and screw 207 is connect with lifting sliding table 204.
As Figure 2-3, rotating mechanism 3 includes handwheel 301, turntable bearing 303 and driving gear 304, wherein turntable shaft
Hold 303 and driving gear 304 be mounted in the lifting sliding table 204 of elevating mechanism 2, turntable bearing 303 and driving gear 304 are driven
Connection, turntable bearing 303 are connect with switching frame 4, and driving gear 304 is connect with handwheel 301.
As shown in figure 4, turntable bearing 303 includes relatively turnable outer ring 3031 and inner ring 3032, outer ring 3031 it is outer
Circumference is the toothing engaged with driving gear 304, and outer ring 3031 is connect with interface board 403, inner ring 3032 and lifting sliding table 204
Connection.
Turntable bearing 303 is placed in turntable bearing shell 206, and driving gear 304 is placed in driving gear shell 302
It is interior.
Further, turntable bearing shell 206 is an integral structure with lifting sliding table 204.
The working principle of the invention is:
Five degree of freedom mechanical mechanism of the invention, mainly by the one-movement-freedom-degree of tri- axial directions of X, Y, Z and around X-axis, Z axis
Rotational freedom composition.Wherein, the moving movement of two axial directions of X, Y uses the motion mode of Mecanum wheel, comprehensive realization
Movement, flexibility are good.Z axis linear motion uses the kind of drive of ball-screw guide rail, and load capacity is strong, accurate positioning, speed
Controllably, high reliablity, self-locking property are good.
The kind of drive of turntable bearing is used around the rotation of X-axis, revolution positioning accuracy is high, and rotation angle is big, and angular speed can
Control, can lock in any angular position.Rotation process provides electric wrench operation interface, meets artificial electricity in special circumstances
The dynamic demand for adjusting operation.Rotation about the z axis carries out moving interpolation realization, movement essence by the servo motor of driving Mecanum wheel
Degree is high, and flexibility is good.
General slide unit interface is installed, can install connection multiple structural forms is mounted on switching frame on Z shifting axle
On scientific experiment cupboards, interface is adaptable.Converting interface is arranged in revolving platform, connect with X-axis component.
In addition, being equipped with absolute value rotary encoder in Z axis slide unit, the real-time displacement of scientific experiment cupboards can be carried out
Precise measurement feedback, guarantees control and positioning requirements.
The driving motor of entire mechanical mechanism is all made of servo motor, and control precision is high, easy to operate.
Five degree of freedom heavy duty assembly tooling proposed by the present invention is applied to the application of manned astro-engineering space platform system for the first time
Technical field is innovated by the way of automated control operation, is not only solved the traditional artificial movement to scientific experiment cupboards, is turned over
Turn, the time-consuming and laborious problem low with safety of assembly, and full automatic operation mode is provided, substantially increases scientific experiment cupboards
Ground operation efficiency, reduce manually-operated cost.Therefore, the present invention is in manned astro-engineering space platform system application skill
Art field has very strong competitiveness, the advantages that with multi-functional, high efficiency, while meeting the heavy duty of scientific experiment cupboards, is
The terrestrial operation of scientific experiment cupboards provides strong guarantee.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of five degree of freedom heavy duty assembly tooling, which is characterized in that including main body frame (1), elevating mechanism (2), whirler
Structure (3) and switching frame (4), wherein elevating mechanism (2) is set on the main body frame (1), the rotating mechanism (3) and institute
Elevating mechanism (2) connection is stated, the switching frame (4) connect with the rotating mechanism (3), and the switching frame (4) is for holding
Load-carrying carries load.
2. five degree of freedom heavy duty assembly tooling according to claim 1, which is characterized in that the switching frame (4) includes
First frame (401), the second frame (402) and interface board (403), wherein the first frame (401) passes through with the second frame (402)
Connected structure connection, the interface board (403) be set to the interface of first frame (401) and the second frame (402) and
It is fixedly connected with first frame (401) and the second frame (402), the interface board (403) and the rotating mechanism (3) are even
It connects.
3. five degree of freedom heavy duty assembly tooling according to claim 2, which is characterized in that the connected structure includes setting
In the first frame (401) end interface (405) and be set to the second frame (402) end and with the grafting
The shank (406) of mouth (405) grafting.
4. five degree of freedom heavy duty assembly tooling according to claim 2, which is characterized in that first frame (401) and
The bottom of second frame (402) is equipped with traveling wheel (404).
5. five degree of freedom heavy duty assembly tooling according to claim 1, which is characterized in that the main body frame (1) includes
Bottom plate (103), gantry type frame (101), burr adjustable tail margin (102) and universal wheel (104), the top of insole board (103) are equipped with
The gantry type frame (101) of dual-support structure, bottom is equipped with burr adjustable tail margin (102) and universal wheel (104), by adjusting adjustably
Foot (102) realizes the switching between support and walking.
6. five degree of freedom heavy duty assembly tooling according to claim 2, which is characterized in that the elevating mechanism (2) includes
Sliding rail (203), lifting sliding table (204) and lift drive mechanism, wherein sliding rail (203) is set to the planer-type along the vertical direction
The two sides of frame (101), the lifting sliding table (204) are connect by sliding block (205) with the sliding rail (203), and the lifting is driven
Motivation structure is set on the bottom plate (103) and connect with the lifting sliding table (204), and the rotating mechanism (3) is set to institute
It states on lifting sliding table (204).
7. five degree of freedom heavy duty assembly tooling according to claim 6, which is characterized in that the lift drive mechanism includes
Support frame (201), lead screw (202), screw (207), lifting motor (209) and speed reducer (210), the lead screw (202) is along perpendicular
Histogram to setting and lower end and the speed reducer (210) output axis connection, the input shaft of the speed reducer (210) with it is described
The output axis connection of lifting motor (209), the upper end of the lead screw (202) with the gantry type frame (101) by connecting
Support frame (201) support, the screw (207) and the lead screw (202) form screw thread pair, the screw (207) and the liter
Slide unit (204) connection is dropped.
8. five degree of freedom heavy duty assembly tooling according to claim 1, which is characterized in that the rotating mechanism (3) includes
Handwheel (301), turntable bearing (303) and driving gear (304), wherein turntable bearing (303) and driving gear (304) are mounted on
On the elevating mechanism (2), the turntable bearing (303) and driving gear (304) transmission connection, the turntable bearing (303)
It is connect with the switching frame (4), the driving gear (304) connect with the handwheel (301).
9. five degree of freedom heavy duty assembly tooling according to claim 8, which is characterized in that turntable bearing (303) packet
Relatively turnable outer ring (3031) and inner ring (3032) are included, the excircle of the outer ring (3031) is and the driving gear
(304) meshed gears structure, the outer ring (3031) connect with the switching frame (4), the inner ring (3032) with it is described
Elevating mechanism connection.
10. five degree of freedom heavy duty assembly tooling according to claim 8, which is characterized in that the turntable bearing (303) is held
It is placed in turntable bearing shell (206), the driving gear (304) is placed in the driving gear shell (302).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282797.9A CN109894829B (en) | 2017-12-07 | 2017-12-07 | Five-degree-of-freedom heavy-load assembly tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282797.9A CN109894829B (en) | 2017-12-07 | 2017-12-07 | Five-degree-of-freedom heavy-load assembly tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109894829A true CN109894829A (en) | 2019-06-18 |
| CN109894829B CN109894829B (en) | 2021-09-28 |
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ID=66938886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711282797.9A Active CN109894829B (en) | 2017-12-07 | 2017-12-07 | Five-degree-of-freedom heavy-load assembly tool |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113834686A (en) * | 2021-11-26 | 2021-12-24 | 沈阳中科新宇空间智能装备有限公司 | Little celestial body sampling device of detachable multiple spot collection |
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| CN103831821A (en) * | 2014-03-26 | 2014-06-04 | 哈尔滨工业大学 | Seven-freedom-degree heavy load moving operation arm |
| US20160251201A1 (en) * | 2015-02-27 | 2016-09-01 | Precision Surveillance Corporation | Apparatus, system, and method for pipe modular lift system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113834686A (en) * | 2021-11-26 | 2021-12-24 | 沈阳中科新宇空间智能装备有限公司 | Little celestial body sampling device of detachable multiple spot collection |
| CN113834686B (en) * | 2021-11-26 | 2022-02-18 | 沈阳中科新宇空间智能装备有限公司 | Little celestial body sampling device of detachable multiple spot collection |
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| Publication number | Publication date |
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| CN109894829B (en) | 2021-09-28 |
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