CN111390816A - Six-freedom-degree posture adjusting platform for assembling shaft products - Google Patents
Six-freedom-degree posture adjusting platform for assembling shaft products Download PDFInfo
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- CN111390816A CN111390816A CN202010359096.6A CN202010359096A CN111390816A CN 111390816 A CN111390816 A CN 111390816A CN 202010359096 A CN202010359096 A CN 202010359096A CN 111390816 A CN111390816 A CN 111390816A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H5/00—Tool, instrument or work supports or storage means used in association with vehicles; Workers' supports, e.g. mechanics' creepers
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Abstract
The invention provides a six-degree-of-freedom posture adjusting platform for shaft product assembly, which comprises an omnidirectional transfer trolley, an X-axis moving mechanism, a first Y-axis moving mechanism, a second Y-axis moving mechanism, a first vertical moving mechanism, a second vertical moving mechanism, a first rotating mechanism and a second rotating mechanism, wherein the X-axis moving mechanism is fixedly arranged on the upper side of the omnidirectional transfer trolley, the first Y-axis moving mechanism is fixedly arranged on a first X-axis moving table of the X-axis moving mechanism, the second Y-axis moving mechanism is fixedly arranged on a second X-axis moving table of the X-axis moving mechanism, the first rotating mechanism is fixedly arranged on the first Y-axis moving mechanism through the first vertical moving mechanism, and the second rotating mechanism is fixedly arranged on the second Y-axis moving mechanism through the second vertical moving mechanism. The invention can realize automatic transfer and accurate assembly of components, can realize automatic control and adjustment with six degrees of freedom and manual fine adjustment control, and greatly improves the assembly efficiency and the assembly precision compared with the prior art.
Description
Technical Field
The invention belongs to the field of butt joint assembly platforms, and particularly relates to a six-degree-of-freedom posture adjusting platform for shaft product assembly.
Background
In the assembling process of major diameter axle type part, mainly adopt the overhead traveling crane hoist and mount, through artifical manual butt joint assembly, the assembling process not only the precision is low, and is inefficient moreover, consequently need to adopt automatic butt joint assembly technique urgently, realizes control to whole assembling process, improves assembly precision and assembly efficiency. According to the retrieval, patent CN 108098710's patent publication sees a trackless transportation platform, and this patent realizes transferring on a large scale through transporting the platform, transports two sets of accent appearance mechanisms that set up on the platform and carries out the adjustment of position appearance to round part, realizes the adjustment of six degrees of freedom, and its weak point lies in: 1. when the offset distance between the gravity center of the part and the gravity center of the transfer platform is large, large offset load moment can be generated on the transfer platform, the assembly precision is influenced, the assembly efficiency is reduced, and meanwhile, the transfer platform is damaged; 2. when the transportation platform is transported in a larger range, the transportation platform cannot meet the requirement of gradient in the transportation process; 3. when the tool is suitable for butt joint of parts with different diameters, the tool needs to be manually replaced, the time of preparation work is increased, and when the diameters of different positions of the same shaft part are different, different tools need to be replaced, so that the whole assembly efficiency is reduced; 4. the vertical lifting height of the posture adjusting mechanism is limited, and the posture adjusting mechanism cannot adapt to assembly butt joint of components with different heights; 5. when a part with a larger diameter is installed, the positions of two groups of supporting points of the tool base are unchanged, and the included angle between the two supporting points and the axis of the part is smaller along with the increase of the diameter, so that the gravity center is higher, and the assembly stability is poor; 6. when the manual movement is carried out along the movement direction of the axis of the component, the manual direct pushing mode is adopted, the precision is poor, and the two groups of posture adjusting mechanisms cannot realize linkage and separate movement, so that the efficiency is reduced; 7. the rack in the anti-backlash rolling mechanism is arc-shaped, and the guide rail is arc-shaped, so that the gravity action of the component is directly borne, and the influence of small deformation on the whole fine adjustment precision is large; resulting in low overall assembly efficiency.
Disclosure of Invention
In view of the above, the invention aims to provide a six-degree-of-freedom posture adjusting platform for shaft product assembly, which can realize automatic transfer and accurate assembly of components and automatic control adjustment and manual fine adjustment control in three directions in the assembly process of shaft parts, and greatly improves the assembly efficiency and the assembly precision compared with the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a six-degree-of-freedom posture adjusting platform for shaft product assembly comprises an omnidirectional transfer trolley, an X-axis moving mechanism, a first Y-axis moving mechanism, a second Y-axis moving mechanism, a first vertical moving mechanism, a second vertical moving mechanism, a first rotating mechanism and a second rotating mechanism.
Further, the omnidirectional transfer trolley comprises a trolley frame body, a control assembly, Mecanum wheels, spring suspension, supporting plates, lifting systems and driving motors, the control assembly is fixedly mounted at the center of the bottom of the trolley frame body, the four Mecanum wheels are connected to the four corners of the trolley frame body through the four spring suspension respectively, each Mecanum wheel is connected to the output end of each driving motor, the Mecanum wheels correspond to the driving motors one to one, two lifting systems are arranged at two ends of the bottom of the trolley frame body respectively, each two lifting systems are mounted on the inner sides of the two Mecanum wheels, the output end of each lifting system is provided with one supporting plate, and the control assembly comprises a battery and P L C.
Furthermore, the X-axis moving mechanism comprises a first hand wheel, a second hand wheel, a first rotating rod, a second rotating rod, a first speed reducer, a second speed reducer, a first lead screw, a second lead screw, a first clutch, a second clutch, a middle end clutch, a first guide rail, a second guide rail, a first X-axis moving table and a second X-axis moving table; on one side of the frame body, a first hand wheel is connected to a first speed reducer through a first rotating rod, the first speed reducer is connected to one end of a middle-end clutch through a first lead screw, the other end of the middle-end clutch is connected to a second speed reducer through a second lead screw, the second speed reducer is connected to a second hand wheel through a second rotating rod, a first clutch is arranged at one end, close to the first speed reducer, of the first lead screw, and a first nut seat is arranged on the first lead screw; a second clutch is arranged at one end of the second lead screw close to the second speed reducer, and a second nut seat is arranged on the second lead screw; the automobile frame body one side is equipped with the guide rail No. one, and the opposite side is equipped with the guide rail No. two, and the one end of an X axle mobile station, No. two X axle mobile stations all is connected to the guide rail No. one through the slider, and the other end of an X axle mobile station, No. two X axle mobile stations all is connected to the guide rail No. two through the slider, and an X axle mobile station bottom is connected to the nut seat No. one, and No. two X axle mobile station bottoms are connected to the nut seat No. two.
Furthermore, a Y-axis moving mechanism is the same as a second Y-axis moving mechanism, the first Y-axis moving mechanism comprises a plurality of Y-axis sliding blocks, Y-axis guide rails, a Y-axis hand wheel, a Y-axis lead screw, a Y-axis nut seat and a Y-axis moving table, the plurality of Y-axis sliding blocks are arranged on two sides of the first X-axis moving table, the Y-axis guide rails are respectively arranged on two sides of the bottom of the Y-axis moving table, the Y-axis guide rails are in interactive connection with the Y-axis sliding blocks, the Y-axis moving table slides relative to the first X-axis moving table, the Y-axis lead screw is fixedly installed on the upper surface of the first X-axis moving table, the Y-axis lead screw is arranged at one end of the Y-axis lead screw, and the bottom.
Further, a vertical moving mechanism and a vertical moving mechanism II are the same in structure, the vertical moving mechanism I comprises a lead screw lift, a vertical motor, a vertical commutator, a vertical side commutator, a vertical rotating rod, a lifting lead screw, a lifting nut seat, a vertical height increasing frame, the four corners of the upper surface of a Y-axis moving platform are respectively provided with the lead screw lift, the middle part of the Y-axis moving platform is provided with the vertical commutator, the output end of the vertical motor is connected to one end of the vertical commutator through a vertical clutch, the other end of the vertical commutator is connected to the vertical rotating rod through a coupler, one end of the vertical rotating rod is provided with a vertical hand wheel, two sides of the vertical commutator are provided with a vertical lead screw in the X-axis direction, two lead screw lifts on the same side of the Y-axis are linked through two vertical lead screws, the first vertical lead screw simultaneously drives two vertical lead screws to rotate through the vertical side commutator, the second vertical lead screw respectively drives the lifting lead screw installed on the lead screw lift to rotate, four lifting lead screws are respectively provided with the lifting nut seat, four lifting nut seats are fixedly connected to four lifting nut seats, the vertical height.
Furthermore, the first rotating mechanism and the second rotating mechanism are identical in structure, the first rotating mechanism comprises a rotating mounting plate, the rotating mounting plate is fixedly mounted on the upper side of the vertical heightening frame, a first rotating guide rail and a second rotating guide rail are arranged on the upper portion of the rotating mounting plate, a first locking groove is formed in the outer side of the first rotating guide rail, a second locking groove is formed in the outer side of the second rotating guide rail, a rotating lead screw is arranged between the first rotating guide rail and the second rotating guide rail bracket, a rotating hand wheel is arranged at one end of the rotating lead screw, the bottom of the first rotating bearing seat is connected to the first rotating guide rail and the second rotating guide rail in a sliding mode through a rotating sliding block, and the bottom of the first rotating; no. two rotating bearing seat bottoms are connected to a guide rail through rotatory slider sliding connection, No. two guide rails, No. two rotating bearing seat bottoms are connected to rotatory lead screw through No. two rotatory nut seats, a rotating bearing seat is equipped with the swiveling wheel No. one, No. two rotating bearing seat are equipped with the swiveling wheel No. two, the rotating electrical machines is installed to a rotating bearing seat, and the output end fixed connection of rotating electrical machines is to swiveling wheel No. one, a rotating bearing seat both sides are equipped with the retaining member No. one, No. two rotating bearing seat both sides are equipped with the retaining member No. two respectively, the rotating electrical machines is by battery powered, and signal connection to controller.
Furthermore, two ends of the rotary mounting plate are respectively provided with a bolt fastening seat.
Further, the thread directions of the first rotating nut seat and the second rotating nut seat are opposite.
Further, the area of the vertical elevated frame is smaller than that of the vertical mounting frame.
Further, the lift system is a ground lift model MA 25.
Compared with the prior art, the six-degree-of-freedom posture adjusting platform for shaft product assembly has the following advantages:
(1) the Mecanum wheels of the omnidirectional transfer trolley are suspended and supported by independent springs, when the omnidirectional transfer trolley is used for transferring, the gravity center of a part is not coincident with that of the omnidirectional transfer trolley, the springs are suspended and supported, so that the damage of the part and the omnidirectional transfer trolley to the Mecanum wheels can be reduced, when the pose of a shaft part is adjusted, the lifting mechanism of the omnidirectional transfer trolley can support the whole frame, the Mecanum wheels are separated from the ground, four sets of lifters are in direct contact with the ground, the fixed state of the omnidirectional transfer trolley is guaranteed in the working process, and meanwhile, the damage to the Mecanum wheels when the pose is adjusted is also directly avoided.
(2) The Mecanum wheels of the omnidirectional transfer trolley are supported by independent spring suspension, and in the transfer process, when a smaller gradient occurs, the spring suspension can directly change differently according to the horizontal height of the ground, so that the damage to the Mecanum wheels and the omnidirectional transfer trolley frame body when the omnidirectional transfer trolley inclines is reduced.
(3) Rotatory frock to axle type part of part adopts the swiveling wheel, a swiveling wheel and the tangent working method of swiveling wheel and axle type part No. two, suitable position only needs to be adjusted to two sets of swiveling wheels of a swiveling wheel and No. two, can guarantee the stability of axle type part, no matter the size of axle type part, all tangent with a swiveling wheel and No. two swiveling wheels, only need adjust the distance between a swiveling wheel and No. two swiveling wheels and can adjust axle type part to suitable position, the contained angle between the centre of a circle of two-wheeled to the centre of a circle of axle type part is greater than 90, and when being directed against the same part that axle footpath size differs, can adjust the part rotary mechanism of two sets of accent appearance mechanisms respectively, and adjust the height of two sets of vertical moving mechanism, it is located horizontal position to adjust axle type part axis.
(4) A vertical moving mechanism adopts lead screw lift to drive vertical lead screw rotatory, drives the vertical reciprocating of lift nut seat, deepens vertical lead screw in the inside of vertical mounting bracket simultaneously, guarantees to practice thrift the space as far as possible in the vertical displacement distance of increase, can increase the adjustable distance of vertical removal on a large scale after vertical increase frame is connected with vertical mounting bracket, vertical increase frame is the same with the last interface of vertical mounting bracket, all can be connected with part rotary mechanism.
(5) Through the rotatory hand wheel of manual rotating part, can adjust the distance between a rotating bearing seat and No. two rotating bearing seats, after the adjustment distance for in axle type part rotation process contained angle between axle type part and a swiveling wheel and No. two swiveling wheels is greater than 90, no matter when transporting axle type part in the great range and adjusting axle type part in the small scale, can both keep the stability of axle type part.
(6) The manual operation mode of three-direction direct movement is adjusted by rotating a hand wheel, the precision of the lead screws can determine the precision of the manual operation, the adjustment precision in use is improved, the linkage or the two groups of independent movement of the two groups of lead screws are determined by the on-off of the clutches of the three groups of clutches in the direction parallel to the axis of the shaft part, when the clutches between the two groups of lead screws are closed, the linkage can be realized by the two groups of posture adjusting structures, and when the clutches between the two groups of lead screws are disconnected, the two groups of lead screws need to be adjusted independently through respective hand wheels.
(7) A swiveling wheel and No. two swiveling wheels and axle type part direct contact, swiveling wheel pass through axle and bearing fixed mounting on an end bearing frame and No. two end bearing frames simultaneously, and swiveling wheel and shaft part are more stable relatively, and at the pivot rotation in-process, the bearing part can not take place great change and can not exert an influence to the posture adjusting mechanism.
(8) The X-axis moving mechanism can realize the adjustment of the shaft parts in the X-axis direction; the first Y-axis moving mechanism and the second Y-axis moving mechanism work synchronously to realize the adjustment of the shaft parts in the Y-axis direction; the first vertical moving mechanism and the second vertical moving mechanism work synchronously to realize the adjustment of the shaft parts in the Z-axis direction; the shaft parts can realize the adjustment of the roll angle in the X axial direction under the synchronous rotation of the two groups of the first rotating wheels and the second rotating wheels; when the first vertical moving mechanism and the second vertical moving mechanism move up and down in a staggered manner, the pitch angle of the shaft part in the Y-axis direction can be adjusted; when the first Y-axis moving mechanism and the second Y-axis moving mechanism move in a staggered mode, the adjustment of the yaw angle of the shaft part in the Z-axis direction can be achieved, and the adjustment of the shaft part in the six-degree-of-freedom direction can be achieved.
(9) The distance between the first X-axis moving table and the second X-axis moving table is adjusted, so that the device can adapt to shaft products with different lengths; through adjusting the distance between the first rotary bearing seat and the second rotary bearing seat of the first rotary mechanism and the second rotary mechanism, the shaft type products with different diameters can be adapted.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall view of a six-degree-of-freedom attitude adjustment platform for shaft product assembly according to an embodiment of the present invention;
FIG. 2 is a schematic view of an X-axis moving mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of a first Y-axis moving mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of the connection between a first vertical moving mechanism and a vertical heightening frame according to the embodiment of the present invention;
fig. 5 is a schematic view of a first rotating mechanism according to an embodiment of the present invention.
Description of reference numerals:
1. an omnidirectional transfer trolley; 101. a frame body; 102. a control component; 103. a Mecanum wheel; 104. a spring is hung; 105. a lifting system; 106. a drive motor; 2. an X-axis moving mechanism; 201. a first hand wheel; 202. a second hand wheel; 203. a first rotating rod; 204. a second rotating rod; 205. a first speed reducer; 206. a second speed reducer; 207. a first lead screw; 208. a second lead screw; 209. a first clutch; 210. a second clutch; 211. a middle end clutch; 212. a first guide rail; 213. a second guide rail; 214. an X-axis mobile station; 215. a second X-axis mobile station; 3. a first Y-axis moving mechanism; 301. a Y-axis slider; 302. a Y-axis guide rail; 303. a Y-axis hand wheel; 304. a Y-axis lead screw; 305. a Y-axis nut seat; 306. a Y-axis moving stage; 4. a second Y-axis moving mechanism; 5. a first vertical moving mechanism; 501. a screw elevator; 502. a vertical commutator; 503. a vertical motor; 504. a vertical rotating rod; 505. a vertical hand wheel; 506. a first vertical screw; 507. a second vertical screw rod; 508. a vertical side commutator; 509. lifting a screw rod; 510. a lifting nut seat; 511. a vertical mounting rack; 512. a vertical heightening frame; 6. a second vertical moving mechanism; 7. a first rotating mechanism; 701. rotating the mounting plate; 702. a first rotary guide rail; 703. a second rotary guide rail; 704. a first locking groove; 705. a second locking groove; 706. rotating the lead screw; 707. rotating a hand wheel; 708. a first rotary bearing seat; 709. a second rotary bearing seat; 710. a first rotating wheel; 711. a second rotating wheel; 712. a first locking member; 713. a second locking member; 714. a bolting seat; 8. and a second rotating mechanism.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
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 and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
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 meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
A six-degree-of-freedom posture adjusting platform for shaft product assembly is shown in figures 1 to 5 and comprises an omnidirectional transfer trolley 1, an X-axis moving mechanism 2, a first Y-axis moving mechanism 3, a second Y-axis moving mechanism 4, a first vertical moving mechanism 5, a second vertical moving mechanism 6, a first rotating mechanism 7 and a second rotating mechanism 8, wherein the X-axis moving mechanism 2 is fixedly arranged on the upper side of the omnidirectional transfer trolley 1, the first Y-axis moving mechanism 3 is fixedly arranged on a first X-axis moving platform 214 of the X-axis moving mechanism 2, the second Y-axis moving mechanism 4 is fixedly arranged on a second X-axis moving platform 215 of the X-axis moving mechanism 2, the first rotating mechanism 7 is fixedly arranged on the first Y-axis moving mechanism 3 through the first vertical moving mechanism 5, the second rotating mechanism 8 is fixedly arranged on the second Y-axis moving mechanism 4 through the second vertical moving mechanism 6,
the omnidirectional transfer trolley 1 comprises a trolley frame body 101, a control assembly 102, Mecanum wheels 103, spring suspensions 104, supporting plates, lifting systems 105 and a driving motor 106, wherein the control assembly 102 is fixedly installed at the center of the bottom of the trolley frame body 101, the four Mecanum wheels 103 are respectively connected to the four corners of the trolley frame body 101 through the four spring suspensions 104, each Mecanum wheel 103 is connected to the output end of the driving motor 106, the Mecanum wheels 103 correspond to the driving motor 106 in a one-to-one mode, two lifting systems 105 are respectively arranged at two ends of the bottom of the trolley frame body 101, each two lifting systems 105 are installed on the inner sides of the two Mecanum wheels 103, the output end of each lifting system 105 is provided with one supporting plate, the control assembly 102 comprises a battery and P L C, the four sets of Mecanum wheels 103 provided with the spring suspensions 104 can realize that the omnidirectional transfer trolley can realize the straight, transverse, oblique and rotary motion of the trolley body and the like of the omnidirectional transfer trolley along any continuous track on the plane, the balance of the trolley body is ensured, the four sets of the lifting systems 105 can integrally drive the omnidirectional transfer trolley 1, the four sets of Mecanum wheels 103 leave the ground, the lifting systems 105 independently support the transfer trolley 1, the offset of the trolley is ensured, the error of.
The X-axis moving mechanism 2 comprises a first hand wheel 201, a second hand wheel 202, a first rotating rod 203, a second rotating rod 204, a first speed reducer 205, a second speed reducer 206, a first lead screw 207, a second lead screw 208, a first clutch 209, a second clutch 210, a middle end clutch 211, a first guide rail 212, a second guide rail 213, a first X-axis moving platform 214 and a second X-axis moving platform 215; on one side of the frame body 101, a first hand wheel 201 is connected to a first speed reducer through a first rotating rod 203, the first speed reducer is connected to one end of a middle end clutch 211 through a first lead screw 207, the other end of the middle end clutch 211 is connected to a second speed reducer through a second lead screw 208, the second speed reducer is connected to a second hand wheel 202 through a second rotating rod 204, a first clutch 209 is arranged at one end, close to the first speed reducer, of the first lead screw 207, and a first nut seat is arranged on the first lead screw 207; a second clutch 210 is arranged at one end of the second lead screw 208 close to the second speed reducer, and a second nut seat is arranged on the second lead screw 208; one side of the frame body 101 is provided with a first guide rail 212, the other side of the frame body is provided with a second guide rail 213, one ends of a first X-axis moving table 214 and a second X-axis moving table 215 are connected to the first guide rail 212 through sliding blocks, the other ends of the first X-axis moving table 214 and the second X-axis moving table 215 are connected to the second guide rail 213 through sliding blocks, the bottom of the first X-axis moving table 214 is connected to a first nut seat, and the bottom of the second X-axis moving table 215 is connected to a second nut seat.
Linkage working modes of the middle clutch 211 and the second clutch 210: 1. when the first clutch 209 is closed, the middle clutch 211 is opened, and the second clutch 210 is closed, the first hand wheel 201 and the second hand wheel 202 are respectively rotated, so that the first X-axis moving platform 214 and the second X-axis moving platform 215 can move respectively, and the moving direction and the moving speed do not interfere with each other; 2. when the first clutch 209 is opened, the middle clutch 211 is closed, and the second clutch 210 is closed, the second hand wheel 202 is rotated, so that the first X-axis moving platform 214 and the second X-axis moving platform 215 can move, the moving direction and the moving speed are the same, when the shaft products are subjected to unbalance loading in the front and back moving direction, the positions of the first X-axis moving platform 214 and the second X-axis moving platform 215 relative to the omnidirectional transfer trolley 1 can be adjusted simultaneously, and the bearing position and the mass center of the load are ensured to be positioned in the omnidirectional transfer trolley. 3. When the first clutch 209 is closed, the middle clutch 211 is closed and the second clutch 210 is opened, the front hand wheel 201 and the rear hand wheel 201 are rotated, so that the first X-axis moving table 214 and the second X-axis moving table 215 can move, and the moving direction and the moving speed are the same; the functions of the working modes 2 and 3 can be realized the same, and the function is to reduce the operation difficulty.
The first Y-axis moving mechanism 3 is the same as the second Y-axis moving mechanism 4, the first Y-axis moving mechanism 3 comprises a plurality of Y-axis sliding blocks 301, Y-axis guide rails 302, a Y-axis hand wheel 303, a Y-axis lead screw 304, a Y-axis nut seat 305 and a Y-axis moving table 306, a plurality of Y-axis sliding blocks 301 are arranged on two sides of the first X-axis moving table 214, two Y-axis guide rails 302 are respectively arranged on two sides of the bottom of the Y-axis moving table 306, the Y-axis guide rails 302 are interactively connected with the Y-axis sliding blocks 301 to realize that the Y-axis moving table 306 slides relative to the first X-axis moving table 214, the Y-axis lead screw 304 is fixedly arranged on the upper surface of the first X-axis moving table 214, one end of the Y-axis lead screw 304 is provided with the Y-axis hand wheel 303, the bottom of the Y-axis moving table 306 is connected to the Y-axis lead screw 304 through the Y-axis nut seat 305, the first Y-axis moving mechanism 3 and, the Y-axis lead screw 304 rotates, the Y-axis nut seat 305 can move on the Y-axis lead screw 304, and the Y-axis moving platform 306 moves along with the Y-axis nut seat 305; when the T-axis hand wheel 304 is positively rotated and the Y-axis hand wheel 304 is negatively rotated, the moving directions of the Y-axis moving platform 306 are opposite, and the movement in the whole Y-axis direction is realized;
the first vertical moving mechanism 5 and the second vertical moving mechanism 6 are identical in structure, the first vertical moving mechanism 5 comprises a lead screw lifting machine 501, a vertical motor 503, a vertical commutator 502, a vertical side commutator 508, a vertical rotating rod 504, a lifting lead screw 509, a lifting nut seat 510 and a vertical heightening frame 512, four corners of the upper surface of a Y-axis moving platform 306 are respectively provided with the lead screw lifting machine 501, the middle part of the Y-axis moving platform 306 is provided with the vertical commutator 502, the output end of the vertical motor 503 is connected to one end of the vertical commutator 502 through a vertical clutch, the other end of the vertical commutator 502 is connected to the vertical rotating rod 504 through a coupler, one end of the vertical rotating rod 504 is provided with a vertical handwheel 505, two sides of the vertical commutator 502 are provided with the first vertical lead screw 506 in the X-axis direction, two lead screw lifting machines 501 on the same side of the Y-axis are linked through the second vertical lead screw 507, the first vertical lead screw 506 drives two second vertical lead screws 507 to rotate through the vertical side commutator 508, the second vertical lead screw 507 drives the lifting lead screw 509 installed on the lead screw lifting machine 501 to rotate respectively, four lifting lead screw seats 509 are provided with four lifting nut seats 510, four corners of a battery mounting rack L, and a vertical heightening motor mounting.
The four groups of lifting nut seats 510 are the same in height, the lifting nut seats 510 are driven to move up and down simultaneously through output rotation of the screw rod lifter 501, the upper surfaces of the four groups of lifting nut seats 510 are mounted on the bottom surface of the vertical mounting rack 511, the vertical mounting rack 511 moves up and down in the vertical direction, when the vertical clutch is closed, the vertical motor 503 rotates, and the vertical mounting rack 511 realizes automatic adjustment; the vertical clutch is disengaged and manual adjustment of the vertical mount 511 is achieved by manually rotating the vertical hand wheel 505.
The first rotating mechanism 7 and the second rotating mechanism 8 are identical in structure, the first rotating mechanism 7 comprises a rotating mounting plate 701, the rotating mounting plate 701 is fixedly mounted on the upper side of the vertical heightening frame 512, a first rotating guide rail 702 and a second rotating guide rail 703 are arranged on the upper portion of the rotating mounting plate 701, a first locking groove 704 is arranged on the outer side of the first rotating guide rail 702, a second locking groove 705 is arranged on the outer side of the second rotating guide rail 703, a rotating lead screw 706 is arranged between the supports of the first rotating guide rail 702 and the second rotating guide rail 703, a rotating hand wheel 707 is arranged at one end of the rotating lead screw 706, the bottom of the first rotating bearing block 708 is connected to the first rotating guide rail 702 and the second rotating guide rail 703 in a sliding mode through a rotating slider, and the bottom of the first; the bottom of No. two rotating bearing seat 709 is connected to guide rail 212 through rotating slider sliding, No. two guide rail 213, No. two rotating bearing seat 709 bottom is connected to rotatory lead screw 706 through No. two rotatory nut seat, No. one rotating bearing seat 708 is equipped with swiveling wheel 710, No. two rotating bearing seat 709 is equipped with No. two swiveling wheels 711, the rotating electrical machines is installed to rotating bearing seat 708, and the output end fixed connection of rotating electrical machines is to swiveling wheel 710, No. one rotating bearing seat 708 both sides are equipped with retaining member 712, No. two rotating bearing seat 709 both sides are equipped with retaining member 713 No. two respectively, the rotating electrical machines is powered by the battery, and signal connection is to the controller.
The rotating hand wheel 707 is rotated, the first rotating bearing seat 708 and the second rotating bearing seat 709 move oppositely or move backwards, according to the size of the shaft diameter, an included angle between the center of the shaft part and the first rotating wheel 710 and the second rotating wheel 711 is increased as much as possible, the stability of the shaft part is improved, after the adjustment is completed, the shaft part is placed on the first rotating wheel 710 and the second rotating wheel 711 by fixing the first locking piece 712 and the second locking piece 713 to be fixed, the shaft part is driven to rotate by the driving of the part rotating motor, and the shaft part can adapt to shaft products with different lengths by adjusting the distance between the first X-axis moving table 214 and the second X-axis moving table 215; by adjusting the distance between the first rotary bearing seat 708 and the second rotary bearing seat 709 of the first rotary mechanism 7 and the second rotary mechanism 8, shaft products with different diameters can be adapted.
Two ends of the rotary mounting plate 701 are respectively provided with a fastening seat 714, when the shaft products are placed on the first rotary wheel 710 and the second rotary wheel 711, in order to achieve the effect of stabilizing the products, a fastening belt penetrates through the fastening seats 714 to fix the shaft products.
The first and second swivel nut mounts have opposite thread directions, allowing first and second swivel base 708, 709 to move toward each other.
The area of the vertical heightening frame 512, which is smaller than the area of the vertical mounting frame 511, achieves the stability of the installation of the vertical heightening frame 512.
The lift system 105 is a ground lift model MA 25.
The X-axis moving mechanism can realize the adjustment of the shaft parts in the X-axis direction, and the X-axis moving mechanism is a first degree of freedom; the first Y-axis moving mechanism and the second Y-axis moving mechanism work synchronously to realize the adjustment of the shaft parts in the Y-axis direction, which is the second degree of freedom; the first vertical moving mechanism and the second vertical moving mechanism work synchronously to realize the adjustment of the shaft parts in the Z-axis direction, which is a third degree of freedom; the shaft part can realize the rotation adjustment of the X-axis roll angle under the rotation of the two groups of first rotating wheels and second rotating wheels, and the rotation adjustment is a fourth degree of freedom; when the first vertical moving mechanism and the second vertical moving mechanism move up and down in a staggered manner, the rotation adjustment of the pitch angle of the shaft part in the Y-axis direction can be realized, and the fifth degree of freedom is realized; when the first Y-axis moving mechanism and the second Y-axis moving mechanism move in a staggered manner, the adjustment of the yaw angle of the shaft part in the Z-axis direction can be realized, and the adjustment is a sixth degree of freedom; therefore, the position or the angle of the shaft part can be adjusted in the direction of six degrees of freedom.
A six-freedom-degree posture adjusting platform for shaft product assembly is used for adjusting the posture adjusting platform in a mode of matching electric coarse adjustment with manual fine adjustment at the present stage, and can be expanded into full-automatic fine adjustment of the posture adjusting platform through improvement subsequently, so that labor is saved, and the working efficiency is improved.
A first lead screw 207, a second lead screw 208, a first clutch 209, a second clutch 210 and a middle clutch 211 of the X-axis moving mechanism 2; a Y-axis lead screw 304, a lead screw lifter 501, a first vertical lead screw 506, a second vertical lead screw 507 and a lifting lead screw 509 of the first Y-axis moving mechanism 3; the rotary screw 706 of the first rotary mechanism 7 has a self-locking function during transmission, so that each mechanism is guaranteed to move to a specified position, and the situation of position deviation is avoided.
A six-freedom-degree posture adjusting platform for assembling shaft products, which has the working principle,
1. carrying the shaft parts, namely firstly adjusting the height of the shaft parts to be adjusted, if the required position is higher, installing a vertical heightening frame 512, and if the required height is lower, not installing the vertical heightening frame 512; with axle type part hoist to a swiveling wheel 710 and a swiveling wheel 711 of part rotary mechanism on, according to axle type part diameter different, before hoist axle type part to accent appearance platform on, the distance between adjustable rotation bearing seat 708 and No. two rotation bearing seats 709 rotates rotatory hand wheel 707 clockwise or rotates rotatory hand wheel 707 in the contrary time, adjusts to suitable position, promptly: the included angle between the first rotating wheel 710 and the second rotating wheel 711 and the axis is more than or equal to 90 degrees; and according to the length of the shaft part, the position between the two groups of posture adjusting mechanisms is adjusted, so that the center of the shaft part is positioned between the two groups of posture adjusting mechanisms, if the shaft diameter of the same shaft part is different, the distance between a first rotating wheel 710 and a second rotating wheel 711 of a part rotating mechanism of the two groups of posture adjusting mechanisms can be respectively adjusted, and finally, the included angle formed when the distance between the first rotating wheel and the second rotating wheel of the two groups of rotating mechanisms reaches the center line of the shaft part at the loaded position is larger than or equal to 90 degrees.
2. Transferring by an omnidirectional transfer trolley; after the shaft parts are hung on the rotating mechanism, the omnidirectional transfer trolley 1 can linearly move in any direction of 360 degrees and rotate at any angle along the center of the omnidirectional transfer trolley 1 by driving the Mecanum wheel 103 through the control assembly 102 of the omnidirectional transfer trolley 1, and meanwhile, the shaft parts can rotate around any point except the omnidirectional transfer trolley 1;
3. adjusting the X-axis direction; linkage working modes of the middle clutch 211 and the second clutch 210: a. when the first clutch 209 is closed, the middle clutch 211 is disconnected, and the second clutch 210 is closed, the first hand wheel 201 and the second hand wheel 202 are respectively rotated to respectively realize the movement of the first X-axis moving platform 214 and the second X-axis moving platform 215, and the moving direction and the moving speed are not interfered with each other; b. when the first clutch 209 is opened, the middle clutch 211 is closed, and the second clutch 210 is closed, the second hand wheel 202 is rotated, so that the first X-axis moving platform 214 and the second X-axis moving platform 215 can move, the moving direction and the moving speed are the same, when the shaft products are subjected to unbalance loading in the front and back moving direction, the positions of the first X-axis moving platform 214 and the second X-axis moving platform 215 relative to the omnidirectional transfer trolley 1 can be adjusted simultaneously, and the bearing position and the mass center of the load are ensured to be positioned in the omnidirectional transfer trolley; c. when the first clutch 209 is closed, the middle clutch 211 is closed and the second clutch 210 is opened, the front hand wheel 201 and the rear hand wheel 201 are rotated, so that the first X-axis moving table 214 and the second X-axis moving table 215 can move, and the moving direction and the moving speed are the same; the functions of the working modes b and c are the same, and the function is to reduce the operation difficulty;
4. adjusting the Y-axis direction; the first Y-axis moving mechanism 3 and the second Y-axis moving mechanism 4 can move independently and do not interfere with the movement of the X-axis, when the Y-axis hand wheel 303 is rotated, the Y-axis lead screw 304 rotates, the Y-axis nut seat 305 can move on the Y-axis lead screw 304, and the Y-axis moving platform 306 moves along with the Y-axis nut seat 305; when the T-axis hand wheel 304 is positively rotated and the Y-axis hand wheel 304 is negatively rotated, the moving directions of the Y-axis moving platform 306 are opposite, and the movement in the whole Y-axis direction is realized;
5. adjusting in the vertical direction; the vertical direction moving mechanism can move independently and does not interfere with the X axial movement and the Y axial movement, when the vertical clutch is closed, the vertical motor 503 works, and the vertical movement realizes automatic adjustment; the vertical clutch is disconnected, the vertical hand wheel 505 is manually rotated, and the hand wheel is rotated clockwise or anticlockwise, so that the vertical clutch can vertically ascend or descend; and can realize the respective adjustment of two sets of vertical movement mechanism according to actual position needs, vertical movement can realize electronic or manual regulation as required, rotates corresponding position.
6. The components rotate to work; the part rotating motor drives the first rotating wheel 710 to rotate, the first rotating wheel 710 is tangent to the shaft parts, the shaft parts can rotate under the driving of friction force, the pure rolling rotation follow-up rotating wheel and the shaft parts rotate, and the shaft parts only roll purely due to the fact that the friction force is large.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a six degrees of freedom accent appearance platform for axle type product assembly which characterized in that: the omnidirectional transfer trolley comprises an omnidirectional transfer trolley, an X-axis moving mechanism, a first Y-axis moving mechanism, a second Y-axis moving mechanism, a first vertical moving mechanism, a second vertical moving mechanism, a first rotating mechanism and a second rotating mechanism, wherein the X-axis moving mechanism is fixedly arranged on the upper side of the omnidirectional transfer trolley, the first Y-axis moving mechanism is fixedly arranged on a first X-axis moving table of the X-axis moving mechanism, the second Y-axis moving mechanism is fixedly arranged on a second X-axis moving table of the X-axis moving mechanism, the first rotating mechanism is fixedly arranged on the first Y-axis moving mechanism through the first vertical moving mechanism, and the second rotating mechanism is fixedly arranged on the second Y-axis moving mechanism through the second vertical moving mechanism.
2. The six-degree-of-freedom posture adjusting platform for assembling shaft products as claimed in claim 1, wherein the omnidirectional transfer trolley comprises a trolley frame body, a control assembly, Mecanum wheels, spring suspensions, supporting plates, lifting systems and a driving motor, the control assembly is fixedly installed at the center of the bottom of the trolley frame body, the four Mecanum wheels are respectively connected to four corners of the trolley frame body through the four spring suspensions, each Mecanum wheel is connected to an output end of the driving motor, the Mecanum wheels and the driving motor are in one-to-one correspondence, two lifting systems are respectively arranged at two ends of the bottom of the trolley frame body, each two lifting systems are installed on the inner sides of the two Mecanum wheels, the output end of each lifting system is provided with one supporting plate, and the control assembly comprises a battery and a P L.
3. The six-degree-of-freedom posture adjusting platform for shaft product assembly according to claim 1, characterized in that: the X-axis moving mechanism comprises a first hand wheel, a second hand wheel, a first rotating rod, a second rotating rod, a first speed reducer, a second speed reducer, a first lead screw, a second lead screw, a first clutch, a second clutch, a middle end clutch, a first guide rail, a second guide rail, a first X-axis moving table and a second X-axis moving table; on one side of the frame body, a first hand wheel is connected to a first speed reducer through a first rotating rod, the first speed reducer is connected to one end of a middle-end clutch through a first lead screw, the other end of the middle-end clutch is connected to a second speed reducer through a second lead screw, the second speed reducer is connected to a second hand wheel through a second rotating rod, a first clutch is arranged at one end, close to the first speed reducer, of the first lead screw, and a first nut seat is arranged on the first lead screw; a second clutch is arranged at one end of the second lead screw close to the second speed reducer, and a second nut seat is arranged on the second lead screw; the automobile frame body one side is equipped with the guide rail No. one, and the opposite side is equipped with the guide rail No. two, and the one end of an X axle mobile station, No. two X axle mobile stations all is connected to the guide rail No. one through the slider, and the other end of an X axle mobile station, No. two X axle mobile stations all is connected to the guide rail No. two through the slider, and an X axle mobile station bottom is connected to the nut seat No. one, and No. two X axle mobile station bottoms are connected to the nut seat No. two.
4. The six-degree-of-freedom posture adjusting platform for shaft product assembly according to claim 3, characterized in that: a Y axle moving mechanism is the same with No. two Y axle moving mechanisms, a Y axle moving mechanism includes a plurality of Y axle sliders, Y axle guide rail, Y axle hand wheel, Y axle lead screw, Y axle nut seat, Y axle moving platform, both sides are equipped with a plurality of Y axle sliders on the X axle moving platform, Y axle moving platform bottom both sides are equipped with a Y axle guide rail respectively, Y axle guide rail and Y axle slider interactive connection, realize that Y axle moving platform slides relative X axle moving platform No. one, surface fixed mounting Y axle lead screw on the X axle moving platform No. one, Y axle lead screw one end is equipped with Y axle hand wheel, Y axle moving platform bottom is connected to Y axle lead screw through Y axle nut seat.
5. The six-degree-of-freedom posture adjustment platform for assembling shaft products according to claim 4, wherein the first vertical moving mechanism and the second vertical moving mechanism are identical in structure, the first vertical moving mechanism comprises a lead screw lifter, a vertical motor, a vertical commutator, a vertical side commutator, a vertical rotating rod, a lifting lead screw, a lifting nut seat and a vertical heightening frame, the four corners of the upper surface of the Y-axis moving platform are respectively provided with a lead screw lifter, the middle part of the Y-axis moving platform is provided with the vertical commutator, the output end of the vertical motor is connected to one end of the vertical commutator through a vertical clutch, the other end of the vertical commutator is connected to the vertical rotating rod through a coupler, one end of the vertical rotating rod is provided with a vertical hand wheel, the two sides of the vertical commutator are provided with a first vertical lead screw in the X-axis direction, the two lead screw lifters on the same side of the Y-axis are linked through a second vertical lead screw, the first vertical lead screw simultaneously drives the two second vertical lead screws to rotate through the vertical side commutator, the second vertical lead screw respectively drives the lifting lead screw installed on the lead screw lifter to rotate, the four lifting lead screws, the four lifting nut seats are all provided with lifting nut seats, the four corners.
6. The six-degree-of-freedom posture adjusting platform for shaft product assembly according to claim 5, characterized in that: the first rotating mechanism and the second rotating mechanism are identical in structure, the first rotating mechanism comprises a rotating mounting plate, the rotating mounting plate is fixedly mounted on the upper side of the vertical heightening frame, a first rotating guide rail and a second rotating guide rail are arranged on the upper portion of the rotating mounting plate, a first locking groove is formed in the outer side of the first rotating guide rail, a second locking groove is formed in the outer side of the second rotating guide rail, a rotating lead screw is arranged between the first rotating guide rail and a second rotating guide rail bracket, a rotating hand wheel is arranged at one end of the rotating lead screw, the bottom of a first rotating bearing seat is connected to the first rotating guide rail and the second rotating guide rail in a sliding mode through a rotating slider, and the bottom of the first; no. two rotating bearing seat bottoms are connected to a guide rail through rotatory slider sliding connection, No. two guide rails, No. two rotating bearing seat bottoms are connected to rotatory lead screw through No. two rotatory nut seats, a rotating bearing seat is equipped with the swiveling wheel No. one, No. two rotating bearing seat are equipped with the swiveling wheel No. two, the rotating electrical machines is installed to a rotating bearing seat, and the output end fixed connection of rotating electrical machines is to swiveling wheel No. one, a rotating bearing seat both sides are equipped with the retaining member No. one, No. two rotating bearing seat both sides are equipped with the retaining member No. two respectively, the rotating electrical machines is by battery powered, and signal connection to controller.
7. The six-degree-of-freedom posture adjusting platform for shaft product assembly according to claim 6, characterized in that: two ends of the rotary mounting plate are respectively provided with a bolt fastening seat.
8. The six-degree-of-freedom posture adjusting platform for shaft product assembly according to claim 6, characterized in that: the thread directions of the first rotating nut seat and the second rotating nut seat are opposite.
9. The six-degree-of-freedom posture adjusting platform for shaft product assembly according to claim 5, characterized in that: the area of the vertical elevated frame is smaller than that of the vertical mounting frame.
10. The six-degree-of-freedom posture adjusting platform for shaft product assembly according to claim 2, characterized in that: the lifting system is a ground lift model MA 25.
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| CN202010359096.6A CN111390816A (en) | 2020-04-29 | 2020-04-29 | Six-freedom-degree posture adjusting platform for assembling shaft products |
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| CN111823168A (en) * | 2020-08-21 | 2020-10-27 | 湖南工程学院 | Three-degree-of-freedom follow-up supporting device |
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| CN111823168A (en) * | 2020-08-21 | 2020-10-27 | 湖南工程学院 | Three-degree-of-freedom follow-up supporting device |
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| CN113029612A (en) * | 2021-04-14 | 2021-06-25 | 中南大学 | Bogie rotation test bed of bogie snow icing wind tunnel test system |
| CN113601130A (en) * | 2021-08-04 | 2021-11-05 | 中国科学院近代物理研究所 | Four-wing type radio frequency quadrupole field accelerator cavity mounting platform and assembling method thereof |
| CN113895782A (en) * | 2021-09-16 | 2022-01-07 | 苏州瀚川智能科技股份有限公司 | Self-locking multi-specification battery pack circulating frame and using method thereof |
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