CN109894829B - Five-degree-of-freedom heavy-load assembly tool - Google Patents
Five-degree-of-freedom heavy-load assembly tool Download PDFInfo
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Abstract
本发明属于载人航天工程空间站系统应用技术领域，具体地说是一种五自由度重载装配工装。包括主体框架、升降机构、旋转机构及转接框架，其中升降机构设置于主体框架上，旋转机构与升降机构连接，转接框架与旋转机构连接，转接框架用于承载重载载荷。转接框架包括第一框架、第二框架及接口板，其中第一框架与第二框架通过插接结构连接，接口板设置于第一框架和第二框架的接口处、且与第一框架和第二框架固定连接，接口板与旋转机构连接。本发明解决了传统人工对科学实验柜的移动、翻转、装配的费时费力和安全性低问题，而且提供全自动的操作模式，大大提高了科学实验柜的地面操作效率，降低了人工操作的成本。
The invention belongs to the technical field of manned aerospace engineering space station system application, in particular to a five-degree-of-freedom heavy-load assembly tool. It includes a main frame, a lifting mechanism, a rotating mechanism and a transfer frame, wherein the lifting mechanism is arranged on the main frame, the rotating mechanism is connected with the lifting mechanism, the transfer frame is connected with the rotating mechanism, and the transfer frame is used to carry heavy loads. The adapter frame includes a first frame, a second frame and an interface board, wherein the first frame and the second frame are connected by a plug-in structure, and the interface board is arranged at the interface of the first frame and the second frame, and is connected with the first frame and the second frame. The second frame is fixedly connected, and the interface board is connected with the rotating mechanism. The invention solves the problems of time-consuming, labor-intensive and low safety of the traditional manual movement, turning and assembly of the scientific experiment cabinet, and provides a fully automatic operation mode, which greatly improves the ground operation efficiency of the scientific experiment cabinet and reduces the cost of manual operation. .
Description
Technical Field
The invention belongs to the technical field of application of manned space engineering space station systems, and particularly relates to a five-degree-of-freedom heavy-load assembly tool.
Background
With the development of aerospace industry, human beings have been intensively researched in space science, and the development and utilization of space resources have become one of the important targets of the competition of the present science and technology in the world. The space station is a common carrier for space science experiments in different scientific fields, and in the manned space station in China, the scientific experiment cabinet is an important experiment facility in an experiment cabin and a core cabin of the space station, and has expandable mechanical, electrical and thermal interfaces, and the development of the scientific experiment cabinet can meet the requirements of scientific experiments in most natural disciplines. Because the scientific experiment cabinet is bulky, and weight is heavier, moves on the ground, overturns and assembles and does not have special frock and instrument, and manual operation is inconvenient, and the security is not high and efficiency is lower.
Currently, the method is in the key stage of space station engineering construction in China, research on the aspect of a scientific experiment cabinet is few, and tools specially used for ground assembly are few and few. The aerospace strong country related to the international space station also lacks corresponding research introduction on the tools for ground moving, overturning and assembling, and at present, five-degree-of-freedom heavy-load assembling tools suitable for ground moving, overturning and assembling do not exist. Therefore, engineering application technical research of the five-degree-of-freedom heavy-load assembly tool in the manned space station in China is developed, the manned space ground tool is promoted to be developed towards the direction of intellectualization, specialization, multifunctionality and high efficiency, the development of the construction of the space station in China is met, and the five-degree-of-freedom heavy-load assembly tool has very urgent requirements.
Disclosure of Invention
In view of the above problems, the present invention provides a five-degree-of-freedom heavy-load assembly fixture, which is a ground-dedicated device for moving, turning and assembling related scientific experiment cabinets, so as to solve the problems of inconvenient manual operation, low safety and low efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
the five-degree-of-freedom heavy-load assembly tool comprises a main body frame, a lifting mechanism, a rotating mechanism and a switching frame, wherein the lifting mechanism is arranged on the main body frame, the rotating mechanism is connected with the lifting mechanism, the switching frame is connected with the rotating mechanism, and the switching frame is used for bearing heavy-load loads.
The switching frame comprises a first frame, a second frame and an interface board, wherein the first frame is connected with the second frame through a splicing structure, the interface board is arranged at the interface of the first frame and the second frame and is fixedly connected with the first frame and the second frame, and the interface board is connected with the rotating mechanism.
The inserting structure comprises an inserting port arranged at the end part of the first frame and an inserting rod arranged at the end part of the second frame and inserted into the inserting port.
And road wheels are arranged at the bottoms of the first frame and the second frame.
The main body frame comprises a bottom plate, a gantry type frame, adjustable feet and universal wheels, wherein the gantry type frame with a double-support structure is arranged above the bottom plate, the adjustable feet and the universal wheels are arranged at the bottom of the bottom plate, and the supporting and the walking are switched by adjusting the adjustable feet.
Elevating system includes slide rail, lift slip table and lift actuating mechanism, wherein the slide rail along vertical direction set up in the both sides of planer-type frame, lift slip table pass through the slider with sliding linkage, lift actuating mechanism set up in on the bottom plate and with lift slip table connects, rotary mechanism set up in on the lift slip table.
The lifting driving mechanism comprises a support frame, a lead screw, a nut, a lifting motor and a speed reducer, the lead screw is arranged along the vertical direction, the lower end of the lead screw is connected with an output shaft of the speed reducer, an input shaft of the speed reducer is connected with an output shaft of the lifting motor, the upper end of the lead screw is supported by the support frame connected with the gantry type frame, the nut is in thread pair with the lead screw, and the nut is connected with the lifting sliding table.
The rotating mechanism comprises a hand wheel, a turntable bearing and a driving gear, wherein the turntable bearing and the driving gear are installed on the lifting mechanism, the turntable bearing is in transmission connection with the driving gear, the turntable bearing is connected with the switching frame, and the driving gear is connected with the hand wheel.
The turntable bearing comprises an outer ring and an inner ring which can rotate relatively, the outer circumference of the outer ring is of a gear structure meshed with the driving gear, the outer ring is connected with the switching frame, and the inner ring is connected with the lifting mechanism.
The turntable bearing is accommodated in the turntable bearing shell, and the driving gear is accommodated in the driving gear shell.
The invention has the advantages and beneficial effects that:
1. the invention adopts a gantry frame main structure, adopts components such as Mecanum wheels, motor reducers, ball screw guide rails and the like under the condition of meeting the requirements of functions and heavy load, has five degrees of freedom, can meet the requirements of ground movement, overturning and assembly of a scientific experimental cabinet, is reasonably designed in the aspect of structure, controls the overturning moment in a reasonable range, and has the outstanding advantages of safety, reliability, convenience, multiple functions, heavy load bearing property and the like.
2. Compared with a scientific experimental cabinet for manual ground overturning, moving and assembling, the tool has high efficiency.
3. The invention has the characteristics of adaptability and the like, has a special switching frame in structure, is connected with the scientific experiment cabinet and the gantry type frame main structure, and can meet the requirements of ground overturning, moving and assembling of different scientific experiment cabinets. The gantry type frame main structure is provided with a standard interface connected with the switching frame, ground overturning, moving and assembling requirements of a plurality of different scientific experiment cabinets of a space station in China can be met, and the maximization of the adaptability and the versatility of the structure is achieved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a lifting mechanism and a rotating mechanism according to the present invention;
FIG. 3 is a cross-sectional view of the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is a schematic view of the adapter frame according to the present invention;
fig. 6 is an exploded view of the adaptor frame of the present invention.
In the figure: 1 is a main body frame, 101 is a gantry type frame, 102 is an adjustable anchor, 103 is a bottom plate, and 104 is a universal wheel;
2, a lifting mechanism, 201, a support frame, 202, a lead screw, 203, a slide rail, 204, a lifting sliding table, 205, a sliding block, 206, a turntable bearing shell, 207, 208, a nut seat, 209, a lifting motor and 210, wherein the support frame is a support frame;
3, a rotating mechanism, 301, a hand wheel, 302, a driving gear shell, 303, a turntable bearing, 3031, 3032, an inner ring and 304, wherein the rotating mechanism is a rotating mechanism;
4 is a switching frame, 401 is a first frame, 402 is a second frame, 403 is an interface board, 404 is a road wheel, 405 is a socket, and 406 is a plug rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the five-degree-of-freedom heavy-load assembly fixture provided by the invention comprises a main body frame 1, a lifting mechanism 2, a rotating mechanism 3 and a switching frame 4, wherein the lifting mechanism 2 is arranged on the main body frame 1, the rotating mechanism 3 is connected with the lifting mechanism 2, the switching frame 4 is connected with the rotating mechanism 3, and the switching frame 4 is used for bearing heavy-load loads.
The main body frame 1 comprises a bottom plate 103, a gantry type frame 101, adjustable feet 102 and universal wheels 104, wherein the gantry type frame 101 with a double-support structure is arranged above the bottom plate 103, the bottom of the gantry type frame is provided with four adjustable feet 102 and four universal wheels 104, and the support and the walking are switched by adjusting the adjustable feet 102.
Furthermore, the four universal wheels 104 are Mecanum wheels, so that movement is realized in all directions, and flexibility is good.
The gantry frame 101 adopts a double-support structure, the structural form is superior to a single-support and cantilever structure, the structural form is simpler, the manufacture is convenient, the strength and the rigidity are higher, the bearing load is large, and the structural stability is good; the adjustable feet 102 can fix the gantry frame main structure at a specific position, and provide a good platform for assembly.
As shown in fig. 5, the adapting frame 4 includes a first frame 401, a second frame 402, and an interface board 403, where the first frame 401 and the second frame 402 are connected by a plug structure, the interface board 403 is disposed at an interface between the first frame 401 and the second frame 402 and is fixedly connected to the first frame 401 and the second frame 402, and the interface board 403 is connected to the rotating mechanism 3. The bottom of the first frame 401 and the second frame 402 is provided with a walking wheel 404 convenient for walking, and the first frame 401 and the second frame 402 are provided with standard mounting interfaces connected with a scientific experiment cabinet.
As shown in fig. 6, the plugging structure includes a plug interface 405 disposed at an end of the first frame 401 and a plugging rod 406 disposed at an end of the second frame 402 and plugged into the plug interface 405.
In an embodiment of the present invention, the first frame 401 and the second frame 402 are formed by welding a square tube and an i-steel, and have a simple structural form, a light weight, and high strength and rigidity. The first frame 401 and the second frame 402 are designed into sliding pairs which can be installed in a sliding mode, so that the assembly between the first frame and the scientific experiment cabinet is extremely simple, and the assembly efficiency is greatly improved. The first frame 401 and the second frame 402 provide standard installation interfaces and are connected with the scientific experiment cabinet, so that a good platform is provided for ground assembly of the scientific experiment cabinet, and the universality is good. The universal interface board connected with the rotary platform is designed on the switching frame 4, the universal wheels are movable caster wheels, and the structure of the universal interface board allows the switching frame to rotate 360 degrees, so that the universal interface board and a five-degree-of-freedom mechanical mechanism can be quickly and safely installed.
As shown in fig. 2-3, the lifting mechanism 2 includes a sliding rail 203, a lifting sliding table 204 and a lifting driving mechanism, wherein the sliding rail 203 is disposed on two sides of the gantry type frame 101 along the vertical direction, the lifting sliding table 204 is connected with the sliding rail 203 through a slider 205, the lifting driving mechanism is disposed on the bottom plate 103 and is connected with the lifting sliding table 204, and the rotating mechanism 3 is disposed on the lifting sliding table 204.
The lifting driving mechanism comprises a supporting frame 201, a lead screw 202, a nut 207, a lifting motor 209 and a speed reducer 210, the lead screw 202 is arranged in the vertical direction, the lower end of the lead screw 202 is connected with an output shaft of the speed reducer 210, an input shaft of the speed reducer 210 is connected with an output shaft of the lifting motor 209, the upper end of the lead screw 202 is supported by the supporting frame 201 connected with the gantry type frame 101, the nut 207 and the lead screw 202 form a thread pair, and the nut 207 is connected with the lifting sliding table 204.
As shown in fig. 2-3, the rotating mechanism 3 includes a handwheel 301, a turntable bearing 303 and a driving gear 304, wherein the turntable bearing 303 and the driving gear 304 are mounted on the lifting slide table 204 of the lifting mechanism 2, the turntable bearing 303 is in transmission connection with the driving gear 304, the turntable bearing 303 is connected with the transfer frame 4, and the driving gear 304 is connected with the handwheel 301.
As shown in fig. 4, the turntable bearing 303 includes an outer ring 3031 and an inner ring 3032, which are relatively rotatable, an outer circumference of the outer ring 3031 is a tooth structure engaged with the driving gear 304, the outer ring 3031 is connected with the interface board 403, and the inner ring 3032 is connected with the lifting sliding table 204.
The slew bearing 303 is housed within the slew bearing housing 206 and the pinion gear 304 is housed within the pinion gear housing 302.
Further, the turntable bearing housing 206 and the lifting and sliding table 204 are an integral structure.
The working principle of the invention is as follows:
the five-freedom mechanical mechanism of the invention mainly comprises X, Y, Z three axial moving freedom degrees and rotation freedom degrees around an X axis and a Z axis. Wherein, X, Y two axial displacement motion adopt the motion mode of mecanum wheel, and the all-round realization is removed, the flexibility is good. The Z-axis linear motion adopts a transmission mode of a ball screw guide rail, so that the loading capacity is strong, the positioning is accurate, the speed is controllable, the reliability is high, and the self-locking performance is good.
The rotation around the X axis adopts the transmission mode of a turntable bearing, the rotation positioning precision is high, the rotation angle is large, the angular speed is controllable, and the locking can be carried out at any angular position. The rotary operation provides an electric wrench operation interface, and the requirement of manual and electric adjustment operation under special conditions is met. The rotation around the Z axis is realized by interpolation motion of a servo motor driving the Mecanum wheel, and the motion precision is high and the flexibility is good.
The Z moves and installs general slip table interface on the axle, can install the scientific experiment cabinet of installing on the switching frame of multiple structural style of connection, interface strong adaptability. The rotary platform is provided with a switching port and is connected with the X-axis assembly.
In addition, an absolute value rotary encoder is arranged in the Z-axis sliding component, so that the real-time displacement of the scientific experiment cabinet can be accurately measured and fed back, and the control and positioning requirements are met.
The driving motor of the whole mechanical mechanism adopts a servo motor, so that the control precision is high and the operation is convenient.
The five-degree-of-freedom heavy-load assembly tool is applied to the technical field of application of space station systems of manned space engineering for the first time, and innovatively adopts an automatic control operation mode, so that the problems of time and labor waste and low safety of moving, overturning and assembling of a scientific experiment cabinet by traditional workers are solved, a full-automatic operation mode is provided, the ground operation efficiency of the scientific experiment cabinet is greatly improved, and the manual operation cost is reduced. Therefore, the invention has strong competitiveness in the technical field of application of manned space engineering space station systems, has the advantages of multifunctionality, high efficiency and the like, simultaneously meets the heavy load of the scientific experiment cabinet, and provides powerful guarantee for the ground operation of the scientific experiment cabinet.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The five-degree-of-freedom heavy-load assembly tool is characterized by comprising a main body frame (1), a lifting mechanism (2), a rotating mechanism (3) and a switching frame (4), wherein the lifting mechanism (2) is arranged on the main body frame (1), the rotating mechanism (3) is connected with the lifting mechanism (2), the switching frame (4) is connected with the rotating mechanism (3), and the switching frame (4) is used for bearing heavy-load loads;
the switching frame (4) comprises a first frame (401), a second frame (402) and an interface board (403), wherein the first frame (401) is connected with the second frame (402) through a plug structure, the interface board (403) is arranged at the interface of the first frame (401) and the second frame (402) and is fixedly connected with the first frame (401) and the second frame (402), and the interface board (403) is connected with the rotating mechanism (3);
the bottom parts of the first frame (401) and the second frame (402) are provided with walking wheels (404);
and the first frame (401) and the second frame (402) are provided with standard mounting interfaces connected with a scientific experiment cabinet.
2. The five-degree-of-freedom heavy-load assembly tool according to claim 1, wherein the inserting structure comprises an inserting port (405) arranged at an end of the first frame (401) and an inserting rod (406) arranged at an end of the second frame (402) and inserted into the inserting port (405).
3. The five-degree-of-freedom heavy-load assembly tool according to claim 1, wherein the main body frame (1) comprises a bottom plate (103), a gantry type frame (101), adjustable feet (102) and universal wheels (104), wherein the gantry type frame (101) with a double-support structure is arranged above the bottom plate (103), the adjustable feet (102) and the universal wheels (104) are arranged at the bottom, and the support and the walking are switched by adjusting the adjustable feet (102).
4. The five-degree-of-freedom heavy-load assembly tool according to claim 3, wherein the lifting mechanism (2) comprises a slide rail (203), a lifting sliding table (204) and a lifting driving mechanism, wherein the slide rail (203) is arranged on two sides of the gantry frame (101) along a vertical direction, the lifting sliding table (204) is connected with the slide rail (203) through a slide block (205), the lifting driving mechanism is arranged on the bottom plate (103) and connected with the lifting sliding table (204), and the rotating mechanism (3) is arranged on the lifting sliding table (204).
5. The five-degree-of-freedom heavy-load assembly tool according to claim 4, wherein the lifting driving mechanism comprises a support frame (201), a lead screw (202), a nut (207), a lifting motor (209) and a speed reducer (210), the lead screw (202) is arranged in the vertical direction, the lower end of the lead screw is connected with an output shaft of the speed reducer (210), an input shaft of the speed reducer (210) is connected with an output shaft of the lifting motor (209), the upper end of the lead screw (202) is supported by the support frame (201) connected with the gantry type frame (101), the nut (207) and the lead screw (202) form a thread pair, and the nut (207) is connected with the lifting sliding table (204).
6. The five-degree-of-freedom heavy-load assembly tool according to claim 1, wherein the rotating mechanism (3) comprises a hand wheel (301), a turntable bearing (303) and a driving gear (304), wherein the turntable bearing (303) and the driving gear (304) are mounted on the lifting mechanism (2), the turntable bearing (303) is in transmission connection with the driving gear (304), the turntable bearing (303) is connected with the adapter frame (4), and the driving gear (304) is connected with the hand wheel (301).
7. The five-degree-of-freedom heavy-load assembly tool according to claim 6, wherein the turntable bearing (303) comprises an outer ring (3031) and an inner ring (3032) which can rotate relatively, the outer circumference of the outer ring (3031) is in a gear structure meshed with the driving gear (304), the outer ring (3031) is connected with the adapter frame (4), and the inner ring (3032) is connected with the lifting mechanism.
8. The five-degree-of-freedom heavy-duty assembly tool according to claim 6, wherein the turntable bearing (303) is accommodated in a turntable bearing housing (206), and the driving gear (304) is accommodated in a driving gear housing (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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN109894829A CN109894829A (en) | 2019-06-18 |
| CN109894829B true CN109894829B (en) | 2021-09-28 |
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| CN201711282797.9A Expired - Fee Related CN109894829B (en) | 2017-12-07 | 2017-12-07 | Five-degree-of-freedom heavy-load assembly tool |
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| CN113834686B (en) * | 2021-11-26 | 2022-02-18 | 沈阳中科新宇空间智能装备有限公司 | A detachable multi-point acquisition small celestial body sampling device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103831821B (en) * | 2014-03-26 | 2015-08-19 | 哈尔滨工业大学 | Seven freedom heavy duty movable operating arm |
| US9834411B2 (en) * | 2015-02-27 | 2017-12-05 | Precision Surveillance Company | Apparatus, system, and method for pipe modular lift system |
| CN205257182U (en) * | 2015-12-02 | 2016-05-25 | 中国航空工业集团公司北京航空精密机械研究所 | Fine adjusting device for heavy load equipment |
| CN206105702U (en) * | 2016-10-11 | 2017-04-19 | 北京北方车辆智能装备技术有限公司 | Rotating bracket for assembling transmission case |
| CN107321969B (en) * | 2017-08-10 | 2023-02-17 | 安徽理工大学 | Omni-directional wheeled mobile heavy-duty foundry robot |
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