CN111168420B - Wheeled three-dimensional mobile support flexible tool structure - Google Patents
Wheeled three-dimensional mobile support flexible tool structure Download PDFInfo
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- CN111168420B CN111168420B CN201811338598.XA CN201811338598A CN111168420B CN 111168420 B CN111168420 B CN 111168420B CN 201811338598 A CN201811338598 A CN 201811338598A CN 111168420 B CN111168420 B CN 111168420B
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- platform
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- rod
- draw bar
- flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
- B23Q3/088—Work-clamping means other than mechanically-actuated using vacuum means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The utility model provides a wheeled three-dimensional flexible frock structure of supporting that removes, includes: the flexible supporting mechanism is fixedly arranged on the upper surface of the wheel type moving platform through a supporting and mounting base; the flexible support mechanism includes: the lower surface of the telescopic upright post unit is arranged on the support mounting base, and a vacuum sucker of the vacuum sucker module is connected with the top end of the telescopic upright post unit through a ball bearing; the wheeled moving platform includes: the wheel module is arranged below the platform main body through a telescopic support frame; according to the invention, through cluster control of the movement of the plurality of wheel type moving platforms in the direction X, Y, the flexibility of the lattice position layout of the supporting columns is obviously improved, and a better supporting point position layout is provided for the thin-wall part processing, so that the processing quality of the thin-wall part is improved, and the defects that the traditional flexible tool is poor in flexibility and cannot be well adapted to the layout optimization of the supporting array of the thin-wall part are overcome.
Description
Technical Field
The invention relates to the technology in the field of aircraft manufacturing, in particular to a wheel type three-dimensional movable support flexible tooling structure.
Background
The flexible tool is generally used for solving the problem of 'slippage' of a large thin-walled part in the process of machining and forming, so that the problem of scrapping of the part due to low appearance quality and poor fatigue strength is solved. The existing Flexible Tooling for processing large thin-wall parts is mainly divided into two types, one type is a TORRESTOL system, and the other type is POGO Flexible Tooling Systems. POGO columns in the TORRESTOOL system are distributed on each bent frame, the positions of the POGO columns on the same bent frame are the same on an X axis, namely the X-direction translation freedom degree of each POGO is limited. All POGO columns in the POGO Flexible Tooling Systems are fixedly arranged on the corresponding base and only have one translation degree of freedom in the Z direction. The method is limited by the limitation of the structural layout of the support columns of the two flexible tool systems, and when large-scale thin-wall parts are actually machined, the conventional flexible tool cannot be well optimized in layout according to the shape of the thin-wall part, and the optimization method cannot be well utilized to improve machining quality.
Disclosure of Invention
The invention provides a wheel type three-dimensional moving support flexible tool structure aiming at the defect of insufficient layout flexibility of the existing flexible tool structure.
The invention is realized by the following technical scheme:
the invention comprises the following steps: flexible supporting mechanism and wheeled moving platform, wherein: the flexible supporting mechanism is fixedly arranged on the upper surface of the wheel type moving platform through the supporting and mounting base.
The flexible supporting mechanism comprises: flexible stand unit and vacuum chuck module, wherein: the lower surface of flexible stand unit sets up on supporting the mounting base, and the vacuum chuck of vacuum chuck module passes through the bulb bearing with the top of flexible stand unit and is connected.
The wheeled moving platform comprises: platform main part and wheel module, wherein: the wheel module is arranged below the platform main body through the telescopic support frame.
The supporting and mounting base is of a rectangular sheet structure, and threaded hole combination bolts are symmetrically distributed on four corners of the supporting and mounting base to be fixedly connected with the flexible supporting mechanism and the platform main body respectively.
The platform main part be the cuboid structure, be equipped with in the platform main part and support the steering column, wherein: the supporting steering column is positioned in the center of the interior of the platform main body, and the upper end of the supporting steering column is fixedly connected with the upper surface of the interior of the platform main body.
The vacuum chuck module comprises: vacuum chuck, vacuum generator and cap-like dust cover, wherein: vacuum chuck passes through the bulb bearing with flexible stand unit and links to each other, and vacuum generator is located the moving platform main part inside, and cap form dust cover is located the vacuum chuck top, and vacuum generator passes through tubular product with vacuum chuck and is connected.
Technical effects
Compared with the traditional flexible tool structure, the flexible tool structure obviously improves the flexibility of the POGO column supporting array position layout, and provides a better supporting point position layout for thin-wall parts, thereby improving the processing quality of the thin-wall parts, and overcoming the defects that the traditional flexible tool structure has poor flexibility and can not be well adapted to the optimization of the thin-wall part supporting array layout. In addition, the invention obviously improves the lattice layout speed of the support columns in the processing process of the large thin-wall part and greatly improves the processing efficiency.
According to the invention, through a wiring mode driven by a power battery, the installation and wiring work of the flexible tool are greatly simplified, the defects of high design and manufacturing cost and poor flexibility of the traditional flexible tool are overcome, and the reliability of the flexible tool is improved.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2a is a partial top view of the wheeled mobile platform;
FIG. 2b is a schematic diagram of an internal structure of the wheeled mobile platform;
figure 2c is a half sectional view of the wheeled mobile platform;
FIG. 3a is a schematic view of a telescoping unit;
FIGS. 3b and 3c are half sectional views of the telescopic unit;
FIG. 4 is a front view of the wheel module;
FIG. 5 is a front view of the flexible support mechanism;
in the figure: the flexible supporting mechanism comprises a flexible supporting mechanism 1, a wheel type moving platform 2, a platform main body 3, a wheel module 4, a supporting and mounting base 5, a steering unit 6, a telescopic unit 7, a first driving motor 8, a pinion 9, a gear ring 10, a steering disc 11, a fixed flat plate 12, an upper platform 13, a lower platform 14, a second driving motor 15, a first motor fixing rod 16, a second motor fixing rod 17, a third motor fixing rod 18, a fourth motor fixing rod 19, a lead screw 20, a first lead screw fixing rod 21, a second lead screw fixing rod 22, a support rod 23, a support fixing rod 24, a connecting rod 25, a main bearing rod 26, an upper diagonal draw bar 27, a 28 locking rod, a first fixing hinge 29, a second fixing hinge 30, a hub motor-driven wheel 31, a lower diagonal draw bar 32, a driving device 33, a vacuum suction cup module 34, a ball head bearing 35 and a telescopic upright unit 36.
Detailed Description
As shown in fig. 1, a wheeled three-dimensional mobile support flexible tooling structure related to this embodiment includes: flexible supporting mechanism 1 and wheeled moving platform 2, wherein: the flexible supporting mechanism 1 is fixedly arranged on the upper surface of the wheel type moving platform 2 through a supporting and mounting base 5.
As shown in fig. 2a to 2c, the wheeled moving platform 2 includes: platform main part 3 and wheel module 4, wherein: the wheel module 4 is arranged below the platform main body 3 through a telescopic support frame.
The support mounting base 5 is of a rectangular sheet structure, and threaded hole combination bolts are symmetrically distributed on four corners of the support mounting base 5 to respectively fixedly connect the flexible supporting mechanism 1 and the platform main body 3.
Platform main part 3 be the cuboid structure, be equipped with in the platform main part 3 and support the steering column, wherein: the supporting steering column is positioned in the center of the inside of the platform main body 3, and the upper end of the supporting steering column is fixedly connected with the upper surface of the inside of the platform main body 3.
As shown in fig. 2c, the support steering column includes: a steering unit 6 and a telescopic unit 7 at the top end, wherein: the steering unit 6 is fixedly connected with the upper surface inside the mobile platform main body 3; as shown in fig. 3, the steering unit 6 includes: first driving motor 8, pinion 9, bull gear ring 10, steering disc 11 and fixed flat plate 12, wherein: first driving motor 8 sets up in fixed dull and stereotyped 12 ring groove edge, pinion 9 sets up in first driving motor 8's output shaft end and meshes mutually with gear ring 10 external tooth, gear ring 10 sets up in fixed dull and stereotyped 12 central authorities' ring groove department, and fixed dull and stereotyped 12 utilizes the bolt to link to each other with the inside upper surface of platform main part 3 through the screw hole that is located dull and stereotyped four corners department, turns to disc 11 and gear ring 10 fixed connection to through bolt and the fixed connection of flexible unit 7.
When the rhombic lifting platform is lifted to a lower plane to be in contact with the ground, so that four wheels of the wheel type moving platform 2 are lifted off, and when the wheel type moving platform is turned, the driving motor 15 in the telescopic unit 7 drives the screw rod 20 to rotate, so that the first screw rod fixing rod 21 and the second screw rod fixing rod 22 are close to each other, the rhombic lifting platform is lifted, and the four wheels of the wheel type moving platform 2 are separated from the ground; then a first driving motor 8 in the steering unit 6 drives a pinion 9 to rotate, and further drives a large gear ring 10 to rotate, so that the purpose of steering the wheel type moving platform 2 is achieved; after the steering is finished, the driving motor in the telescopic unit 7 drives to enable the four wheels of the wheel type moving platform 2 to return to the ground.
As shown in fig. 3a to 3c, the telescopic unit 7 is a rhombic lifting platform structure, and includes: upper platform 13, lower platform 14, second driving motor 15, first motor dead lever 16, second motor dead lever 17, third motor dead lever 18, fourth motor dead lever 19, lead screw 20, first lead screw dead lever 21, second lead screw dead lever 22, four groups of bracing pieces 23, support dead lever 24 and connecting rod 25, wherein: the upper surface of the upper platform 13 is fixedly connected with the steering disc 11, the lower surface of the upper platform 13 is connected with the support rod 23 through the support fixing rod 24, the upper surface of the lower platform 14 is connected with the support rod 23 through the support fixing rod 24, the second driving motor 15 is connected with the support rod 23 through the first motor fixing rod 16, the second motor fixing rod 17, the third motor fixing rod 18, the fourth motor fixing rod 19 is fixedly connected with the first lead screw fixing rod 21, the lead screw 20 is coaxially connected with the output shaft of the second driving motor 15, the lead screw 20 is connected with the support rod 23 through the first lead screw fixing rod 21 and the second lead screw fixing rod 22, each group of support rods 23 is of a diamond-shaped four-bar structure, and the connecting rod.
In the ascending state, the second driving motor 15 drives the first lead screw fixing rod 21 and the second lead screw fixing rod 22 to move from two sides to the center by driving the lead screw 20, and further drives the support rod 23 in the rhombic rotating connection to ascend, so that the ascending function is realized; the descending state is the reverse.
As shown in fig. 4, the wheel module 4 is a telescopic support frame with a hub motor wheel 31, and the telescopic support frame includes: drive means 33 and a support mechanism connected thereto, wherein: the support mechanism includes: main load bar 26, upper diagonal draw bar 27, locking bar 28 and lower diagonal draw bar 32, wherein: one end of the main bearing rod 26 is rotatably connected with the inside of the platform main body 3 through a first fixed hinge 29, one end of the upper diagonal draw bar 27 is rotatably connected with the inside of the mobile platform main body 3 through a second fixed hinge 30, the other end of the upper diagonal draw bar is rotatably connected with one end of the lower diagonal draw bar 32 and one end of the locking rod 28, the other end of the lower diagonal draw bar 32 is rotatably connected with the main bearing rod 26, and the other end of the locking rod 28 is rotatably connected with the driving device.
In a normal working state, the upper diagonal draw bar 27 and the lower diagonal draw bar 32 are in the same straight line, the locking bar is perpendicular to the straight line at the moment, and the main bearing rod 26 is perpendicular to the horizontal plane; when the foldable platform is in a folded state, the driving device pulls the upper diagonal draw bar 27 and the lower diagonal draw bar 32 through the locking rod, so that the upper end rotating connection point of the upper diagonal draw bar 27 is in coincident contact with the lower end rotating connection point of the lower diagonal draw bar 32, and the wheel module 4 is contracted into the platform main body 3 at the moment.
As shown in fig. 5, the flexible supporting mechanism 1 includes: a telescoping mast unit 36 and a vacuum chuck module 34, wherein: the lower surface of the telescopic vertical column unit 36 is arranged on the support mounting base 5, and the vacuum chuck of the vacuum chuck module is connected with the top end of the telescopic vertical column unit 36 through a ball bearing 35.
The supporting steering column comprising the steering unit 6 and the telescopic unit 7 is creatively separated from the ground through the lifting wheel type mobile platform, and then the steering unit is used for steering, so that the steering purpose of the wheel type three-dimensional mobile supporting flexible tool structure is achieved, the flexibility of the supporting POGO column lattice position layout in the large thin-wall part processing is greatly improved, and the processing efficiency of the large thin-wall part is finally improved.
Compared with the existing TORRESTOL system and POGO Flexible Tooling Systems, the novel wheel type three-dimensional moving support Flexible Tooling structure has the advantage that the used layout time is averagely reduced by 30% in the support of POGO column dot matrix position layout.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
1. The utility model provides a wheeled three-dimensional flexible frock structure of support that removes which characterized in that includes: flexible supporting mechanism and wheeled moving platform, wherein: the flexible supporting mechanism is fixedly arranged on the upper surface of the wheel type moving platform through a supporting and mounting base;
the flexible supporting mechanism comprises: flexible stand unit and vacuum chuck module, wherein: the lower surface of the telescopic upright unit is arranged on the support mounting base, and a vacuum chuck of the vacuum chuck module is connected with the top end of the telescopic upright unit through a ball bearing;
the wheeled moving platform comprises: platform main part and wheel module, wherein: the wheel module is arranged below the platform main body through a telescopic support frame;
the supporting and mounting base is of a rectangular sheet structure, and threaded hole combination bolts are symmetrically distributed on the supporting and mounting base at four corners of the supporting and mounting base so as to be respectively and fixedly connected with the flexible supporting mechanism and the platform main body;
the telescopic support frame comprises: the driving device and the supporting mechanism connected with the driving device; this supporting mechanism includes: main carrier bar, go up diagonal draw bar, lower diagonal draw bar and locking pole, wherein: one end of the main bearing rod is rotatably connected with the inside of the platform main body through a first fixed hinge, one end of the upper diagonal draw bar is rotatably connected with the inside of the mobile platform main body through a second fixed hinge, the other end of the upper diagonal draw bar is rotatably connected with the lower diagonal draw bar and one end of the locking rod, the other end of the lower diagonal draw bar is rotatably connected with the main bearing rod, and the other end of the locking rod is rotatably connected with the driving device; in a normal working state, the upper diagonal draw bar and the lower diagonal draw bar are positioned on the same straight line, the locking bar is vertical to the straight line at the moment, and the main bearing bar is vertical to the horizontal plane; when the foldable platform is in a folded state, the driving device pulls the upper diagonal draw bar and the lower diagonal draw bar through the locking rod, so that the upper end rotating connection point of the upper diagonal draw bar is in coincident contact with the lower end rotating connection point of the lower diagonal draw bar, and the wheel module is contracted into the interior of the platform main body at the moment.
2. The structure of claim 1, wherein the wheel module is further provided with a telescopic support frame and a hub motor wheel.
3. The structure of claim 1, wherein the platform body is a rectangular parallelepiped structure, and a steering column is disposed in the platform body, wherein: the supporting steering column is positioned in the center of the interior of the platform main body, and the upper end of the supporting steering column is fixedly connected with the upper surface of the interior of the platform main body.
4. The structure of claim 3, wherein said support steering column comprises: the steering unit and the telescopic unit are positioned at the top end, wherein: the steering unit is fixedly connected with the upper surface inside the mobile platform main body; the steering unit includes: first driving motor, pinion, big gear ring, fixed flat board and turn to the disc, wherein: the first driving motor is arranged at the edge of an annular clamping groove of the fixed flat plate, the pinion is arranged at the tail end of an output shaft of the first driving motor and is meshed with the outer teeth of the bull gear ring, the bull gear ring is arranged at the annular clamping groove in the center of the fixed flat plate, the fixed flat plate is connected with the upper surface inside the platform main body through threaded holes in four corners of the flat plate by bolts, and the steering disc is connected with the steering unit through the side prism and the upper platform of the rhombic lifting platform through the bolts respectively; when the wheel type mobile platform turns, the first driving motor drives the pinion to rotate, and then drives the bull gear ring to rotate, so that the purpose of turning the wheel type mobile platform is achieved.
5. The structure of claim 4, wherein the telescopic unit is a rhombic lifting platform structure, comprising: upper mounting plate, lower platform, second driving motor, first motor dead lever, second motor dead lever, third motor dead lever, fourth motor dead lever, lead screw, first lead screw dead lever, second lead screw dead lever, four group's bracing pieces, support dead lever and connecting rod, wherein: the upper surface of the upper platform is fixedly connected with the steering disc, the lower surface of the upper platform is connected with the supporting rod through a supporting fixed rod, the upper surface of the lower platform is connected with the supporting rod through a supporting fixed rod, a second driving motor is fixedly connected with a first lead screw fixed rod through a first motor fixed rod, a second motor fixed rod, a third motor fixed rod and a fourth motor fixed rod, a lead screw is coaxially connected with an output shaft of the second driving motor and is connected with the supporting rod through the first lead screw fixed rod and the second lead screw fixed rod, each group of supporting rods is of a diamond-shaped four-bar structure, and the connecting rod is connected with the supporting fixed rod; in the ascending state, the second driving motor drives the first lead screw fixing rod and the second lead screw fixing rod to move from two sides to the center through driving the lead screw, and further drives the support rod in rhombic rotating connection to ascend, so that the ascending function is realized; the descending state is the reverse.
6. The structure of claim 1, wherein said vacuum chuck module comprises: vacuum chuck, vacuum generator and cap-like dust cover, wherein: vacuum chuck passes through the bulb bearing with flexible stand unit and links to each other, and vacuum generator is located the moving platform main part inside, and cap form dust cover is located the vacuum chuck top, and vacuum generator passes through tubular product with vacuum chuck and is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811338598.XA CN111168420B (en) | 2018-11-12 | 2018-11-12 | Wheeled three-dimensional mobile support flexible tool structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811338598.XA CN111168420B (en) | 2018-11-12 | 2018-11-12 | Wheeled three-dimensional mobile support flexible tool structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111168420A CN111168420A (en) | 2020-05-19 |
| CN111168420B true CN111168420B (en) | 2021-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811338598.XA Active CN111168420B (en) | 2018-11-12 | 2018-11-12 | Wheeled three-dimensional mobile support flexible tool structure |
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| CN (1) | CN111168420B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113858081A (en) * | 2021-10-29 | 2021-12-31 | 中国航空制造技术研究院 | Array type multi-point flexible positioning tool capable of being split, moved and recombined and positioning method |
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| CN1789063A (en) * | 2004-12-13 | 2006-06-21 | 冯健翔 | Flexible structure universal robot |
| CN104296706A (en) * | 2014-10-23 | 2015-01-21 | 上海大众汽车有限公司 | Flexibility measuring device |
| CN204353794U (en) * | 2014-12-29 | 2015-05-27 | 中国航空工业集团公司北京航空制造工程研究所 | Flexible supporting device |
| CN205393873U (en) * | 2016-02-18 | 2016-07-27 | 上海汇众汽车制造有限公司 | Flexible frock angle positioning device |
| CN205771939U (en) * | 2016-07-07 | 2016-12-07 | 马鞍山华东回转支承有限公司 | A kind of pivoting support flexibility transport robot |
| CN108030632A (en) * | 2017-12-18 | 2018-05-15 | 孙梅 | Intelligent midwifery stent |
| CN207358683U (en) * | 2017-10-17 | 2018-05-15 | 三河金锐光机电技术开发有限公司 | A kind of flexible material-pulling device of numerically-controlled machine tool |
-
2018
- 2018-11-12 CN CN201811338598.XA patent/CN111168420B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1789063A (en) * | 2004-12-13 | 2006-06-21 | 冯健翔 | Flexible structure universal robot |
| CN104296706A (en) * | 2014-10-23 | 2015-01-21 | 上海大众汽车有限公司 | Flexibility measuring device |
| CN204353794U (en) * | 2014-12-29 | 2015-05-27 | 中国航空工业集团公司北京航空制造工程研究所 | Flexible supporting device |
| CN205393873U (en) * | 2016-02-18 | 2016-07-27 | 上海汇众汽车制造有限公司 | Flexible frock angle positioning device |
| CN205771939U (en) * | 2016-07-07 | 2016-12-07 | 马鞍山华东回转支承有限公司 | A kind of pivoting support flexibility transport robot |
| CN207358683U (en) * | 2017-10-17 | 2018-05-15 | 三河金锐光机电技术开发有限公司 | A kind of flexible material-pulling device of numerically-controlled machine tool |
| CN108030632A (en) * | 2017-12-18 | 2018-05-15 | 孙梅 | Intelligent midwifery stent |
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| CN111168420A (en) | 2020-05-19 |
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