CN110963069B - Flexible guide rail hole making equipment - Google Patents
Flexible guide rail hole making equipment Download PDFInfo
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- CN110963069B CN110963069B CN201911267060.9A CN201911267060A CN110963069B CN 110963069 B CN110963069 B CN 110963069B CN 201911267060 A CN201911267060 A CN 201911267060A CN 110963069 B CN110963069 B CN 110963069B
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- 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
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Abstract
The invention discloses flexible guide rail hole making equipment which comprises a main flexible guide rail, auxiliary flexible guide rails, a moving frame and an end effector, wherein the auxiliary flexible guide rails are arranged in parallel with the main flexible guide rail at equal intervals; the motion frame comprises a main supporting roller device, a main driving roller device, an auxiliary supporting roller device and an auxiliary driving roller device, the motion frame moves along the length direction of the main flexible guide rail and the auxiliary flexible guide rail, the motion frame and the main flexible guide rail are connected through the main supporting roller device and the main driving roller device in a clamping mode, the motion frame and the auxiliary flexible guide rail are connected through the auxiliary supporting roller device and the auxiliary driving roller device in a clamping mode, and the motion frame can adapt to the flexible guide rail when the flexible guide rail hole making equipment works on the surface of a variable-curvature wing body part.
Description
Technical Field
The invention relates to the technical field of automatic assembly of aircrafts, in particular to flexible guide rail hole making equipment.
Background
Lean manufacturing plays an increasingly important role in modern aircraft production. The lean manufacturing requirement greatly reduces the production and manufacturing cost, realizes the flexibility of the manufacturing process and meets the production requirement. As a representative of light automatic hole making equipment, the flexible guide rail hole making equipment has the characteristics of autonomous movement, strong portability, flexible operation, modularization and low cost.
At present, the general flexible guide rail hole making equipment is limited by the structure of the equipment and can only adapt to wing body parts with equal straight section curvature and can not adapt to wing body parts with variable curvature. The main problems that exist in this are: (1) the moving frame can not adapt to a flexible guide rail paved on the surface of a variable-curvature wing body part, so that the movement along the length direction of the flexible guide rail is realized; (2) when the surface of the variable-curvature wing body part of the moving frame moves along the length direction of the flexible guide rail, the moving frame is influenced by the fact that the main flexible guide rail and the auxiliary flexible guide rail are laid at different curvature section positions, the moving frame cannot move on the main flexible guide rail and the auxiliary flexible guide rail at different speeds, the length direction of the main flexible guide rail is guaranteed to be perpendicular to the width direction of the frame all the time, and the correct relation of the moving frame and the frame under Cartesian coordinates is maintained.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problem of how to adapt a moving frame to a flexible guide rail when flexible guide rail hole making equipment works on the surface of a variable-curvature wing body part, so that the moving frame can move by taking the length direction of a main flexible guide rail as a reference, and meanwhile, the length direction of the main flexible guide rail is ensured to be vertical to the width direction of a vehicle body of the moving frame, and the relationship between the main flexible guide rail and the moving frame under the correct Cartesian coordinate is maintained.
(II) technical scheme
In order to solve the technical problem, the invention provides flexible guide rail hole making equipment, which comprises a main flexible guide rail, auxiliary flexible guide rails, a moving frame and an end effector, wherein the auxiliary flexible guide rails are arranged in parallel with the main flexible guide rail at equal intervals, the moving frame is used for connecting the main flexible guide rail and the auxiliary flexible guide rails, the end effector is positioned on the moving frame,
one ends of the bottoms of the main flexible guide rail and the auxiliary flexible guide rail, which are far away from the moving frame, are provided with adsorption devices;
the motion frame comprises a main supporting roller device, a main driving roller device, an auxiliary supporting roller device and an auxiliary driving roller device, the motion frame moves along the length direction of the main flexible guide rail and the auxiliary flexible guide rail, the motion frame and the main flexible guide rail are connected through the main supporting roller device and the main driving roller device in a clamping mode, the motion frame and the auxiliary flexible guide rail are connected through the auxiliary supporting roller device and the auxiliary driving roller device in a clamping mode, and therefore the motion frame can move along the length direction of the main flexible guide rail and the length direction of the auxiliary flexible guide rail in the same direction.
Preferably, the moving carriage further comprises a platform assembly for connecting the end effector, a main hinge device and a sub hinge device, wherein,
one end surface of the main hinge device is connected with the platform assembly, and the other end surface of the main hinge device is respectively connected with the main supporting roller device and the main driving roller device;
one end face of the auxiliary hinge device is connected with the platform assembly, and the other end face of the auxiliary hinge device is respectively connected with the auxiliary supporting roller device and the auxiliary driving roller device;
the main hinge device, the auxiliary hinge device, the main supporting roller device, the main driving roller device, the auxiliary supporting roller device and the auxiliary driving roller device are all arranged below the platform assembly;
the main supporting roller device and the main driving roller device are covered on the main flexible guide rail along the length direction of the main flexible guide rail;
and the auxiliary supporting roller device and the auxiliary driving roller device are covered on the auxiliary flexible guide rail along the length direction of the auxiliary flexible guide rail.
Preferably, the main supporting roller device comprises a supporting roller body, fixed supporting roller supports and adjustable supporting roller supports, wherein the fixed supporting roller supports are arranged on two sides of the supporting roller body and used for being fixedly mounted, the adjustable supporting roller supports are used for adjusting the distance, and a first accommodating cavity which is beneficial to being covered on the main flexible guide rail is formed among the supporting roller body, the fixed supporting roller supports and the adjustable supporting roller supports;
main mounting trapezoidal edges are arranged on two sides of the main flexible guide rail, and supporting rollers which are in groove-type fit connection with the corresponding main mounting trapezoidal edges are arranged in the fixed supporting roller support and the adjusting supporting roller support; the supporting rollers comprise fixed supporting rollers and adjusting supporting rollers.
Preferably, the support roller body comprises a first support block, a first mounting groove arranged on the first support block and used for connecting the main hinge device, and a first roller rotating shaft hole arranged on the first support block, wherein the first mounting groove is arranged in a penetrating manner towards the first accommodating cavity, and the first roller rotating shaft hole is arranged in a penetrating manner along a direction perpendicular to the main flexible guide rail;
the adjusting support roller support further comprises an adjusting support roller box body, an adjusting support roller, a first bearing arranged in the adjusting support roller, first gaskets arranged at the upper end and the lower end of the first bearing, a first adjusting plate arranged around the periphery of the adjusting support roller, and a first jackscrew used for pushing the first adjusting plate to be close to the adjusting support roller so that the adjusting support roller is in contact fit with the main installation trapezoidal edge, wherein a first jackscrew hole penetrating through the side face of the adjusting support roller box body is formed in the width direction of the main flexible guide rail, and the first jackscrew penetrates through the first jackscrew hole to be abutted against the first adjusting plate;
the adjusting support roller, the first bearing, the first gasket, the first adjusting plate and the first jackscrew are all positioned in the adjusting support roller box body;
the fixed support roller support also comprises a fixed support roller box body, a fixed support roller, a first bearing arranged in the fixed support roller and first flanges arranged at the upper end and the lower end of the first bearing;
the fixed supporting roller, the first bearing and the first flange are all located in the fixed supporting roller box body.
Preferably, the main driving roller device comprises a driving roller body, and an adjusting driving roller support and a fixed driving roller support which are arranged on two sides of the driving roller body, wherein a second accommodating cavity which is beneficial to covering the main flexible guide rail is formed among the driving roller body, the adjusting driving roller support and the fixed driving roller support;
the two sides of the main flexible guide rail are provided with main installation trapezoidal edges, and driving rollers which are connected with the main installation trapezoidal edges in a corresponding groove type matching mode are arranged in the adjustment driving roller support and the fixed driving roller support.
Preferably, the driving roller body comprises a second supporting block, a second mounting groove which is arranged on the second supporting block and is used for connecting the main hinge device, and a driving roller rotating shaft hole which is formed in the second supporting block, wherein the second mounting groove is arranged in a penetrating manner towards the direction of the second accommodating cavity, and the driving roller rotating shaft hole is arranged in a penetrating manner along a direction perpendicular to the main flexible guide rail;
the adjusting driving roller support further comprises an adjusting driving roller box body, an adjusting driving roller, a second bearing arranged in the adjusting driving roller, second gaskets arranged at the upper end and the lower end of the second bearing, a second adjusting plate arranged on the periphery of the adjusting driving roller in a surrounding mode, and a second jackscrew used for pushing the second adjusting plate to be close to the adjusting driving roller so that the adjusting driving roller is in contact fit with the main installation trapezoidal edge, a penetrating second jackscrew hole is formed in the side face of the adjusting driving roller box body along the width direction of the main flexible guide rail, and the second jackscrew penetrates through the second jackscrew hole and is abutted to the second adjusting plate;
the adjusting driving roller, the second bearing, the second gasket, the second adjusting plate and the second jackscrew are all positioned in the adjusting driving roller box body;
the fixed driving roller support also comprises a fixed driving roller box body, a fixed driving roller, a second bearing arranged in the fixed driving roller and second flanges arranged at the upper end and the lower end of the second bearing;
and the fixed driving roller, the second bearing and the second flange are all positioned in the fixed driving roller box body.
Preferably, the main hinge device comprises a main outer hinge plate, a main inner hinge plate arranged in the main outer hinge plate and extending to the upper side of the main outer hinge plate along the height direction of the main outer hinge plate, and two hinge lugs arranged on the main outer hinge plate and far away from two ends of the main inner hinge plate, wherein the hinge lugs are respectively connected with the first mounting groove of the main support roller device and the second mounting groove of the main drive roller device in a matching manner along the width direction of the main outer hinge plate.
Preferably, the auxiliary hinge device comprises an auxiliary outer hinge plate, an auxiliary inner hinge plate which is arranged in the auxiliary outer hinge plate and extends to the upper side of the auxiliary outer hinge plate along the height direction of the auxiliary outer hinge plate, and two hinge lugs which are arranged on the auxiliary outer hinge plate and are far away from two ends of the auxiliary inner hinge plate, wherein the hinge lugs are respectively in clearance connection with the first mounting groove of the auxiliary supporting roller device and the second mounting groove of the auxiliary driving roller device along the width direction of the auxiliary outer hinge plate.
Preferably, the platform assembly comprises a rectangular platform frame and an adjusting assembly arranged at the corner of the rectangular platform frame, wherein,
the rectangular platform frame is provided with a mounting hole;
the adjusting assembly comprises a platform rotating shaft matched with the mounting hole; the angle encoder, the encoder supporting seat, the first locking nut, the bearing group, the second locking nut and the bearing blocking disc are sleeved on the platform rotating shaft, and the arc-shaped guide rail sliding block is arranged at the bottom of the rectangular platform frame.
The adjusting assembly is connected with the main inner hinge plate of the main hinge device and the auxiliary inner hinge plate of the auxiliary hinge device through the arc-shaped guide rail sliding block and the platform rotating shaft through fasteners respectively.
Preferably, the sports vehicle frame further comprises a main driving device and an auxiliary driving device which are used for providing overall power for the sports vehicle frame, and the main driving device and the auxiliary driving device are symmetrical in structure; the main driving device and the auxiliary driving device are respectively connected with the main driving roller device and the auxiliary driving roller device; the main driving device comprises an upper half box body, a lower half box body, a driving assembly, a coupling, a speed reducer, a transmission assembly and a mounting seat, wherein the lower half box body is correspondingly connected with the upper half box body to form a cavity, and the mounting seat is connected with the main flexible guide rail.
(III) advantageous effects
The technical scheme of the invention has the following advantages:
the flexible guide rail hole making equipment is attached to the surfaces of wing body parts through vacuum chucks on the main flexible guide rail and the auxiliary flexible guide rail in an adsorption mode, and the end effector carried by the moving frame moves in the same direction along the length direction of the main flexible guide rail and the auxiliary flexible guide rail. Compared with the common flexible guide rail hole making equipment which can only adapt to the equal-straight section curvature wing body part, the flexible guide rail hole making equipment in the embodiment can adjust and keep the X axis in the length direction of the main flexible guide rail to be vertical to the Y axis in the width direction of the moving frame while the surface of the variable-curvature wing body part moves, maintain the correct relation between the X axis and the Y axis in the Cartesian coordinate, expand the application range of the flexible guide rail hole making equipment and improve the precision of the flexible guide rail hole making equipment.
Drawings
FIG. 1 is a schematic structural diagram of a flexible guide track hole making device according to the present invention;
FIG. 2 is a three-dimensional axial schematic view of the exercise carriage of the present invention;
FIG. 3 is a three-dimensional axial schematic view of the main support roller assembly of the present invention;
FIG. 4 is a schematic cross-sectional view of the main support roller assembly of FIG. 3 with the central axis of the first roller shaft hole as a reference;
FIG. 5 is a three-dimensional axial schematic view of the primary drive roller assembly of the present invention;
FIG. 6 is a schematic cross-sectional view of the main drive roller assembly of FIG. 5 with the central axis of the drive roller shaft hole as a reference;
FIG. 7 is a three-dimensional axial schematic view of the main hinge assembly of the present invention;
FIG. 8 is a three-dimensional axial schematic view of the secondary hinge assembly of the present invention;
FIG. 9 is a three-dimensional axial schematic view of the platform assembly of the present invention;
FIG. 10 is a schematic cross-sectional view of the rectangular platform frame of the platform assembly of FIG. 9 taken from a central axis thereof;
FIG. 11 is a three-dimensional axial schematic view of the primary drive of the present invention;
fig. 12 is a schematic cross-sectional view of fig. 11 taken with reference to a motor shaft of the main drive device.
In the figure: 1. a primary flexible guide rail; 2. a secondary flexible guide rail; 3. a sport vehicle frame; 4. an end effector; 5. an adsorption device; 6. a main drive device; 7. a secondary drive device; 8. a main hinge device; 9. a sub hinge device; 31. A platform assembly; 32. a main support roller device; 33. a secondary support roller device; 34. a main drive roller device; 35. a secondary drive roller device; 51. supporting the roller box body; 52. a first bearing; 53. a first adjusting plate; 54. a first jackscrew; 61. a second support block; 62. a second mounting groove; 63. a driving roller rotating shaft hole; 64. an upper half box body; 65. a lower half box body; 66. a drive assembly; 67. a coupling; 68. a speed reducer; 69. a transmission assembly; 71. A driving roller box body; 72. a second bearing; 73. a second adjusting plate; 74. a second jackscrew; 75. driving and installing hinge lugs; 81. a main outer hinge plate; 82. a main inner hinge plate; 83. hinging a lug; 91. a rectangular platform frame; 92. an adjustment assembly; 321. supporting the roller body; 322. fixedly supporting the roller support; 323. supporting the rollers; 324. a first support block; 325. a first mounting groove; 326. a first roller rotating shaft hole; 341. a drive roller body; 342. fixing a driving roller support; 343. driving the roller; 921. a platform shaft; 922. a bearing set; 923. a first lock nut; 924. an encoder supporting seat; 925. an angle encoder; 926. a second lock nut; 927. arc guide rail slider.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the invention provides a flexible guide rail hole making device, which is applied to an automation device for aerospace vehicle assembly hole making, and comprises a main flexible guide rail 1, an auxiliary flexible guide rail 2 arranged in parallel with the main flexible guide rail 1 at equal intervals, a moving frame 3 connecting the main flexible guide rail 1 and the auxiliary flexible guide rail 2, and an end effector 4 positioned on the moving frame 3, wherein an adsorption device 5 is arranged at one end of the bottom of the main flexible guide rail 1 and the bottom of the auxiliary flexible guide rail 2, which is far away from the moving frame 3; the moving frame 3 comprises a main supporting roller device 32, a main driving roller device 34, a secondary supporting roller device 33 and a secondary driving roller device 35. The moving frame 3 moves along the length directions of the main flexible guide rail 1 and the auxiliary flexible guide rail 2, the moving frame 3 is connected with the main flexible guide rail 1 in a clamping mode through a main supporting roller device 32 and a main driving roller device 34, and the moving frame 3 is connected with the auxiliary flexible guide rail 2 in a clamping mode through an auxiliary supporting roller device 33 and an auxiliary driving roller device 35, so that the moving frame 3 can move along the length directions of the main flexible guide rail 1 and the auxiliary flexible guide rail 2 in the same direction.
In the embodiment, when the flexible guide rail hole making equipment works on a variable-curvature wing body part, firstly, a main flexible guide rail 1 and an auxiliary flexible guide rail 2 are laid on two sides of a hole making area of the variable-curvature wing body part according to a preset position line, and the span and the parallelism between the auxiliary flexible guide rail 2 and the main flexible guide rail 1 are adjusted by taking the main flexible guide rail 1 as a reference; after the main flexible guide rail 1 and the auxiliary flexible guide rail 2 are laid, the moving frame 3 loaded with the end effector 4 is clamped and connected with the main flexible guide rail 1 and the auxiliary flexible guide rail 2 through the main supporting roller device 32, the main driving roller device 34, the auxiliary supporting roller device 33 and the auxiliary driving roller device 35 respectively. At this time, the flexible guide track drilling equipment moves along the length direction of the main flexible guide track 1 and the auxiliary flexible guide track 2 to perform drilling operation, but is influenced by the structural characteristics of the variable-curvature wing body parts, and the main driving device and the auxiliary driving device 35 move on the main flexible guide track and the auxiliary flexible guide track at different speeds, so that the length direction represented by the X axis of the main flexible guide track 1 is always perpendicular to the width direction of the moving frame 3 represented by the Y axis, and the correct relation between the two in Cartesian coordinates is maintained.
In the above-described embodiment of the present disclosure, the flexible guide rail hole making device is attached to the surface of the wing body component by vacuum chucks on the main flexible guide rail and the auxiliary flexible guide rail, and the end effector carried by the moving vehicle frame moves in the same direction along the length direction of the main flexible guide rail and the auxiliary flexible guide rail. Compared with the common flexible guide rail hole making equipment which can only adapt to the equal-straight section curvature wing body part, the flexible guide rail hole making equipment in the embodiment can adjust and keep the X axis in the length direction of the main flexible guide rail to be vertical to the Y axis in the width direction of the moving frame while the surface of the variable-curvature wing body part moves, maintain the correct relation between the X axis and the Y axis in the Cartesian coordinate, expand the application range of the flexible guide rail hole making equipment and improve the precision of the flexible guide rail hole making equipment. Namely, the flexible guide rail hole making equipment can enable the moving frame to be adaptive to the flexible guide rail when the flexible guide rail hole making equipment works on the surface of a variable-curvature wing body part, so that the moving frame can move by taking the length direction of the main flexible guide rail as a reference, and meanwhile, the length direction of the main flexible guide rail is ensured to be perpendicular to the width direction of a vehicle body of the moving frame, and the correct relation of the moving frame and the moving frame under a Cartesian coordinate system is maintained.
According to a specific implementation of the disclosed embodiment, as shown in fig. 2, the moving carriage further comprises a platform assembly 31 for connecting the end effector 4, a main hinge device 8 and a sub hinge device 9, wherein,
one end surface of the main hinge device 8 is connected with the platform assembly 31, and the other end surface is respectively connected with the main supporting roller device 32 and the main driving roller device 34;
one end face of the auxiliary hinge device 9 is connected with the platform assembly 31, and the other end face is respectively connected with the auxiliary supporting roller device 33 and the auxiliary driving roller device 35;
the main hinge device 8, the auxiliary hinge device 9, the main supporting roller device 32, the main driving roller device 34, the auxiliary supporting roller device 33 and the auxiliary driving roller device 35 are all arranged below the platform assembly 31;
the main supporting roller device 32 and the main driving roller device 34 are covered on the main flexible guide rail 1 along the length direction of the main flexible guide rail 1;
the auxiliary support roller device 33 and the auxiliary drive roller device 35 are covered on the auxiliary flexible guide rail 2 along the length direction of the auxiliary flexible guide rail 2.
In this embodiment, the main support roller device 32 and the auxiliary support roller device 33 have the same structure and installation manner, and are respectively disposed on the main flexible guide rail 1 and the auxiliary flexible guide rail 2. Correspondingly, the main driving roller device 34 and the auxiliary driving roller device 35 are symmetrical in structure and are installed in the same manner, and are respectively arranged on the main flexible guide rail 1 and the auxiliary flexible guide rail 2.
Specifically, the end effector 4 is mounted on the platform assembly 31, and when the moving carriage 3 moves along the length direction of the main flexible guide rail 1 and the auxiliary flexible guide rail 2, the platform assembly 31 carries the end effector 4 to move. The main support roller device 32, the auxiliary support roller device 33, the main drive roller device 34 and the auxiliary drive roller device 35 are connected to the platform assembly 31 through a main hinge device and an auxiliary hinge device, respectively, and are located at an end surface far away from the end effector 4.
In this embodiment, the platform assembly 31 of the moving body frame 3 is a rectangular structure as a whole. The rectangular structure of the platform assembly 3 comprises four corners, wherein two corners are respectively connected with the main flexible guide rail 1, and the other two corners are respectively connected with the auxiliary flexible guide rails 2. The main supporting roller device 32, the auxiliary supporting roller device 33, the main driving roller device 34 and the auxiliary driving roller device 35 are respectively positioned at four corners and are respectively connected with the main flexible guide rail 1 and the auxiliary flexible guide rail 2 by virtue of the main hinge device and the auxiliary hinge device, so that the moving vehicle frame 3 is borne to move along the length direction of the main flexible guide rail 1 and the auxiliary flexible guide rail 2 so as to carry the end effector 4 to move to a preset target position.
The platform assembly 31 is connected with the main supporting roller device 32 and the main driving roller device 34 through the main hinge device 8, and the platform assembly 31 is connected with the auxiliary supporting roller device 33 and the auxiliary driving roller device 35 through the auxiliary hinge device 9. In the operation process, the main hinge device 8 and the auxiliary hinge device 9 provide movement along the length direction of the flexible guide rail and along the width direction of the flexible guide rail with two degrees of freedom, and the auxiliary main supporting roller device 32, the main driving roller device 34, the auxiliary supporting roller device 33 and the auxiliary driving roller device 35 can adapt to the flexible guide rail paved on the surface of the wing body part with variable curvature.
In this embodiment, as shown in fig. 3 and 4, the main support roller device 32 and the auxiliary support roller device 33 have the same structure. The main supporting roller device 32 comprises a supporting roller body 321, a fixed supporting roller support 322 arranged on two sides of the supporting roller body 321 for fixed installation, and an adjusting supporting roller support 3221 for adjusting the distance, wherein a first accommodating cavity which is beneficial to covering on the main flexible guide rail is formed between the supporting roller body and the fixed supporting roller support 322 and between the supporting roller body and the adjusting supporting roller support 3221; a first accommodating cavity which is beneficial to covering the main flexible guide rail 1 is formed among the supporting roller body 321, the fixed supporting roller support 322 and the adjusting supporting roller support 3221; main installation trapezoidal edges are arranged on two sides of the main flexible guide rail 1, and supporting rollers 323 which are in groove-shaped matching connection and correspond to the main installation trapezoidal edges are arranged in the fixed supporting roller support 322 and the adjusting supporting roller support 3221; the support rollers 323 include a fixed support roller and an adjustment support roller. During installation, the main supporting roller device 32 is laid on the main flexible guide rail 1 through the first accommodating cavity for initial positioning, and the main installation trapezoidal edge and the supporting roller 323 are adjusted in position relation so as to be in contact fit connection with each other, so that the main supporting roller device 32 is in fit connection with the main flexible guide rail 1.
Accordingly, as shown in fig. 5 and 6, the main driving roller device 34 includes a driving roller body 341 and driving roller holders disposed at both sides of the driving roller body 341. In this embodiment, two driving roller supports are provided, the right side is a fixed driving roller support 342, and the left side is an adjustable driving roller support 3421 with adjustable distance. A second accommodating cavity which is beneficial to being covered on the main flexible guide rail 1 is formed between the driving roller body 341 and the fixed driving roller support 342 as well as between the driving roller body and the adjusting driving roller support 3421; main installation trapezoidal edges are arranged on two sides of the main flexible guide rail 1, and driving rollers 343 in groove-shaped matching connection corresponding to the main installation trapezoidal edges are arranged in the fixed driving roller support 342 and the adjusting driving roller support 3421; the driving roller 343 includes a fixed driving roller and an adjustable driving roller. During installation, the main driving roller device 34 is laid on the main flexible guide rail 1 through the second accommodating cavity for initial positioning, and the main installation trapezoidal edge and the driving roller 343 are adjusted in position relation so that the main installation trapezoidal edge and the driving roller 343 are in contact and matched connection, so that the main driving roller device 34 and the main flexible guide rail 1 are matched and connected.
According to a further explanation of the above embodiment, and with particular reference to fig. 3 and 4, the main support roller device 32 includes a support roller body 321, a fixed support roller support 322, and an adjustment support roller support 3221. Wherein the content of the first and second substances,
the support roller body 321 includes a first support block 324, a first mounting groove 325 arranged on the first support block 324 and used for connecting the main hinge device, and a first roller rotating shaft hole 3261 arranged on the first support block 324, wherein the first mounting groove 325 faces the first direction of accommodating the cavity, and the first roller rotating shaft hole 3261 is arranged along the direction perpendicular to the main flexible guide rail 1.
In this embodiment, the first supporting block 324 is a rectangular block. The first mounting groove 325 is a rectangular groove, and is disposed at a middle position of the rectangular block toward a direction of the first receiving cavity for being coupled with the main hinge device. That is, the first mounting groove 325 is a vertically disposed groove hole. The first roller rotation shaft hole 3261 is a shaft hole that is horizontally provided, and the central axis of the first mounting groove 325 and the central axis of the first roller rotation shaft hole 326 intersect vertically. The first roller shaft hole 326 passes through the first mounting groove 325 from one end of the first support block 324 to the other opposite end surface of the first support block 324. During installation, the first accommodating cavity is laid on the main flexible guide rail 1, the first mounting groove 325 is connected with the hinge lug of the main hinge device in a matching manner, and the first roller rotating shaft hole 326 is communicated with the first mounting groove 325. The first screw hole 326 is cooperatively connected with the first adjustment plate 53 for clamping the main support roller assembly 32 to the main flexible guide 1.
Further, the adjusting support roller support 3221 further includes an adjusting support roller box 511, an adjusting support roller, a first bearing 52 disposed inside the adjusting support roller, first pads disposed at the upper end and the lower end of the first bearing 52, a first adjusting plate 53 surrounding the adjusting support roller, and a first jackscrew 54 for pushing the first adjusting plate 53 to approach the adjusting support roller so that the adjusting support roller contacts and cooperates with the main installation trapezoidal edge, a first jackscrew hole 326 penetrating through is formed in a side surface of the adjusting support roller box 54 along the width direction of the main flexible guide rail 1, and the first jackscrew 54 penetrates through the first jackscrew hole 326 to abut against the first adjusting plate 53; the first roller 323, the first bearing 52, the first gasket, the first adjusting plate 53 and the first jackscrew 54 are all located in the adjusting and supporting roller box.
The right fixed supporting roller support also comprises a fixed supporting roller box body 51, a fixed supporting roller, a first bearing 52 arranged in the fixed supporting roller and first flanges arranged at the upper end and the lower end of the first bearing 52; the fixed supporting roller, the first bearing 52 and the first flange are all positioned in the fixed supporting roller box body 51.
During installation, the adjusting support roller support 3221 and the fixed support roller support 322 are assembled, and then the fixed support roller support 322 and the adjusting support roller support 3221 are covered on the support roller body 321 by fasteners. Specifically, two first bearings 52 are provided, and in the present embodiment, the first bearings 52 are an upper corner contact ball bearing and a lower corner contact ball bearing. The assembly process of adjusting the support roller support comprises the following steps: the adjusting support roller is placed in the adjusting support roller box 511, and an upper-corner contact ball bearing and a lower-corner contact ball bearing are axially sleeved at two ends of the adjusting support roller. A first adjusting plate 53 is arranged around the periphery of the adjusting support roller, a first jackscrew 54 passes through the first jackscrew hole 326 and then abuts against the first adjusting plate 53, and the first adjusting plate 53 is pushed to be close to the adjusting support roller, so that the position relation between the adjusting support roller and the main installation trapezoidal edge is adjusted to enable the adjusting support roller and the main installation trapezoidal edge to be in contact fit connection, and the fit connection between the adjusting support roller support 3221 and the main flexible guide rail 1 is completed; the assembly process of the fixed support roller support 322 is as follows: the fixed support roller is placed in the fixed support roller box body 51, and an upper-corner contact ball bearing and a lower-corner contact ball bearing are axially sleeved at two ends of the fixed support roller. The installation is realized by matching between the groove types corresponding to the main installation trapezoidal edges of the main flexible guide rails 1 on the fixed supporting idler wheels.
According to a specific implementation manner of the embodiment of the present disclosure, the main driving roller device 34 is structurally symmetrical to the auxiliary driving roller device. The main driving roller device 34 includes a driving roller body 341, and an adjustment driving roller support 3421 and a fixed driving roller support 342 disposed at both sides of the driving roller body 341. A second accommodating cavity which is beneficial to being covered on the main flexible guide rail 1 is formed between the driving roller body 341 and the adjusting driving roller support 3421 and between the driving roller body and the fixed driving roller support 342;
main mounting trapezoidal edges are arranged on two sides of the main flexible guide rail 1, and driving rollers which are in groove-shaped matching connection with the corresponding main mounting trapezoidal edges are arranged in the adjusting driving roller support 3421 and the fixed driving roller support 342; the driving roller comprises an adjusting driving roller and a fixed driving roller.
The driving roller body 341 includes a second supporting block 61, a second mounting groove 62 disposed on the second supporting block 61 and used for connecting the main hinge device, and a driving roller rotating shaft hole 631 opened on the second supporting block 61, wherein the second mounting groove 62 is disposed through in a direction toward the second receiving cavity, and the driving roller rotating shaft hole is disposed through in a direction perpendicular to the main flexible guide rail;
the adjusting driving roller support 3421 further includes an adjusting driving roller box 711, an adjusting driving roller, a second bearing 72 disposed inside the adjusting driving roller, second gaskets disposed at the upper and lower ends of the second bearing 72, a second adjusting plate 73 surrounding the adjusting driving roller, and a second jackscrew 74 for pushing the second adjusting plate 73 to approach the adjusting driving roller so that the adjusting driving roller is in contact fit with the main installation trapezoidal edge, a second jackscrew hole 741 penetrating through the side surface of the adjusting driving roller box 711 along the width direction of the main flexible guide rail is formed, and the second jackscrew 74 penetrates through the second jackscrew hole 741 to abut against the second adjusting plate 73;
the adjusting driving roller, the second bearing 72, the second gasket, the second adjusting plate 73 and the second jackscrew 74 are all located in the left driving roller box body.
The fixed driving roller support 342 further comprises a fixed driving roller box 71, a fixed driving roller, a second bearing 72 arranged inside the fixed driving roller, and second flanges arranged at the upper end and the lower end of the second bearing;
the fixed driving roller, the second bearing 72 and the second flange are all positioned in the fixed driving roller box body 71.
During installation, the adjustment driving roller support 3421 and the fixed driving roller support 342 are assembled, and the adjustment driving roller support 3421 and the fixed driving roller support 342 are covered on the driving roller body 341 by fasteners. Specifically, two second bearings 72 are provided, and in the present embodiment, the second bearings 72 are an upper corner contact ball bearing and a lower corner contact ball bearing. The assembly process of the adjustment drive roller support 3421 is: the adjustment driving roller is placed in the adjustment driving roller box 711, and an upper-corner contact ball bearing and a lower-corner contact ball bearing are axially sleeved at two ends of the adjustment driving roller. The second adjusting plate 73 is arranged around the periphery of the adjusting driving roller, the second jackscrew 74 passes through the second jackscrew 74 and then abuts against the second adjusting plate 73, and the second adjusting plate 73 is pushed to be close to the adjusting driving roller, so that the position relation between the adjusting driving roller and the main installation trapezoidal edge is adjusted, the adjusting driving roller and the main installation trapezoidal edge are in contact fit connection, and the fit connection between the main driving roller device 34 and the main flexible guide rail 1 is completed. The assembly process of the fixed drive roller support 342 is: the fixed driving roller is placed in the fixed driving roller box body 71, and an upper-corner contact ball bearing and a lower-corner contact ball bearing are axially sleeved at two ends of the fixed driving roller. The groove-shaped matching installation is carried out through the groove-shaped matching installation corresponding to the main installation trapezoidal edge of the main flexible guide rail 1 on the fixed driving roller.
In this embodiment, on one hand, the main driving roller device 34 is installed by means of groove-shaped matching on the driving roller 343 corresponding to the main installation trapezoidal edge of the main flexible guide rail 1, and the second adjusting plate 73 is pushed by the second jackscrew 74 to be fixed; on the other hand, the driving mounting hinge lug 75 arranged along the length direction of the main flexible guide rail 1 through the driving roller body 341 is connected with the main driving device of the moving frame 3. In the installation process, the central distance between the gear in the main driving device and the tooth-shaped groove arranged on the main flexible guide rail 1 is ensured to be in a preset value. The main driving device mainly functions to provide power required by the movement of the whole moving vehicle frame 3.
In this embodiment, the auxiliary driving roller device 35 is connected to the auxiliary flexible guide rail 2, and the installation manner is the same as that of the main driving roller device 34 and the main flexible guide rail 1. It should be noted that the function of the secondary driving roller device 35 is different from that of the primary driving roller device 34, and the function is to provide the power required for adjusting the twist angle between the width direction of the platform assembly 31 and the length direction of the primary flexible guide rail 1 by changing the output speed, so as to ensure the perpendicular relationship between the two.
According to a specific implementation manner of the embodiment of the present disclosure, as shown in fig. 7, the main hinge device 8 includes a main outer hinge plate 81, a main inner hinge plate 82 disposed in the main outer hinge plate 81 and extending above the main outer hinge plate 81 along a height direction of the main outer hinge plate 81, and two hinge lugs 83 disposed on the main outer hinge plate 81 and far away from two ends of the main inner hinge plate 82, where the hinge lugs 83 are respectively connected with the first mounting groove 325 of the main support roller device 32 and the second mounting groove 62 of the main drive roller device 34 in a matching manner along a width direction of the main outer hinge plate 81.
In this embodiment, a square mounting hole is formed on the main outer hinge plate 81, and the main inner hinge plate 82 is fitted in the square mounting hole of the main outer hinge plate 81 and connected by a hinge shaft (not shown). The first mounting groove 325 and the second mounting groove 62 are rectangular slots, and the hinge lug 83 is a mounting block matched with the rectangular slots. The hinge lug 83 is connected to the first mounting groove 325 and the second mounting groove 62 by a driving roller rotating shaft and a supporting roller rotating shaft. When installed, the upper end face of the main hinge device 8 is connected to the platform assembly 31 by a fastener. One side of the lower end surface of the main hinge device 8 is matched with the first mounting groove 325 of the main support roller device 32 through a hinge lug 83 and is connected with the support roller through a support roller rotating shaft; meanwhile, the other side of the lower end surface of the main hinge unit 8 is fitted into the second mounting groove 62 of the main driving roller unit 34 and is rotatably coupled thereto by the driving roller. The above-described coupling structure fixes the positions of the main hinge device 8, the main support roller device 32, and the main drive roller device 34, and is a reference for adjusting and maintaining the main flexible guide rail 1 in the longitudinal direction X-axis perpendicular to the moving frame 3 in the width direction Y-axis, and maintaining the correct relationship between the two in cartesian coordinates, by the auxiliary hinge device.
According to a specific implementation manner of the embodiment of the present disclosure, as shown in fig. 8 to 10, one end surface of the secondary hinge device 9 is connected to the platform assembly 31, and the other end surface is connected to the secondary support roller device 33 and the secondary drive roller device 35, respectively. The auxiliary hinge device 9 includes an auxiliary outer hinge plate 811, an auxiliary inner hinge plate 821 disposed in the auxiliary outer hinge plate 811 and extending to the upper side of the auxiliary outer hinge plate 811 along the height direction of the auxiliary outer hinge plate 811, and two hinge eyes 831 disposed on the auxiliary outer hinge plate 811 and spaced apart from both ends of the auxiliary inner hinge plate 821, wherein the hinge eyes 831 are respectively connected to the first mounting groove of the auxiliary support roller device 33 and the second mounting groove of the auxiliary drive roller device 35 along the width direction of the auxiliary outer hinge plate 821 with a gap therebetween.
In this embodiment, the sub outer hinge plate 811 has a square mounting hole, and the sub inner hinge plate 821 is fitted in the square mounting hole of the sub outer hinge plate 811 and connected by a hinge shaft (not shown). The first mounting groove and the second mounting groove are both rectangular slotted holes, and the hinge lug 831 is a mounting block in clearance connection with the rectangular slotted holes. The hinge lug 831 is connected with the first mounting groove and the second mounting groove through a driving roller rotating shaft and a supporting roller rotating shaft. When installed, the upper end face of the secondary hinge means 9 is connected to the platform assembly 31 by fasteners. One side of the lower end surface of the auxiliary hinge device 9 is in clearance connection with a first mounting groove of the auxiliary support roller device 33 through a hinge lug and is connected with the lower end surface of the auxiliary support roller device through a support roller rotating shaft; meanwhile, the other side of the lower end surface of the auxiliary hinge device 9 is in clearance connection with the second mounting groove of the auxiliary driving roller device 35 and is connected through a driving roller rotating shaft. The gap enables the position adjustment between the auxiliary hinge device and the auxiliary support roller device 33 and between the auxiliary drive roller device 35, and adjusts and maintains the X axis of the main flexible guide rail 1 in the length direction to be perpendicular to the Y axis of the moving frame 3 in the width direction, thereby maintaining the correct relationship between the two in cartesian coordinates.
According to a specific implementation manner of the embodiment of the present disclosure, the platform assembly 31 includes a rectangular platform frame 91 and an adjusting assembly 92 disposed at a corner of the rectangular platform frame 91, wherein a mounting hole is formed in the rectangular platform frame 91; the adjusting assembly 92 comprises a platform rotating shaft 921 matched with the mounting hole; the cover is located angle encoder 925, encoder supporting seat 924, first lock nut 923, bearing group 922, second lock nut 926, bearing on the platform pivot 921 keep off the dish and set up in the arc guide rail slider of rectangle platform frame 91 bottom.
The adjusting assembly 92 is connected to the main inner hinge plate 81 of the main hinge device 8 and the auxiliary inner hinge plate 811 of the auxiliary hinge device 9 by means of arc-shaped guide rail sliders and a platform rotating shaft 921 through fasteners, respectively.
According to a specific implementation manner of the embodiment of the present disclosure, as shown in fig. 11 and 12, the moving carriage 3 further includes a main driving device 6 for providing overall power to the moving carriage 3, and the main driving device 6 is connected to a main driving roller device 34. The main driving device 6 comprises an upper half box body 64, a lower half box body 65 which is correspondingly connected with the upper half box body 64 to form a cavity, a driving assembly 66, a coupling 67, a speed reducer 68, a transmission assembly 69 and a mounting seat connected with the main flexible guide rail 1; wherein the content of the first and second substances,
the transmission assembly 66 comprises a gear shaft and a sleeved gear sleeved on the gear shaft; the gear shaft is the core for installing the whole device, penetrates through a cavity formed by the lower half box body 65 and the upper half box body 64, and is bounded by the gear on the gear shaft, and the left side of the gear shaft is sleeved with the bearing and the gear shaft end cover in sequence; the right side is sleeved with a gear, a clearance eliminating device, a bearing, a gear end cover, a coupling 67, a reducer adapter plate, a reducer and a driving assembly in sequence. In this embodiment, the driving component is a servo motor. Specifically, the mounting seat comprises a mounting box body, mounting bearings arranged at two ends of the mounting roller, a mounting adjusting plate arranged around the periphery of the mounting roller, and a mounting jackscrew used for pushing the mounting adjusting plate to be close to the mounting roller so as to enable the mounting roller to be in contact fit with the main mounting trapezoidal edge of the main flexible guide rail 1, wherein a penetrating mounting jackscrew hole is formed in the side surface of the mounting box body along the width direction of the main flexible guide rail, and the mounting jackscrew penetrates through the mounting jackscrew hole and abuts against the mounting adjusting plate; the installation idler wheel, the installation bearing, the installation adjusting plate and the installation jackscrew are all located in the installation box body. In addition, the upper half box body 64 is provided with a driving mounting hinge lug along the length direction of the main flexible guide rail, and the main driving device 6 is connected with the main driving roller device 34 of the moving frame through the driving mounting hinge lug.
In the embodiment, the main driving device 6 is installed by groove type matching corresponding to the main installation trapezoidal edge of the main flexible guide rail 1 on the third roller, and a third adjusting plate is installed and fixed by being pushed by a third jackscrew; in addition, the connection is made by driving the mounting lugs to the main drive roller assembly 34. It should be noted that, in the above installation process, it is to be ensured that the center distance between the gear of the transmission assembly and the tooth-shaped groove of the main flexible guide rail 1 is at a preset value. During operation, the servo motor is started, an output shaft of the servo motor is connected with the transmission assembly through the coupler, power is output, and power required by movement of the whole moving frame 3 is provided.
According to a specific implementation manner of the embodiment of the present disclosure, the secondary driving device 7 is symmetrical to the primary driving device 6, and is installed in the same manner, and the secondary driving device 7 is connected to the secondary flexible guide rail 2 and the secondary driving roller device 35, but has a different function from the primary driving device 6. The auxiliary driving device 7 provides power required for adjusting the twist angle between the width direction of the platform assembly 31 and the length direction of the main flexible guide rail 1 by changing the output speed, and the perpendicular relation between the width direction and the length direction is ensured.
In this embodiment, when the moving frame 3 is in the width direction indicated by the Y axis and the main flexible guide rail 1 is in the length direction indicated by the X axis, the secondary driving device 7 refers to the primary driving device 6, and changes the output rate by combining the misalignment angle between the width direction of the platform assembly 31 and the length direction of the main flexible guide rail 1 measured by the angle encoder, and the misalignment angle between the width direction of the platform assembly 31 and the length direction of the main flexible guide rail 1 is adjusted by the cooperation of the primary support roller device 32, the primary hinge device 8, the primary drive roller device 34, the primary driving device 6, the secondary drive roller device 35, and the secondary hinge device 9, so as to ensure the perpendicular relationship between the two, and maintain the correct relationship between the two in cartesian coordinates.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The flexible guide rail hole making equipment is characterized by comprising a main flexible guide rail, auxiliary flexible guide rails which are arranged in parallel with the main flexible guide rail at equal intervals, a moving frame which connects the main flexible guide rail and the auxiliary flexible guide rails, and an end effector which is positioned on the moving frame, wherein,
one ends of the bottoms of the main flexible guide rail and the auxiliary flexible guide rail, which are far away from the moving frame, are provided with adsorption devices;
the moving frame comprises a main supporting roller device, a main driving roller device, an auxiliary supporting roller device and an auxiliary driving roller device, the moving frame moves along the length direction of the main flexible guide rail and the auxiliary flexible guide rail, the moving frame and the main flexible guide rail are in clamping connection through the main supporting roller device and the main driving roller device, and the moving frame and the auxiliary flexible guide rail are in clamping connection through the auxiliary supporting roller device and the auxiliary driving roller device so as to adapt to the same-direction movement of the moving frame along the length direction of the main flexible guide rail and the auxiliary flexible guide rail;
the sports carriage further comprises a platform assembly for connecting the end effector, a main hinge device and a secondary hinge device, wherein,
one end surface of the main hinge device is connected with the platform assembly, and the other end surface of the main hinge device is respectively connected with the main supporting roller device and the main driving roller device;
one end face of the auxiliary hinge device is connected with the platform assembly, and the other end face of the auxiliary hinge device is respectively connected with the auxiliary supporting roller device and the auxiliary driving roller device;
the main hinge device, the auxiliary hinge device, the main supporting roller device, the main driving roller device, the auxiliary supporting roller device and the auxiliary driving roller device are all arranged below the platform assembly;
the main supporting roller device and the main driving roller device are covered on the main flexible guide rail along the length direction of the main flexible guide rail;
the auxiliary support roller device and the auxiliary drive roller device are covered on the auxiliary flexible guide rail along the length direction of the auxiliary flexible guide rail;
the main supporting roller device comprises a supporting roller body, fixed supporting roller supports and adjusting supporting roller supports, wherein the fixed supporting roller supports are arranged on two sides of the supporting roller body and used for being fixedly installed, the adjusting supporting roller supports are used for adjusting the distance, and a first accommodating cavity which is beneficial to being covered on a main flexible guide rail is formed between the supporting roller body and the fixed supporting roller supports and between the supporting roller body and the adjusting supporting roller supports;
main installation trapezoidal edges are arranged on two sides of the main flexible guide rail, and a fixed support roller and an adjustment support roller which are in groove-shaped matched connection with the corresponding main installation trapezoidal edges are respectively arranged in the fixed support roller support and the adjustment support roller support;
the supporting roller body comprises a first supporting block, a first mounting groove and a first roller rotating shaft hole, the first mounting groove is arranged on the first supporting block and is used for being connected with the main hinge device, the first roller rotating shaft hole is formed in the first supporting block, the first mounting groove is arranged in a penetrating mode towards the direction of the first accommodating cavity, and the first roller rotating shaft hole is arranged in a penetrating mode in the direction perpendicular to the main flexible guide rail;
the adjusting support roller support further comprises an adjusting support roller box body, an adjusting support roller, a first bearing A arranged inside the adjusting support roller, first gaskets arranged at the upper end and the lower end of the first bearing A, a first adjusting plate arranged around the periphery of the adjusting support roller, and a first jackscrew used for pushing the first adjusting plate to be close to the adjusting support roller so that the adjusting support roller is in contact fit with the main installation trapezoidal edge, wherein a first jackscrew hole penetrating through the side surface of the adjusting support roller box body is formed in the width direction of the main flexible guide rail, and the first jackscrew penetrates through the first jackscrew hole to be abutted against the first adjusting plate;
the adjusting support roller, the first bearing A, the first gasket, the first adjusting plate and the first jackscrew are all positioned in the adjusting support roller box body;
the fixed support roller support also comprises a fixed support roller box body, a fixed support roller, a first bearing B arranged in the fixed support roller and first flanges arranged at the upper end and the lower end of the first bearing B;
the fixed supporting roller, the first bearing B and the first flange are all located in the fixed supporting roller box body.
2. The flexible rail perforation apparatus according to claim 1, wherein: the main driving roller device comprises a driving roller body, and an adjusting driving roller support and a fixed driving roller support which are arranged on two sides of the driving roller body, wherein a second accommodating cavity which is beneficial to covering on the main flexible guide rail is formed among the driving roller body, the adjusting driving roller support and the fixed driving roller support;
the two sides of the main flexible guide rail are provided with main installation trapezoidal edges, and an adjustment driving roller and a fixed driving roller which are connected with the main installation trapezoidal edges in a matched mode in a groove shape are arranged in the adjustment driving roller support and the fixed driving roller support respectively.
3. The flexible rail perforation machine according to claim 2, wherein:
the driving roller body comprises a second supporting block, a second mounting groove and a driving roller rotating shaft hole, the second mounting groove is arranged on the second supporting block and is used for connecting the main hinge device, the driving roller rotating shaft hole is formed in the second supporting block, the second mounting groove is arranged in a penetrating mode towards the direction of the second accommodating cavity, and the driving roller rotating shaft hole is arranged in a penetrating mode along the direction perpendicular to the main flexible guide rail;
the adjusting driving roller support further comprises an adjusting driving roller box body, an adjusting driving roller, a second bearing A arranged inside the adjusting driving roller, second gaskets arranged at the upper end and the lower end of the second bearing A, a second adjusting plate arranged on the periphery of the adjusting driving roller in a surrounding mode, and a second jackscrew used for pushing the second adjusting plate to be close to the adjusting driving roller so that the adjusting driving roller is in contact fit with the main installation trapezoidal edge, a penetrating second jackscrew hole is formed in the side face of the adjusting driving roller box body along the width direction of the main flexible guide rail, and the second jackscrew penetrates through the second jackscrew hole and abuts against the second adjusting plate;
the adjusting driving roller, the second bearing A, the second gasket, the second adjusting plate and the second jackscrew are all positioned in the adjusting driving roller box body;
the fixed driving roller support also comprises a fixed driving roller box body, a fixed driving roller, a second bearing B arranged in the fixed driving roller, and second flanges arranged at the upper end and the lower end of the second bearing B;
and the fixed driving roller, the second bearing B and the second flange are all positioned in the fixed driving roller box body.
4. The flexible rail perforation machine according to claim 3, wherein: the main hinge device comprises a main outer hinge plate, a main inner hinge plate and two hinge lugs, wherein the main inner hinge plate is arranged in the main outer hinge plate and extends to the upper portion of the main outer hinge plate along the height direction of the main outer hinge plate, the two hinge lugs are arranged on the main outer hinge plate and are far away from two ends of the main inner hinge plate, and the hinge lugs are respectively matched and connected with a first mounting groove of the main support roller device and a second mounting groove of the main drive roller device along the width direction of the main outer hinge plate.
5. The flexible rail perforation apparatus according to claim 4, wherein: the auxiliary hinge device comprises an auxiliary outer hinge plate, an auxiliary inner hinge plate and two hinge lugs, wherein the auxiliary inner hinge plate is arranged in the auxiliary outer hinge plate and extends to the upper portion of the auxiliary outer hinge plate along the height direction of the auxiliary outer hinge plate, the two hinge lugs are arranged on the auxiliary outer hinge plate and are far away from two ends of the auxiliary inner hinge plate, and the hinge lugs are respectively in clearance connection with a first mounting groove of the auxiliary supporting roller device and a second mounting groove of the auxiliary driving roller device along the width direction of the auxiliary outer hinge plate.
6. The flexible rail perforation machine according to claim 5, wherein: the platform assembly comprises a rectangular platform frame and an adjusting assembly arranged at the corner of the rectangular platform frame, wherein,
the rectangular platform frame is provided with a mounting hole;
the adjusting assembly comprises a platform rotating shaft matched with the mounting hole; the angle encoder, the encoder supporting seat, the first locking nut, the bearing group, the second locking nut, the bearing blocking disc and the arc-shaped guide rail sliding block are sleeved on the platform rotating shaft;
the adjusting assembly is connected with the main inner hinge plate of the main hinge device and the auxiliary inner hinge plate of the auxiliary hinge device through the arc-shaped guide rail sliding block and the platform rotating shaft through fasteners respectively.
7. The flexible rail perforation apparatus according to claim 1, wherein: the sports vehicle frame further comprises a main driving device and an auxiliary driving device which are used for providing the whole power of the sports vehicle frame, and the main driving device and the auxiliary driving device are symmetrical in structure; the main driving device and the auxiliary driving device are respectively connected with the main driving roller device and the auxiliary driving roller device; the main driving device comprises an upper half box body, a lower half box body, a driving assembly, a coupling, a speed reducer, a transmission assembly and a mounting seat, wherein the lower half box body is correspondingly connected with the upper half box body to form a cavity, and the mounting seat is connected with the main flexible guide rail.
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| CN201911267060.9A CN110963069B (en) | 2019-12-11 | 2019-12-11 | Flexible guide rail hole making equipment |
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| CN201911267060.9A CN110963069B (en) | 2019-12-11 | 2019-12-11 | Flexible guide rail hole making equipment |
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| CN110963069B true CN110963069B (en) | 2021-06-08 |
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| CN102847979A (en) * | 2012-03-21 | 2013-01-02 | 北京航空航天大学 | Flexible railway attaching to plane surface and used for carrying drilling end effector |
| CN107538042A (en) * | 2017-10-19 | 2018-01-05 | 南京航空航天大学 | The circular orbit punching system and its operation method of a kind of rigid flexible system |
| CN207386644U (en) * | 2017-10-29 | 2018-05-22 | 中国航空工业集团公司北京航空制造工程研究所 | A kind of laying positioner for flexible guide rail |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4371107A (en) * | 1978-10-31 | 1983-02-01 | Kobe Steel, Ltd. | Welding machine |
| CN102198531A (en) * | 2011-06-08 | 2011-09-28 | 大连四达高技术发展有限公司 | Arc surface drilling equipment |
| CN102847979A (en) * | 2012-03-21 | 2013-01-02 | 北京航空航天大学 | Flexible railway attaching to plane surface and used for carrying drilling end effector |
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