CN112756959B - Flexible multi-degree-of-freedom butt joint posture adjusting mechanism - Google Patents
Flexible multi-degree-of-freedom butt joint posture adjusting mechanism Download PDFInfo
- Publication number
- CN112756959B CN112756959B CN202011563022.0A CN202011563022A CN112756959B CN 112756959 B CN112756959 B CN 112756959B CN 202011563022 A CN202011563022 A CN 202011563022A CN 112756959 B CN112756959 B CN 112756959B
- Authority
- CN
- China
- Prior art keywords
- guide rail
- bracket
- arc
- rolling
- speed reducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- 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
- B23P19/10—Aligning parts to be fitted together
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible multi-degree-of-freedom butt joint posture adjusting mechanism which comprises a linear guide mechanism and two posture adjusting mechanisms, wherein the posture adjusting mechanisms are arranged on the linear guide mechanism; the pose adjusting mechanism comprises a rolling bracket for rolling adjustment, a guide groove for Y-direction translational adjustment and a lifting base for Z-direction lifting adjustment, wherein the rolling bracket is arranged in the guide groove, and the guide groove is arranged in the lifting base; the lifting base is connected with the linear guide mechanism, and the lifting base translates on the linear guide mechanism in the X direction. The invention can realize automatic adjustment of the attitude of the cabin-class products, has the advantages of high automation degree, high butt joint precision and high assembly efficiency, and can reduce the intensity of manual butt joint operation and reduce human resources.
Description
Technical Field
The invention relates to the technical field of automatic assembly, in particular to a flexible multi-degree-of-freedom butt joint posture adjusting mechanism.
Background
In the technical field of aerospace, the product is complex in structure and generally consists of a plurality of cabin sections, and after all the cabin sections are produced, the cabin sections need to be butted and assembled to form a final product. At present, most cabin docking equipment is operated manually, generally 4 operators are needed, the workload is large, and the efficiency is low. At present, the rapid final assembly integration technology becomes a hot spot direction, and the production task is increasingly heavy, so that mechanical equipment capable of realizing automatic butt joint of cabin sections is needed, and the production efficiency is improved.
Disclosure of Invention
The invention aims to provide a flexible multi-degree-of-freedom docking posture adjusting mechanism, which realizes automatic docking, reduces operators and improves docking efficiency.
The technical scheme for realizing the purpose of the invention is as follows: a flexible multi-degree-of-freedom docking posture-adjusting mechanism comprises a linear guide mechanism and two posture adjusting mechanisms, wherein the posture adjusting mechanisms are arranged on the linear guide mechanism; the pose adjusting mechanism comprises a rolling bracket for rolling adjustment, a guide groove for Y-direction translational adjustment and a lifting base for Z-direction lifting adjustment, wherein the rolling bracket is arranged in the guide groove, and the guide groove is arranged in the lifting base; the lifting base is connected with the linear guide mechanism, and the lifting base translates on the linear guide mechanism in the X direction.
Further, the roll carriage includes a roll housing; an arc gear shaft is arranged on one side inside the rolling box body, two ends of the arc gear shaft extend to the outside of the rolling box body, an arc gear driven by rolling is arranged on the arc gear shaft, one end of the arc gear shaft is connected with the output end of a first speed reducer, the input end of the first speed reducer is connected with a first servo motor driven by rolling, an arc bracket is arranged above the rolling box body, a grating scale reading head is arranged on one side of the arc bracket, a second grating scale connected with the grating scale reading head is arranged on the arc bracket, an arc rack is arranged on one side of the arc bracket, an arc guide rail pair comprises an arc guide rail and a slide block, an arc guide rail is arranged in the middle of the arc bracket, the arc guide rail is connected with the rolling box body through the slide block, and a quick-change support arc frame used for placing cabin sections with different diameters is arranged above the arc bracket;
the guide groove comprises a groove body, a second speed reducer is installed outside one side of the groove body, a ball screw and a linear guide rail are located in the groove body, two ends of the linear guide rail are fixed at two ends of the groove body, two ends of the ball screw respectively extend to the outside of two ends of the groove body, a second servo motor is installed at the input end of the second speed reducer, the output end of the second speed reducer is connected with one end of the ball screw through a coupler, a nut on the ball screw is connected with the rolling box body through a nut fixing block, meanwhile, the rolling box body is fixedly connected with the linear guide rail installed in the groove body through a sliding block, and the nut of the ball screw can move to drive the rolling box body to move along the linear guide rail;
the lifting base comprises a frame; the frame is provided with a first screw rod lifter, a second screw rod lifter and a T-shaped speed reducer, the T-shaped speed reducer is arranged between the first screw rod lifter and the second screw rod lifter, the input end of the T-shaped speed reducer is connected with a third servo motor, one output end of the T-shaped speed reducer is connected with the first screw rod lifter through a coupler, the other output end of the T-shaped speed reducer is connected with the second screw rod lifter through a coupler-transition shaft-coupler, the two sides of the bottom of the frame are respectively provided with a roller connected with a linear guide mechanism, one side of the frame is provided with a propulsion motor mounting bracket, the propulsion speed reducer is mounted on the propulsion motor mounting bracket, the output end of the propulsion speed reducer is provided with a propulsion gear, and the input end of the propulsion servo motor is mounted.
Further, the linear guide mechanism comprises a first linear roller guide rail, a second linear roller guide rail, a rack, a first guide rail support, a second guide rail support, a rack mounting base and a plurality of leveling sizing blocks, wherein the adjusting sizing blocks are placed on the ground, the adjusting sizing blocks are fixed on the cement ground at the mounting positions through mounting chemical bolts, the first guide rail support and the second guide rail support are fixedly connected with the chemical bolts through nuts, the first linear roller guide rail and the second linear roller guide rail are respectively arranged on the first guide rail support and the second guide rail support, rollers on two sides of the bottom of the frame are respectively arranged in the first linear roller guide rail and the second linear roller guide rail, the rack mounting base is fixedly connected with the chemical bolts through nuts, the rack mounting base is located in the middle position between the first linear roller guide rail and the second linear roller guide rail, the rack is mounted on the rack mounting base, and the rack is connected with a pushing gear on the bottom of the lifting base through bolts.
Furthermore, 9 leveling parallels are respectively arranged at two ends and in the middle of the bottom of the first guide rail support, the bottom of the second guide rail support and the bottom of the rack mounting base.
Further, a measuring tape for measuring the moving distance is further mounted on the rack mounting base.
Further, the roll-over bracket also comprises a first hand wheel, the guide groove comprises a second hand wheel and a first grating ruler, the first hand wheel is connected with the other end of the circular arc gear shaft on the roll-over bracket, the second hand wheel is connected with the other end of the ball screw, and the first grating ruler is installed on one side of the groove body.
Furthermore, inside the roll box of roll bracket, install the force sensor who detects pressure between quick change support arc frame lower part and the arc bracket, on the frame, one side relative with the propulsion motor installing support is equipped with the magnetic grid measuring head.
Furthermore, the two sides of the frame are provided with anti-overturning follow-up linear rollers.
Furthermore, 3 rollers are respectively arranged on two sides of the bottom of the frame, and 9 follow-up linear rollers are arranged.
Furthermore, the rolling angle range adjusted by the rolling bracket is-3 degrees, the translation displacement range of the guide groove in the Y direction is-50 mm, and the lifting height range of the lifting base in the Z direction is-20 mm.
Compared with the prior art, the invention has the following remarkable effects: the invention adopts a roller guide rail form as a guide mechanism moving along an axis, can conveniently separate the docking mechanism, is beneficial to the connection between different guide rails, and simultaneously adopts the two-position adjusting mechanism to realize the adjustment of docking pitching and yawing angles in a cooperative manner, realizes the automatic docking of cabin sections, reduces the docking time of the cabin sections and reduces the docking time of the cabin sections to about 5 minutes; the invention reduces the labor amount of operators, reduces the number of operators required for original manual butt joint to 2, greatly reduces human resources, can reduce the manual operation intensity of butt joint, and improves the butt joint efficiency and quality of the cabin section.
Drawings
FIG. 1 is a schematic structural view of the multi-degree-of-freedom docking posture-adjusting mechanism of the present invention.
Fig. 2 is a schematic structural view of the pose adjusting mechanism of the present invention.
Fig. 3 is a bottom view of the roll carriage of the present invention.
Fig. 4 is a schematic view of the structure of the guide groove of the present invention.
Fig. 5 (a) is a schematic view of the lifting base of the present invention in a forward direction, and fig. 5 (b) is a rear view of the lifting base of the present invention.
Fig. 6 is a schematic structural view of the linear guide mechanism of the present invention.
In the figure: the device comprises a posture adjusting mechanism 1, a linear guide mechanism 2, a rolling bracket 3, a guide groove 4, a lifting base 5, a quick-change support arc frame 6, an arc-shaped guide rail pair 7, an arc-shaped rack 8, a first speed reducer 9, a first servo motor 10, a first hand wheel 11, a force sensor 12, a groove body 14, a ball screw 15, a linear guide rail 16, a second speed reducer 17, a second servo motor 18, a first grating ruler 19, a second hand wheel 20, a first lead screw elevator 22-1, a second lead screw elevator 22-2, a frame 25, a T-shaped speed reducer 26, a third servo motor 27, a following linear roller 28, a magnetic grating measuring head 29, a pushing gear 30, a pushing speed reducer 31, a pushing servo motor 32, a first linear roller guide rail 33, a second linear roller guide rail 34, a rack 35, a measuring tape 36, a first guide rail bracket 37-1, a second guide rail bracket 37-2, a leveling iron pad 38, an arc-shaped gear 39, an arc-shaped gear 40, a rolling box 41, a grating reading head 42, a second ruler 43, a grating mounting rack mounting bracket 45 and a grating mounting base 46.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The cabin alignment deviation is 6-degree-of-freedom attitude deviation, so that 6 adjustment motion degrees of freedom are required in the butt joint adjustment process, including 3-direction movement degrees of freedom and 3-attitude rotation degrees of freedom. The device mainly comprises an X-direction feeding mechanism, a Y-direction adjusting mechanism, a Z-direction adjusting mechanism, a pitching adjusting mechanism (needing to be realized by the cooperation of a front and back pose adjusting mechanism), a yawing adjusting mechanism (needing to be realized by the cooperation of the front and back pose adjusting mechanism) and a center rolling adjusting mechanism.
With reference to fig. 1 and 2, a flexible multi-degree-of-freedom docking posture adjustment mechanism is characterized by comprising a linear guide mechanism 2 and two posture adjustment mechanisms 1, wherein the two posture adjustment mechanisms 1 are arranged on the linear guide mechanism 2; the linear guide mechanism 2 and the two pose adjusting mechanisms 1 are mutually matched to realize adjustment of 6 degrees of freedom in X-direction translation, Y-direction translation, Z-direction lifting, pitching, yawing and rolling; the device comprises an X-direction feeding mechanism, a Y-direction adjusting mechanism, a Z-direction adjusting mechanism, a pitching adjusting mechanism, a yawing adjusting mechanism and a rolling adjusting mechanism, wherein the pitching adjusting mechanism and the yawing adjusting mechanism are realized by the cooperative matching of a front pose adjusting mechanism and a rear pose adjusting mechanism; the pose adjusting mechanism 1 comprises a rolling bracket 3, a guide groove 4 and a lifting base 5, wherein the rolling bracket 3 is installed in the guide groove 4, the guide groove 4 is installed in the lifting base 5, the rolling bracket 3 is used for placing a cabin section, and the rolling bracket 3 moves horizontally in the guide groove and moves up and down along with the lifting base; the linear guide mechanism 2 is used as a guide mechanism and a support mechanism of the pose adjusting mechanism 1 during butt joint of the cabin sections, and meanwhile, the rack and the gear form an axial butt joint power mechanism;
as shown in fig. 2 and 3, the rolling bracket 3 mainly functions to support the cabin section and provide the cabin section with a rolling requirement of ± 3 degrees, and includes a rolling box 41, an arc bracket, a quick-change support arc frame 6, an arc guide rail pair 7, an arc rack 8, a first speed reducer 9, a first servo motor 10, a first hand wheel 11, a force sensor 12, a rolling-driven arc gear 39, an arc gear shaft 40 and an angle sensor, wherein the angle sensor includes a grating scale reading head 42 and a second grating scale 43; an arc gear shaft 40 is installed on one side inside a rolling box 41, two ends of the arc gear shaft 40 extend to the outside of the rolling box 41, an arc gear 39 driven by rolling is installed on the arc gear shaft 40, a first hand wheel 11 used for manual driving is installed at one end of the arc gear shaft 40, the other end of the arc gear shaft is connected with the output end of a first speed reducer 9, the input end of the first speed reducer 9 is connected with a first servo motor 10 driven by rolling, an arc bracket is installed above the rolling box 41, a grating scale reading head 42 is installed on one side of the arc bracket, a second grating scale 43 connected with the grating scale reading head 42 is installed on the arc bracket, the grating scale reading head 42 and the second grating scale 43 can detect the rolling angle of the arc bracket, the rolling angle can be detected after the arc bracket rolls, an arc rack 8 is installed on one side of the arc bracket, an arc guide rail pair 7 comprises an arc guide rail and a slide block, the arc guide rail is installed in the middle of the arc bracket, the arc guide rail is connected with the rolling box 41 through the slide block, so that the arc bracket and the rolling bracket can generate relative motion, a quick-change support arc bracket 6 is installed above the arc bracket, the main quick change support bracket 6 can adapt to the internal force of the main quick change sensor installed in the rolling box 12, and the process, and the quick change sensor can generate the force;
with reference to fig. 4, the guide groove 4 mainly provides power and guidance for Y-direction translation of the cabin, the translation displacement is ± 50mm, and the device comprises a tank 14, a ball screw 15, a linear guide rail 16, a second speed reducer 17, a second servo motor 18, a first grating ruler 19 and a second hand wheel 20, wherein the ball screw 15 and the linear guide rail 16 are located in the tank 14, two ends of the linear guide rail 16 are fixed at two ends of the tank 14, two ends of the ball screw 15 extend to the outside of two ends of the tank respectively, the second servo motor 18 is installed at the input end of the second speed reducer 17, the output end of the second speed reducer 17 is connected with one end of the ball screw 15 through a coupler, a nut on the ball screw 15 is connected with a rolling box 41 through a nut fixing block, the rolling box 41 is fixedly connected with the linear guide rail 16 installed in the tank 14 through a slider, the nut of the ball screw 15 drives the rolling box 41 to move along the linear guide rail 16, the first grating ruler 19 is installed at one side of the tank 14, and measures Y-direction displacement.
With reference to fig. 5 (a) and 5 (b), the lifting base 5 is a carrier for mounting the lifting mechanism and the main propulsion mechanism, the lifting height is ± 20mm, and the height displacement is fed back by a displacement sensor, and comprises a first lead screw lifter 22-1, a second lead screw lifter 22-2, a frame 25, a T-shaped speed reducer 26, a third servo motor 27, a linear roller 28, a magnetic grid measuring head 29, a propulsion gear 30, a propulsion speed reducer 31 and a propulsion servo motor 32.
A first lead screw lifter 22-1, a second lead screw lifter 22-2 and a T-shaped speed reducer 26 are mounted on the frame 25, the T-shaped speed reducer 26 is mounted between the first lead screw lifter 22-1 and the second lead screw lifter 22-2, the input end of the T-shaped speed reducer 26 is connected with a third servo motor 27, one output end of the T-shaped speed reducer 26 is connected with the first lead screw lifter 22-1 through a coupler, and the other output end of the T-shaped speed reducer 26 is connected with the second lead screw lifter 22-2 through a coupler-transition shaft-coupler, so that the first lead screw lifter 22-1 and the second lead screw lifter 22-2 can synchronously move. The positions of the two sides of the bottom of the frame are respectively provided with 3 rollers which are used for matching with the guide rails of the linear guide mechanism. Meanwhile, two sides of the frame 25 are provided with 9 anti-overturning follow-up linear rollers 28. A propulsion motor mounting bracket 45 is arranged on the advancing direction side of the frame 25, the propulsion reducer 31 is mounted on the propulsion motor mounting bracket 45, the output end of the propulsion reducer is provided with the propulsion gear 30, and the input end of the propulsion reducer is mounted with the propulsion servo motor 32. A magnetic grid measuring head 29 is arranged on the frame 25 at the side opposite to the propulsion motor mounting bracket 45 and is used for measuring the propulsion length in real time and providing feedback for a control system.
As shown in fig. 6, the linear guide mechanism 2 includes a first linear roller guide 33, a second linear roller guide 34, a rack 35, a measuring tape 36, a first guide bracket 37-1, a second guide bracket 37-2, a rack mounting base 46 and 9 leveling pads 38, the leveling pads 38 are placed on the ground, the leveling pads 38 are fixed on the cement ground at the mounting position by mounting chemical bolts, both ends and the middle of the first guide bracket 37-1 and the second guide bracket 37-2 are respectively fixedly connected with the chemical bolts by nuts, both ends and the middle of the rack mounting base are respectively fixedly connected with the chemical bolts by nuts, the first linear roller guide 33 and the second linear roller guide 34 are respectively placed on the first guide bracket 37-1 and the second guide bracket 37-2, rollers at both sides of the bottom of the carriage 25 are respectively placed in the first linear roller guide 33 and the second linear roller guide 34, the rack mounting base is located at the middle between the first linear roller guide 33 and the second linear roller guide 34, and the rack 35 is mounted on the rack mounting base 46. In addition, a measuring tape 36 is mounted on the rack mounting base for measuring the distance advanced. The rack is connected with a pushing gear 30 at the bottom of the lifting base 5 through a bolt, and after the posture adjustment mechanism 1 finishes the posture adjustment of the moving cabin section, the pushing gear 30 is driven by the existing external control cabinet to move, so that the cabin section moves, and the butt joint is finished.
The degree of freedom adjustment range in the invention takes the central point as a reference, and comprises two adjustment directions, and a negative value represents a negative direction of a coordinate system.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (9)
1. A flexible multi-degree-of-freedom docking posture-adjusting mechanism is characterized by comprising a linear guide mechanism (2) and two posture adjusting mechanisms (1), wherein the posture adjusting mechanisms (1) are arranged on the linear guide mechanism (2); the pose adjusting mechanism (1) comprises a rolling bracket (3) for performing rolling adjustment, a guide groove (4) for performing Y-direction translation adjustment and a lifting base (5) for performing Z-direction lifting adjustment, wherein the rolling bracket (3) is installed in the guide groove (4), and the guide groove (4) is installed in the lifting base (5); the lifting base (5) is connected with the linear guide mechanism (2) and translates on the linear guide mechanism (2) in the X direction;
the rolling bracket (3) comprises a rolling box body (41); an arc gear shaft (40) is installed on one side inside a rolling box body (41), two ends of the arc gear shaft (40) extend to the outside of the rolling box body (41), an arc gear (39) driven by rolling is installed on the arc gear shaft (40), one end of the arc gear shaft (40) is connected with the output end of a first speed reducer (9), the input end of the first speed reducer (9) is connected with a first servo motor (10) driven by rolling, an arc bracket is installed above the rolling box body (41), a grating scale reading head (42) is installed on one side of the rolling box body, a second grating scale (43) connected with the grating scale reading head (42) is installed on the arc bracket, an arc rack (8) is installed on one side of the arc bracket, an arc guide rail pair (7) comprises an arc guide rail and a slide block, an arc guide rail is installed in the middle of the arc bracket, the arc guide rail is connected with the rolling box body (41) through the slide block, and quick-change support arc frames (6) used for placing cabin sections with different diameters are installed above the arc bracket;
the guide groove (4) comprises a groove body (14), a second speed reducer (17) is installed outside one side of the groove body (14), a ball screw (15) and a linear guide rail (16) are located in the groove body (14), two ends of the linear guide rail (16) are fixed to two ends of the groove body (14), two ends of the ball screw (15) respectively extend to the outside of two ends of the groove body, a second servo motor (18) is installed at the input end of the second speed reducer (17), the output end of the second speed reducer (17) is connected with one end of the ball screw (15) through a coupler, a nut on the ball screw (15) is connected with a rolling box body (41) through a nut fixing block, meanwhile, the rolling box body (41) is fixedly connected with the linear guide rail (16) installed in the groove body (14) through a sliding block, and the nut of the ball screw (15) moves to drive the rolling box body (41) to move along the linear guide rail (16);
the lifting base (5) comprises a frame (25); a first lead screw lifter (22-1), a second lead screw lifter (22-2) and a T-shaped speed reducer (26) are installed on a frame (25), the T-shaped speed reducer (26) is arranged between the first lead screw lifter (22-1) and the second lead screw lifter (22-2), the input end of the T-shaped speed reducer (26) is connected with a third servo motor (27), one output end of the T-shaped speed reducer (26) is connected with the first lead screw lifter (22-1) through a coupler, the other output end of the T-shaped speed reducer is connected with the second lead screw lifter (22-2) through a coupler-transition shaft-coupler, rollers connected with a linear guide mechanism are arranged on two sides of the bottom of the frame (25), a propelling motor installing support (45) is arranged on one side of the frame (25), a propelling speed reducer (31) is installed on the propelling motor installing support (45), a propelling gear (30) is installed on the output end of the propelling speed reducer, and a propelling servo motor (32) is installed on the input end of the propelling speed reducer.
2. The flexible multi-degree-of-freedom docking and attitude-adjusting mechanism according to claim 1, wherein the linear guide mechanism (2) comprises a first linear roller guide rail (33), a second linear roller guide rail (34), a rack (35), a first guide rail bracket (37-1), a second guide rail bracket (37-2), a rack mounting base (46) and a plurality of leveling pads (38), the leveling pads (38) are placed on the ground, the leveling pads (38) are fixed on the cement ground at the mounting position by mounting chemical bolts, the first guide rail bracket (37-1) and the second guide rail bracket (37-2) are fixedly connected with the chemical bolts through nuts, the first linear roller guide rail (33) and the second linear roller guide rail (34) are respectively placed on the first guide rail bracket (37-1) and the second guide rail bracket (37-2), rollers at two sides of the bottom of the vehicle frame (25) are respectively placed in the first linear roller guide rail (33) and the second linear roller guide rail (34), the rack mounting base is fixedly connected with the chemical bolts through nuts, the rack mounting base is positioned between the first linear roller guide rail (33) and the second guide rail bracket (37-2), and the rack mounting base (30) is connected with the rack mounting base through a lifting bolt (30).
3. The flexible multi-degree-of-freedom docking and posture-adjusting mechanism according to claim 2, wherein the number of the leveling pads (38) is 9, and the leveling pads are respectively arranged at two ends and in the middle of the bottoms of the first guide rail bracket (37-1), the second guide rail bracket (37-2) and the rack mounting base (46).
4. The flexible multiple degree of freedom docking and attitude adjusting mechanism of claim 2, wherein the rack mounting base (46) is further mounted with a measuring tape (36) for measuring a moving distance.
5. The flexible multi-degree-of-freedom butt joint posture adjusting mechanism is characterized in that the rolling bracket (3) further comprises a first hand wheel (11), the guide groove (4) comprises a second hand wheel (20) and a first grating ruler (19), the first hand wheel (11) is connected with the other end of an arc gear shaft (40) on the rolling bracket (3), the second hand wheel (20) is connected with the other end of a ball screw (15), and the first grating ruler (19) is installed on one side of the groove body (14).
6. The flexible multi-degree-of-freedom butt joint posture adjusting mechanism according to claim 1, wherein a force sensor (12) for detecting pressure is installed between the lower portion of the quick-change support arc frame (6) and the arc-shaped bracket inside a rolling box body (41) of the rolling bracket (3), and a magnetic grid measuring head (29) is arranged on one side of the frame (25) opposite to the propulsion motor mounting bracket (45).
7. The flexible multiple-degree-of-freedom docking posture-adjusting mechanism according to claim 1, wherein anti-overturning follow-up linear rollers (28) are arranged on two sides of the frame (25).
8. The flexible multi-degree-of-freedom butt joint posture adjusting mechanism according to claim 2, wherein 3 rollers are respectively arranged on two sides of the bottom of the frame (25), and 9 follow-up linear rollers (28) are arranged.
9. The flexible multi-degree-of-freedom docking and attitude adjusting mechanism as claimed in claim 1, wherein the rolling angle range adjusted by the rolling bracket (3) is-3 degrees to 3 degrees, the Y-direction translational displacement range of the guide groove (4) is-50 mm to 50mm, and the Z-direction lifting height range of the lifting base (5) is-20 mm to 20mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011563022.0A CN112756959B (en) | 2020-12-25 | 2020-12-25 | Flexible multi-degree-of-freedom butt joint posture adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011563022.0A CN112756959B (en) | 2020-12-25 | 2020-12-25 | Flexible multi-degree-of-freedom butt joint posture adjusting mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112756959A CN112756959A (en) | 2021-05-07 |
| CN112756959B true CN112756959B (en) | 2023-03-31 |
Family
ID=75694513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011563022.0A Active CN112756959B (en) | 2020-12-25 | 2020-12-25 | Flexible multi-degree-of-freedom butt joint posture adjusting mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112756959B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305530A (en) * | 2021-06-07 | 2021-08-27 | 西安英利科电气科技有限公司 | Flexible butt joint structure and method for horizontal assembly of medium-large rocket |
| CN113414582B (en) * | 2021-06-21 | 2022-05-17 | 佛山新成洪鼎机械技术有限公司 | Six-degree-of-freedom numerical control centering installation device |
| CN113601130B (en) * | 2021-08-04 | 2022-09-27 | 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 |
| CN113669211A (en) * | 2021-08-13 | 2021-11-19 | 国电联合动力技术(连云港)有限公司 | Automatic butt joint device for main and auxiliary racks of double-fed wind generating set |
| CN113696128A (en) * | 2021-09-02 | 2021-11-26 | 内蒙航天动力机械测试所 | Multi-degree-of-freedom adjusting device for butt joint of conical cabin sections |
| CN113753599B (en) * | 2021-09-08 | 2023-04-25 | 贵州航天天马机电科技有限公司 | Multi-degree-of-freedom stepless adjusting mechanism |
| CN113879426A (en) * | 2021-11-08 | 2022-01-04 | 四川航天长征装备制造有限公司 | Omnidirectional moving device for indoor transfer of large box |
| CN114111467B (en) * | 2021-12-16 | 2024-06-04 | 北京惠众智通机器人科技股份有限公司 | Automatic docking system for projectile body cabin segments and operation method |
| CN114643561A (en) * | 2022-02-28 | 2022-06-21 | 北京理工大学 | Pin hole butt joint assembly system and method for cylindrical workpiece |
| CN114932517A (en) * | 2022-05-11 | 2022-08-23 | 哈尔滨理工大学 | Six-degree-of-freedom posture adjusting platform for butt joint of missile barrels and posture adjusting method |
| CN117549019A (en) * | 2023-04-11 | 2024-02-13 | 北京星河动力装备科技有限公司 | Butt joint equipment and installation method of rocket star cover assembly |
| CN118456333B (en) * | 2024-07-12 | 2024-09-10 | 成都智远先进制造技术研究院有限公司 | Vertical thin cabin docking device and posture adjustment docking method based on three-phase machine measurement |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1323415A (en) * | 1969-07-04 | 1973-07-18 | British United Shoe Machinery | Workpiece holding devices |
| CN106041513B (en) * | 2016-06-29 | 2017-11-21 | 中国科学院沈阳自动化研究所 | Multiple degrees of freedom bay section pose adjusting means |
| CN107932361B (en) * | 2017-11-21 | 2019-07-05 | 上海航天精密机械研究所 | A kind of flexible six-degree-of-freedom posture adjustment platform for the assembly of bay section class product automatic butt |
| CN109613824A (en) * | 2018-12-13 | 2019-04-12 | 广东工业大学 | A kind of the Rigid-flexible Coupled Motion platform and control method of ball-screw driving |
| CN111015155A (en) * | 2019-12-11 | 2020-04-17 | 北京航天计量测试技术研究所 | Explosion-proof appearance butt-joint platform of transferring |
| CN110986697A (en) * | 2019-12-19 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Multifunctional rocket cabin docking vehicle |
-
2020
- 2020-12-25 CN CN202011563022.0A patent/CN112756959B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112756959A (en) | 2021-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112756959B (en) | Flexible multi-degree-of-freedom butt joint posture adjusting mechanism | |
| CN112917142B (en) | Orthopedic posture-adjusting integrated butt-joint platform | |
| US10808364B2 (en) | Onsite steel rail laser processing engineering vehicle | |
| CN106426120B (en) | A kind of heavy load planer-type robot | |
| CN101733593B (en) | Pipe-flange automatic welding equipment | |
| CN105127253A (en) | Automatic bending production line for kitchen cabinet sheet metal parts | |
| US7055240B2 (en) | Positioning apparatus for precisely locating a part or other article | |
| CN113333926B (en) | Intelligent welding machine for inner wall of LNG ship fuel tank | |
| CN102730197A (en) | Machine body positioning and posture adjusting device and method | |
| CN105598590B (en) | Super large breadth laser sub-marker and its operating method | |
| CN110510143B (en) | Omnidirectional movement large-scale airplane horizontal assembly butt joint 13-degree-of-freedom hybrid attitude adjusting platform | |
| CN108817391B (en) | Double-cladding-head laser cladding metal additive manufacturing equipment | |
| CN114833544A (en) | Movable piggyback type large-diameter aerospace product automatic docking platform and docking method | |
| CN206010584U (en) | A kind of many pallet exchange system travelling bogies in gantry | |
| CN113649699B (en) | Mobile robot walking on U-shaped workpiece and application thereof | |
| CN102590244A (en) | Multi-shaft movement mechanical arm of X-ray digital flat imaging detection system | |
| CN220073651U (en) | Conveying equipment for automobile body-in-white welding production line | |
| CN206105137U (en) | Automatic weld device | |
| CN110497430B (en) | Multi-station precision manipulator | |
| CN102091745A (en) | Feeding mechanism for punch press | |
| CN209953800U (en) | Large-scale metal 3D printing apparatus of two processing heads | |
| CN216325888U (en) | U-shaped longitudinal beam cutting machine | |
| CN215824498U (en) | A intelligent welding machine for LNG boats and ships bunker inner wall | |
| CN106166625A (en) | A kind of double gantry numerical control milling machine | |
| CN213616417U (en) | Support adjusting device for automatic butt joint assembly of large inclined guide rail cylinder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |