CN112008390B - Self-correcting assembly butt joint system for attitude of air-float ball bearing - Google Patents
Self-correcting assembly butt joint system for attitude of air-float ball bearing Download PDFInfo
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- CN112008390B CN112008390B CN201910468922.8A CN201910468922A CN112008390B CN 112008390 B CN112008390 B CN 112008390B CN 201910468922 A CN201910468922 A CN 201910468922A CN 112008390 B CN112008390 B CN 112008390B
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- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
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Abstract
The invention relates to an air-float ball bearing posture self-correction assembly docking system, which comprises a posture regulating and controlling device (3) and an auxiliary supporting device (5), and is characterized by further comprising a posture measuring camera (1) and a measuring control console (6), wherein the posture measuring camera (1) is fixed on a supporting base (11) of the posture regulating and controlling device (3) through a support; an active assembly component (2) is arranged on the pose adjusting device (3), and a passive assembly component (4) is arranged on the auxiliary supporting device (5); a camera of the pose measurement camera (1) faces the active assembly component (2) and the passive assembly component (4); the active assembly component (2) and the passive assembly component (4) are lifted forwards to install positioning targets; the air-float ball bearing is used as a supporting structure, and the stability of the platform is improved by adding the balance weight. Due to the characteristic that the friction force of the air-float ball bearing is small, the flexibility of three degrees of freedom of the posture in the assembling process is ensured.
Description
Technical Field
The invention discloses a self-correcting assembly butt joint system for the attitude of an air-floating ball bearing, relates to the technical field of digital assembly, and is used for completing the assembly of two or more nonstandard product assemblies based on a set of digital assembly system.
Background
At present, for large-scale non-standard products, a large number of assembly methods are mainly manually assembled, the automation and flexibility levels are low, the assembly technology still depends on engineering experience of technologists and heavy mechanical equipment, the whole operation process is excessively limited by the individual skill level of workers, and if the assembly precision requirement of the products is high, the traditional assembly method is difficult to be sufficient. In order to solve the problem, a method used in the assembly of some foreign advanced products is a high-precision six-degree-of-freedom assembly butt joint system, but the method has higher requirements on the precision of machining and the pose measurement precision, so the cost is high and the difficulty is high.
Disclosure of Invention
The invention aims to provide an air-float ball bearing posture self-correction assembly docking system to solve the problems of low assembly precision, poor efficiency and poor flexibility of the traditional large-scale product.
An air-float ball bearing posture self-correction assembly docking system comprises a posture regulating device 3 and an auxiliary supporting device 5, and is characterized by further comprising a posture measuring camera 1 and a measuring control console 6, wherein the posture measuring camera 1 is fixed on a supporting base 11 of the posture regulating device 3 through a support; an active assembly component 2 is arranged on the pose adjusting device 3, and a passive assembly component 4 is arranged on the auxiliary supporting device 5; a camera of the pose measurement camera 1 faces the active assembly component 2 and the passive assembly component 4; the active assembly component 2 and the passive assembly component 4 are lifted forwards to be provided with positioning targets; the pose measuring camera 1 and the pose regulating device 3 are respectively connected with a data I/O card on a work machine in the measuring control console 6 through information transmission cables, the data I/O card is used for sending instructions of the measuring control console 6 to the pose regulating device 3 and receiving information shot by the pose measuring camera 1 to the measuring control console 6, the measuring control console 6 calculates the direction and the distance of the pose regulating device 3 to move according to the shot information, and the pose regulating device 3 is instructed to move to regulate the position of the active assembly component 2 through the data I/O card sending instructions;
the pose adjusting and controlling device 3 comprises a supporting mechanism, a lifting adjusting mechanism, a plane two-dimensional movement adjusting mechanism and a supporting base 11; the planar two-dimensional movement adjusting mechanism is installed on the supporting base 11, the lifting adjusting mechanism is installed on the planar two-dimensional movement adjusting mechanism in a sliding mode, and the supporting mechanism is fixedly installed on the lifting adjusting machine;
the supporting mechanism comprises a supporting platform 7, an air-float ball bearing 12 and an air-float ball socket 13, wherein the air-float ball bearing 12 and the air-float ball socket 13 are positioned below the supporting platform 7, the supporting platform 7 is fixedly connected with the air-float ball bearing 12, the air-float ball bearing 12 is arranged in the air-float ball socket 13 and can slide in the air- float ball socket 13, and 4 limiting protectors 18 are uniformly distributed at the inner edge of the air-float ball socket 13; the lower part of the air-float ball socket 13 is connected with a lifting adjusting mechanism; the active assembly components 2 are placed on the supporting platform 7.
The planar two-dimensional movement adjusting mechanism comprises a transverse adjusting mechanism and a butt joint driving adjusting mechanism; the transverse adjusting mechanism comprises two sets of linear guide rails 10, a set of transverse moving components 15 and a transverse driving motor 19, and when the transverse adjusting mechanism works, the transverse driving motor 19 drives a lead screw transmission mechanism on the transverse moving components 15 to drive the transverse moving components 15 to transversely move along the linear guide rails 10, so that the active assembling components 2 transversely move; the docking driving mechanism comprises a longitudinal driving component 17, two sets of longitudinal moving components 16 and a longitudinal driving motor 20, wherein the longitudinal driving component 17 inputs the output of the longitudinal driving motor 20 to the longitudinal moving components 16 after passing through a speed reducer and a commutator; when the active assembling component 2 works, the two sets of longitudinal moving components 16 are driven by the screw rod transmission mechanism of the longitudinal moving components 16 to move along the butt joint direction, so that the active assembling component 2 longitudinally moves.
The lifting adjusting mechanism of the pose adjusting device 3 comprises a scissor type lifter 9 and a lifting driving motor 14, an upper connecting plate and a lower connecting plate of the scissor type lifter 9 are respectively connected with an air floating ball socket 13 and a planar two-dimensional movement adjusting mechanism, and when the pose adjusting device works, the lifting driving motor 14 drives the scissor type lifter 9 to adjust the vertical height of the whole supporting platform 7, so that the height of the active assembly component 2 is adjusted.
The edge of the lower surface of the supporting platform 7 is uniformly connected with 4 counter weights 8, so that the integral gravity center of the active assembly component 2, the supporting platform 7 and the counter weights 8 is below the air floatation ball bearing 12.
Advantageous effects
1. The three-degree-of-freedom position adjustment of the active butt joint assembly is realized through the two-dimensional movement adjusting mechanism and the lifting adjusting mechanism.
2. The air-float ball bearing is used as a supporting structure, and the stability of the platform is improved by adding the balance weight.
3. Due to the characteristic that the friction force of the air-float ball bearing is small, the flexibility of three degrees of freedom of the posture in the assembling process is ensured.
4. The position and posture information of the assembly component is acquired in real time based on a machine vision measuring system, the measured data is sent to a control system, and a position regulating and controlling instruction is generated according to a position servo control technology, so that full-automatic assembly of a product is realized.
The invention has the following characteristics: 1) the system can be assembled with a plurality of products; 2) the system can easily reconfigure the hardware and software of the system to assemble a new product; 3) the system can dynamically respond to both intra-and unplanned assembly processes; 4) the system is easy to reorganize, set up and change the assembly process.
The air-float ball bearing type supporting technology is mainly used for realizing the gesture three-freedom-degree friction-free rolling of the active assembly part of the product. Therefore, the flexibility of the three degrees of freedom of the posture in the assembling process is ensured, and the flexible adaptability of the assembling system in the aspect of the three degrees of freedom of the posture is realized.
The vision measurement technology is mainly used for measuring the position and the posture of an assembly product and comprises the position and the posture measurement of an active assembly component and the position and the posture measurement of a passive assembly component. When the product is assembled, an optical target is arranged on the surface of the product, and the target consists of a plurality of optical targets. And measuring the pose of the target by using a camera outside, thereby obtaining the pose of the product.
The position servo control technology is mainly used for adjusting the position of a product assembly, and full-automatic flexible assembly of large mechanical products is achieved. A two-dimensional movement adjusting mechanism is adopted to realize the position adjustment of two degrees of freedom of the component in a horizontal plane; and a lifting adjusting mechanism is adopted, and a shear type lifter is driven by a driving motor, so that the height adjustment of the assembly in the vertical direction freedom degree is realized. In the regulation and control process, visual measurement information is used as feedback, the flexible adaptability of the air-floating ball bearing in three degrees of freedom of posture is utilized, and the assembly with full degrees of freedom is realized by adjusting the position of the assembly.
Drawings
FIG. 1 is a schematic diagram of the working process of the present invention;
fig. 2 is a schematic structural diagram of a pose regulating and controlling device 3 of the present invention;
FIG. 3, FIG. 2 are left side views;
fig. 4 is a schematic structural view of the pose control device 3 of the present invention.
The system comprises a position and posture measuring camera 1, an active assembling component 2, a position and posture regulating device 3, a passive assembling component 4, an auxiliary supporting device 5, a measuring console 6, a supporting platform 7, a counterweight 8, a scissor lift 9, a linear guide rail 10, a supporting base 11, an air-floating ball bearing 12, an air-floating ball socket 13, a lifting driving motor 14, a transverse moving component 15, a longitudinal moving component 16, a longitudinal driving component 17, a limiting protector 18, a transverse driving motor 19 and a longitudinal driving motor 20.
Detailed Description
An air-float ball bearing posture self-correction assembly docking system comprises a posture regulating device 3 and an auxiliary supporting device 5, and is characterized by further comprising a posture measuring camera 1 and a measuring control console 6, wherein the posture measuring camera 1 is fixed on a supporting base 11 of the posture regulating device 3 through a support; an active assembly component 2 is arranged on the pose adjusting device 3, and a passive assembly component 4 is arranged on the auxiliary supporting device 5; the camera of the pose measurement camera 1 faces the active assembly component 2 and the passive assembly component 4; the active assembly component 2 and the passive assembly component 4 are lifted forwards to be provided with positioning targets; the pose measurement camera 1 and the pose regulation and control device 3 are respectively connected with a data I/O card on a tool control machine in the measurement control console 6 through information transmission cables, the data I/O card is used for sending instructions of the measurement control console 6 to the pose regulation and control device 3 and receiving information shot by the pose measurement camera 1 to the measurement control console 6, the measurement control console 6 calculates the direction and distance of the pose regulation and control device 3 to be moved according to the shot information, and the data I/O card sends instructions to instruct the pose regulation and control device 3 to move and regulate the position of the active assembly component 2;
the pose adjusting and controlling device 3 comprises a supporting mechanism, a lifting adjusting mechanism, a plane two-dimensional movement adjusting mechanism and a supporting base 11; the planar two-dimensional movement adjusting mechanism is arranged on the supporting base 11, the lifting adjusting mechanism is slidably arranged on the planar two-dimensional movement adjusting mechanism, and the supporting mechanism is fixedly arranged on the lifting adjusting machine;
the supporting mechanism comprises a supporting platform 7, an air-float ball bearing 12 and an air-float ball socket 13, wherein the air-float ball bearing 12 and the air-float ball socket 13 are positioned below the supporting platform 7, the supporting platform 7 is fixedly connected with the air-float ball bearing 12, the air-float ball bearing 12 is arranged in the air-float ball socket 13 and can slide in the air- float ball socket 13, and 4 limiting protectors 18 are uniformly distributed at the inner edge of the air-float ball socket 13; the lower part of the air-float ball socket 13 is connected with a lifting adjusting mechanism; the active assembly components 2 are placed on the supporting platform 7.
The planar two-dimensional movement adjusting mechanism comprises a transverse adjusting mechanism and a butt joint driving adjusting mechanism; the transverse adjusting mechanism comprises two sets of linear guide rails 10, a set of transverse moving components 15 and a transverse driving motor 19, and when the transverse adjusting mechanism works, the transverse driving motor 19 drives a lead screw transmission mechanism on the transverse moving components 15 to drive the transverse moving components 15 to transversely move along the linear guide rails 10, so that the active assembling components 2 transversely move; the docking driving mechanism comprises a longitudinal driving component 17, two sets of longitudinal moving components 16 and a longitudinal driving motor 20, wherein the longitudinal driving component 17 inputs the output of the longitudinal driving motor 20 to the longitudinal moving components 16 after passing through a speed reducer and a commutator; when the active assembling component 2 works, the two sets of longitudinal moving components 16 are driven by the screw rod transmission mechanism of the longitudinal moving components 16 to move along the butt joint direction, so that the active assembling component 2 longitudinally moves.
The lifting adjusting mechanism of the pose adjusting device 3 comprises a scissor type lifter 9 and a lifting driving motor 14, an upper connecting plate and a lower connecting plate of the scissor type lifter 9 are respectively connected with an air floating ball socket 13 and a planar two-dimensional movement adjusting mechanism, and when the pose adjusting device works, the lifting driving motor 14 drives the scissor type lifter 9 to adjust the vertical height of the whole supporting platform 7, so that the height of the active assembly component 2 is adjusted.
The edge of the lower surface of the supporting platform 7 is uniformly connected with 4 counter weights 8, so that the integral gravity center of the active assembly component 2, the supporting platform 7 and the counter weights 8 is below the air-float ball bearing 12.
The invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the self-correcting assembly and docking system for the attitude of the air-floating ball bearing is used for realizing rapid and accurate assembly and docking of an active assembly component 2 and a passive assembly component 4 of a large non-standard product, and a positioning target needs to be installed on the active assembly component and the passive assembly component in advance in order to realize pose measurement of the active assembly component and the passive assembly component in a docking process.
The whole system consists of a pose measuring camera 1, a pose regulating device 3, an auxiliary supporting device 5, a measuring control console 6 and the like.
The pose measurement camera 1 is fixedly placed at a product docking station through a support, and a positioning target on the active and passive components is ensured to be in the view field range of the pose measurement camera. The pose adjusting and controlling device 3 is used for supporting the active assembly components of the product and adjusting the pose of the active assembly components according to the instructions given by the measuring control console 6. The auxiliary support means 5 is used to support the passive assembly of the product and is a simple support platform structure that remains stationary during the butt assembly process. The measurement control console 6 is used for data acquisition, processing and control of the whole docking system, mainly comprises an industrial personal computer, an electric control device and control software, calculates attitude adjusting quantity according to the attitude data measured by the attitude measurement camera 1 and sends an attitude adjusting instruction to a related execution mechanism of the attitude adjusting device 3.
The core part of the self-correcting assembly docking system for the attitude of the air ball bearing provided by the invention is an attitude and posture adjusting and controlling device 3, as shown in fig. 2, 3 and 4, the attitude and posture adjusting and controlling device 3 mainly comprises a supporting platform 7, a counterweight 8, a scissor lift 9, a linear guide rail 10, a supporting base 11, an air ball bearing 12, an air ball socket 13, a lifting driving motor 14, a transverse moving assembly 15, a longitudinal moving assembly 16, a longitudinal driving assembly 17, a limiting protector 18, a transverse driving motor 19 and a longitudinal driving motor 20.
The supporting platform 7 is used for supporting and fixing the active assembling component 2 of the product, and the supporting structure form can be designed according to the product structure. The air-float ball bearing 12 and the air-float ball socket 13 are positioned below the supporting platform 7, the supporting platform 7 and the air-float ball bearing 12 are fixed into a whole through bolts, and due to the characteristic of small friction resistance of the air-float ball bearing, the flexibility and the adaptability of three degrees of freedom of the posture are guaranteed in the butt joint process. The limit protectors 18 are four limit blocks of a pure mechanical structure, and are respectively installed in four directions of 0 degree, 90 degrees, 180 degrees and 270 degrees of the air-float ball socket 13, and the rolling amount of the air-float ball bearing 12 is limited through mechanical limit, so that the safety of the supporting platform 7 in posture change is ensured. The counter weight 8 is installed in the lower part of supporting platform 7 and extends to below the air-float ball bearing 12, and the weight of the counter weight 8 is adjusted to enable the whole gravity center of the active assembly component 2, the supporting platform 7 and the counter weight 8 to be below the air-float ball bearing 12, so that the posture stability of the supporting platform 7 and a product is guaranteed.
The lifting adjusting mechanism of the pose adjusting device 3 comprises a scissor lift 9 and a lifting driving motor 14, an upper connecting plate and a lower connecting plate of the scissor lift 9 are respectively connected with an air floating ball socket 13 and a planar two-dimensional movement adjusting mechanism, the scissor lift 9 is driven by the lifting driving motor 14 to adjust the vertical height of the whole supporting platform 7, and therefore the adjusting function of the active assembly component 2 in the height direction is achieved.
The planar two-dimensional movement adjusting mechanism comprises a transverse adjusting mechanism and a butt joint driving adjusting mechanism. The transverse adjusting mechanism comprises two sets of linear guide rails 10, a set of transverse moving assemblies 15 and a transverse driving motor 19. The transverse driving motor 19 drives the screw rod transmission mechanism on the transverse moving component 15 to drive the whole device to move transversely along the linear guide rail 10, so that the function of adjusting the transverse displacement of the active assembling component 2 is realized. The docking driving mechanism comprises a longitudinal driving component 17, two sets of longitudinal moving components 16 and a longitudinal driving motor 20, the longitudinal driving component 17 inputs the output of the longitudinal driving motor 20 to the longitudinal moving component 16 after passing through a speed reducer and a commutator, and the whole device can move along the docking direction through a screw rod transmission mechanism of the longitudinal moving component 16, so that the function of adjusting the longitudinal displacement of the active assembly component 2 is realized.
The pose adjusting device can realize the pose adjustment of the active assembly component 2 with six degrees of freedom in the assembly and butt joint process through the combined adjustment of the air floating ball bearing, the lifting adjusting mechanism and the plane two-dimensional movement adjusting mechanism of the pose adjusting device 3.
The air-float ball bearing posture self-correction assembly docking system provided by the invention has the following use process:
the method comprises the steps that a product active assembly component 2 and a product passive assembly component 4 are respectively supported and fixed on a support platform of an assembly and docking system pose regulating and controlling device 3 and an auxiliary support device 5, a pose measuring camera 1 measures the space poses of the active assembly component 2 and the passive assembly component 4 and sends the measured poses to a measuring control console 6, the measuring control console 6 calculates the relative pose information between the active assembly component 2 and the passive assembly component 4, obtains a corresponding position control instruction according to the three-degree-of-freedom adaptivity of the pose of an air ball bearing 12 and sends the position control instruction to the pose regulating and controlling device 3 to drive a corresponding plane two-dimensional movement adjusting mechanism and a lifting adjusting mechanism, and achieves the self-correction of the pose of the product active assembly component 2 through the self-adaptation of the pose of the air ball bearing 12 in the final stage of docking, so that the full-automatic assembly and docking of products are achieved. In the whole butt joint process, the position posture measuring camera 1 and the position posture regulating device 3 form a measuring-adjusting closed loop system.
The invention provides an air-float ball bearing posture self-correction assembly docking system. In the industrial field, the assembly of large non-standard products usually depends on manual adjustment, the efficiency is low and the assembly quality is difficult to guarantee. The invention provides an air ball bearing posture self-correction assembly butt joint method based on an air ball bearing supporting technology and aiming at assembly of large non-standard product components in industrial production, and compared with the existing method, the assembly speed is accelerated while the assembly precision and the assembly flexibility are improved.
The invention can realize the assembly and butt joint method of the large nonstandard product component with self-correction of the attitude. The invention relates to the technical field of digital assembly, and aims to improve the assembly efficiency and the assembly quality of products based on a technology for completing assembly of two or more nonstandard product assemblies by a set of digital assembly system. The system relates to an air-float ball bearing supporting technology, a visual measurement technology and a pose servo control technology. In the industrial field, the assembly of large non-standard products usually depends on manual adjustment, the efficiency is low, and the assembly quality is difficult to ensure; or the traditional mechanical mode is adopted for full-automatic butt joint, the butt joint quality completely depends on the measurement precision of the sensor, and the safety problem in the butt joint process caused by the measurement error of the sensor cannot be ensured. The system utilizes the air ball bearing support bracket to realize the self-adaptive adjustment of three degrees of freedom of the posture of the active docking assembly. The machine vision-based measurement system acquires the position and attitude information of the assembly component in real time, the measurement data is sent to the control system, a position regulation and control instruction is generated, the attitude degree of freedom is adjusted through self-correction of the air-float ball bearing, and then full-automatic assembly of the product is achieved.
The invention improves the assembly efficiency and the assembly quality of the product. The invention uses the air-float ball bearing type supporting technology, the visual measurement technology and the position servo control technology.
The invention adopts the air-float ball bearing to support, and can realize the assembly and butt joint method of the large nonstandard product assembly with self-correction of the attitude. The invention relates to the technical field of digital assembly, and aims to improve the assembly efficiency and the assembly quality of products based on a technology for completing assembly of two or more nonstandard product assemblies by a set of digital assembly system. The system relates to an air-float ball bearing supporting technology, a visual measurement technology and a pose servo control technology. In the industrial field, the assembly of large non-standard products usually depends on manual adjustment, the efficiency is low, and the assembly quality is difficult to ensure; or the traditional mechanical mode is adopted for full-automatic butt joint, the butt joint quality completely depends on the measurement precision of the sensor, and the safety problem in the butt joint process caused by the measurement error of the sensor can not be ensured. The system utilizes the air ball bearing support bracket to realize the self-adaptive adjustment of three degrees of freedom of the posture of the active docking assembly. The machine vision-based measurement system acquires the position and attitude information of the assembly component in real time, the measurement data is sent to the control system, a position regulation and control instruction is generated, the attitude degree of freedom is adjusted through self-correction of the air-float ball bearing, and then full-automatic assembly of the product is achieved.
Claims (2)
1. An air-float ball bearing posture self-correction assembly docking system comprises a posture regulating and controlling device (3) and an auxiliary supporting device (5), and is characterized by further comprising a posture measuring camera (1) and a measuring control console (6), wherein the posture measuring camera (1) is fixed on a supporting base (11) of the posture regulating and controlling device (3) through a support; an active assembly component (2) is placed on the pose adjusting and controlling device (3), and a passive assembly component (4) is placed on the auxiliary supporting device (5); a camera of the pose measurement camera (1) faces the active assembly component (2) and the passive assembly component (4); the active assembly component (2) and the passive assembly component (4) are lifted forwards to install positioning targets; the pose measurement camera (1) and the pose regulation and control device (3) are respectively connected with a data I/O card on a tool control machine in a measurement control console (6) through information transmission cables, the data I/O card is used for sending an instruction of the measurement control console (6) to the pose regulation and control device (3) and receiving information shot by the pose measurement camera (1) to the measurement control console (6), the measurement control console (6) calculates the direction and distance of the pose regulation and control device (3) to be moved according to the shot information, and the data I/O card sends the instruction to instruct the pose regulation and control device (3) to move and regulate the position of the active assembly component (2);
the pose adjusting and controlling device (3) comprises a supporting mechanism, a lifting adjusting mechanism, a plane two-dimensional movement adjusting mechanism and a supporting base (11); the planar two-dimensional movement adjusting mechanism is arranged on a supporting base (11), the lifting adjusting mechanism is arranged on the planar two-dimensional movement adjusting mechanism in a sliding mode, and the supporting mechanism is fixedly arranged on the lifting adjusting machine;
the supporting mechanism comprises a supporting platform (7), an air-float ball bearing (12) and an air-float ball socket (13), the air-float ball bearing (12) and the air-float ball socket (13) are positioned below the supporting platform (7), the supporting platform (7) is fixedly connected with the air-float ball bearing (12), the air-float ball bearing (12) is installed in the air-float ball socket (13) and can slide in the air-float ball socket (13), and 4 limit protectors (18) are uniformly distributed at the inner edge of the air-float ball socket (13); the lower part of the air-float ball socket (13) is connected with a lifting adjusting mechanism; the active assembly component (2) is arranged on the supporting platform (7);
the planar two-dimensional movement adjusting mechanism comprises a transverse adjusting mechanism and a butt joint driving adjusting mechanism; the transverse adjusting mechanism comprises two sets of linear guide rails (10), a set of transverse moving components (15) and a transverse driving motor (19), and when the transverse adjusting mechanism works, the transverse driving motor (19) drives a screw rod transmission mechanism on the transverse moving components (15) to drive the transverse moving components (15) to transversely move along the linear guide rails (10), so that the active assembling components (2) transversely move; the butt joint driving mechanism comprises a longitudinal driving component (17), two sets of longitudinal moving components (16) and a longitudinal driving motor (20), wherein the longitudinal driving component (17) inputs the output of the longitudinal driving motor (20) to the longitudinal moving components (16) after passing through a speed reducer and a commutator; when the device works, the two sets of longitudinal moving assemblies (16) are driven by the screw rod transmission mechanism of the longitudinal moving assembly (16) to move along the butt joint direction, so that the active assembling assembly (2) longitudinally displaces;
the edge of the lower surface of the supporting platform (7) is uniformly connected with 4 counter weights (8), so that the overall gravity center of the active assembly component (2), the supporting platform (7) and the counter weights (8) is below the air-float ball bearing (12).
2. The self-correcting attitude assembly docking system for the air-bearing ball bearings is characterized in that a lifting adjusting mechanism of the attitude adjusting and controlling device (3) comprises a scissor type lifter (9) and a lifting driving motor (14), an upper connecting plate and a lower connecting plate of the scissor type lifter (9) are respectively connected with an air-bearing ball socket (13) and a planar two-dimensional movement adjusting mechanism, and when the self-correcting attitude assembly docking system works, the scissor type lifter (9) is driven by the lifting driving motor (14) to adjust the vertical height of the whole supporting platform (7), so that the height of the active assembly component (2) is adjusted.
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