CN113618381A - Device for maintaining mounting precision of main shaft of moving mechanism and assembling method thereof - Google Patents
Device for maintaining mounting precision of main shaft of moving mechanism and assembling method thereof Download PDFInfo
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- CN113618381A CN113618381A CN202111004296.0A CN202111004296A CN113618381A CN 113618381 A CN113618381 A CN 113618381A CN 202111004296 A CN202111004296 A CN 202111004296A CN 113618381 A CN113618381 A CN 113618381A
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- 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
- B23P19/04—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 for assembling or disassembling parts
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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Abstract
The invention discloses a main shaft installation precision retaining device of a moving mechanism and an assembly method thereof.A mounting platform is a cuboid, two support frames are vertically connected on a table top of the mounting platform, the two support frames are collinear and close to two ends of the mounting platform along a y axis, a plurality of first target points are bonded at positions of a concave arc surface of each support frame, which are close to the two ends of the concave arc surface, the two first support clamps and the two second support clamps are vertically connected on the table top of the mounting platform and are distributed between the two support frames at intervals, the two first support clamps are collinear along the y axis, and the two second support clamps are collinear along an x axis; the holding surface of two first support clamps all bonds and has a plurality of second target point, and the holding surface of two second support clamps all bonds and has a plurality of third target point. The invention discloses a device for maintaining the mounting precision of a main shaft of a moving mechanism and an assembly method thereof, which can maintain the high mounting precision of a main shaft assembly of a planet vehicle in a narrow space.
Description
Technical Field
The invention relates to the technical field of spacecraft installation precision maintaining integration, in particular to a device for maintaining the installation precision of a main shaft of a moving mechanism and an assembling method thereof.
Background
The planet car is an important component of the landing patrol instrument, is an important support for realizing the moving walking of the patrol instrument on the surface of a planet, developing scientific detection, mainly executes moving detection, sampling and transportation tasks, and is an important tool for acquiring the surface information of the planet when a human beings explore other planets. The suspension adjusting module of the moving mechanism and the differential mechanism are core components of the planet vehicle, the suspension adjusting module mainly comprises two included angle adjusting mechanisms and the like, and the two included angle adjusting mechanisms are connected with the differential mechanism through a main shaft.
In the integrated installation process of the planet car in a narrow and small operation space, a main shaft assembly connecting the included angle adjusting mechanism and the differential mechanism is the basis for the whole assembly of a planet car body, so that the requirement on the coaxiality of a main shaft assembly shaft system of the planet car is high, but the operation space for installing the planet car is small, and the randomness of the main shaft assembly connecting the included angle adjusting mechanism and the differential mechanism is large, so that the difficulty in adjusting the coaxiality of the main shaft assembly shaft system of the planet car in the space is large at present, the coaxiality of the main shaft assembly shaft system of the planet car is large at present, and the installation precision of the main shaft assembly of the planet car cannot be guaranteed.
Therefore, how to provide a moving mechanism main shaft installation accuracy maintaining device and an assembling method thereof for ensuring the assembling accuracy of a planet vehicle main shaft assembly is a technical problem which needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of this, the present invention provides a device for maintaining the mounting accuracy of a main shaft of a moving mechanism and an assembling method thereof, which can maintain the high mounting accuracy of a main shaft assembly of a celestial sphere vehicle in a narrow space.
In order to achieve the purpose, the invention adopts the following technical scheme:
a moving mechanism spindle mounting accuracy holding device, the moving mechanism comprising: the device comprises a differential mechanism, two included angle adjusting mechanisms and two main shafts, wherein the two included angle adjusting mechanisms are connected with the differential mechanism through the two main shafts in a one-to-one correspondence manner, and the differential mechanism, the two included angle adjusting mechanisms and the two main shafts are collinear; the method comprises the following steps: the mounting platform, two supporting frames which correspondingly support the two included angle adjusting mechanisms one by one, two first supporting hoops which correspondingly support the two main shafts one by one and two second supporting hoops which correspondingly support the two output shafts of the differential mechanism one by one;
the mounting platform is a cuboid, and the table top of the mounting platform is horizontal;
the two support frames are vertically connected to the table top of the mounting platform, the two support frames are collinear along the y axis and are close to two ends of the mounting platform in a one-to-one correspondence mode, meanwhile, the support surfaces of the two support frames are both concave arc surfaces, a plurality of first target points are bonded at positions, close to the two ends, of the concave arc surfaces of the support frames, and the first target points close to each end of the concave arc surfaces of the support frames are distributed along the arc length direction of the support surfaces corresponding to the support frames and extend to form an arc line;
the two first support hoops and the two second support hoops are vertically connected to the table top of the mounting platform and are distributed between the two support frames at intervals, the two first support hoops are collinear along the y axis, and the two second support hoops are collinear along the x axis;
two first support clamp and two the holding surface that the clamp was supported to the second is sunken arcwall face, and two the holding surface of first support clamp all bonds and has a plurality of second targets, two the holding surface that the clamp was supported to the second all bonds and has a plurality of third targets, and is a plurality of the second target is along corresponding the holding surface arc length direction of first support clamp distributes and extends for the pitch arc, and is a plurality of third target is along corresponding the second supports the holding surface arc length direction of clamp and distributes and extends for the pitch arc.
Preferably, the support frame comprises:
the base is detachably connected with the mounting platform, and a first adjusting gasket is connected between the base and the mounting platform;
the tray, the tray is the semiorbicular form, just the protrusion end of tray is fixed on the base, two the support frame the tray is along y axle coaxial line, simultaneously bond a plurality ofly on the sunken arcwall face of tray correspond first target point.
Preferably, a flange is fixed on the outer wall of the tray along the circumferential direction of the outer wall of the tray, the flange is semi-annular and is close to one end, far away from the first support hoop, of the tray, and meanwhile a threaded hole is formed in the flange in a penetrating mode.
Preferably, the first support band includes: first support, first snap ring and first snap ring down on, the second supports the clamp and includes: the second support, the second upper clamping ring and the second lower clamping ring;
the first support and the second support are both detachably connected with the mounting platform, and second adjusting gaskets are connected between the first support and the mounting platform and between the second support and the mounting platform;
the protruding end of the first lower clamping ring is fixed on the first support, the protruding end of the second lower clamping ring is fixed on the second support, the two first lower clamping rings are coaxial along the y axis, and the two second lower clamping rings are coaxial along the x axis;
the corresponding second target point is adhered to the concave arc-shaped surface of the first lower clamping ring, and the corresponding third target point is adhered to the concave arc-shaped surface of the second lower clamping ring;
the first upper clamping ring and the first lower clamping ring as well as the second upper clamping ring and the second lower clamping ring are detachably connected, and meanwhile, the first upper clamping ring and the first lower clamping ring as well as the second upper clamping ring and the second lower clamping ring are connected to form a circular ring shape.
Preferably, the method further comprises the following steps: the spindle comprises a third adjusting gasket and a fourth adjusting gasket, wherein the third adjusting gasket and the fourth adjusting gasket are sleeved in a one-to-one correspondence mode on the spindle, and the third adjusting gasket and the fourth adjusting gasket are close to the two angle adjusting mechanisms in a one-to-one correspondence mode.
An assembling method of a main shaft mounting precision maintaining device of a mobile mechanism comprises the following steps:
s1, placing the mounting platform to enable the table top of the mounting platform to be horizontal;
s2, vertically connecting the two support frames to the table top of the mounting platform, enabling the two support frames to be close to the two ends of the mounting platform in a one-to-one correspondence manner, and enabling the two support frames to be distributed oppositely along the y axis;
s3, adhering the first target points on the supporting surfaces of the two supporting frames, and enabling the first target points to be distributed along the arc length direction of the supporting surfaces corresponding to the supporting frames and extend to form an arc line;
s4, collecting a plurality of first target points which are arranged on the supporting frame at one end of the mounting platform in a cylindrical manner with the same diameter through a three-coordinate measuring machine to obtain a corresponding contour point set, fitting a corresponding cylindrical shape, and obtaining a first axis which is used as a reference axis of subsequent assembly;
s5, collecting a plurality of first target points which are distributed on the supporting frame at the other end of the mounting platform in a cylinder with the same diameter through the three-coordinate measuring machine to obtain a corresponding contour point set, fitting the corresponding cylinder shape and obtaining a second axis;
s6, comparing the first axis with the second axis, adjusting the height of the support frame with the second axis according to the comparison result, then continuing to execute the step S5, and continuing to compare the first axis with the second axis, and repeating the steps until the coaxiality of the first axis and the second axis reaches phi 0.1 and stopping;
s7, adhering a plurality of second target points to the supporting surfaces of the two first supporting hoops, adhering a plurality of third target points to the supporting surfaces of the two second supporting hoops, distributing and extending the plurality of second target points along the arc length direction of the supporting surface corresponding to the first supporting hoop to form an arc line, and distributing and extending the plurality of third target points along the arc length direction of the supporting surface corresponding to the second supporting hoop to form an arc line;
s8, vertically connecting the two first support clamps and the two second support clamps to the table top of the mounting platform, and enabling the two first support clamps to be distributed at intervals along the y axis and the two second support clamps to be distributed at intervals along the x axis;
s9, collecting a plurality of second target points which are distributed on the two first support clamps in a cylinder with the same diameter through the three-coordinate measuring machine to obtain a corresponding contour point set, fitting the corresponding cylinder shape and obtaining a third axis, collecting a plurality of third target points which are distributed on the two second support clamps in a cylinder with the same diameter through the three-coordinate measuring machine to obtain a corresponding contour point set, fitting the corresponding cylinder shape and obtaining a fourth axis;
s10, comparing the third axis and the fourth axis with the first axis, respectively adjusting the heights of the two first support clamps and the two second support clamps according to the comparison result, then continuing to execute the step S10, and continuing to compare the third axis and the fourth axis with the first axis, and repeating the steps until the coaxiality of the third axis and the first axis reaches phi 0.1 and stopping;
s11, connecting the two included angle adjusting mechanisms to the two support frames in a one-to-one correspondence manner, simultaneously connecting the two main shafts to the two first support hoops in a one-to-one correspondence manner, connecting the two output shafts of the differential mechanism to the two second support hoops in a one-to-one correspondence manner, connecting the two included angle adjusting mechanisms to the differential mechanism through the two main shafts in a one-to-one correspondence manner, installing the third adjusting gasket on one main shaft, and installing the fourth adjusting gasket on the other main shaft;
and S12, after the operation is finished, measuring the overall envelope size of the device, calculating a size chain according to an actual measurement result, and debugging the poses of the two main shafts.
Preferably, the two first support clamps and the two second support clamps are mounted on the mounting platform by precision machining means.
Preferably, in the step S6, the height of the supporting frame is adjusted by adjusting the number of the first adjusting spacers and grinding one end of the supporting frame close to the mounting platform;
in step S10, adjusting the height of the first support hoop and the height of the second support hoop correspond to the number of the second adjusting gaskets and coping the first support hoop and the second support hoop are close to one end of the mounting platform.
Preferably, in step S12, the posture adjustment work of the two spindles is completed by adjusting the thickness and the number of the third adjusting shim and the third adjusting four pieces to restrict the axial dimension
Compared with the prior art, the invention discloses a main shaft installation precision maintaining device of a moving mechanism and an assembling method thereof, and the following technical effects can be realized:
1. according to the invention, the two support frames, the two first support hoops and the two second support hoops are distributed according to the position relationship, and the plurality of first target points, the plurality of second target points and the plurality of third target points are arranged in the position, connection relationship and distribution, so that the plurality of first target points, the plurality of second target points and the plurality of third target points can be respectively collected by a precise three-coordinate measuring machine, therefore, reference axes of a plurality of structures in the invention can be fitted, the axes of the first support hoops and the second support hoops of the support frames can be compared with the reference axis, and after the positions and postures of the first support hoops and the second support hoops of the support frames are adjusted, the installation precision of the whole planet main axle assembly can be ensured, and the coaxiality of the planet main axle assembly is kept to be less than or equal to phi 0.5 mm.
2. According to the invention, the first axis is acquired by the three-coordinate measuring machine and is taken as the reference axis of subsequent assembly, after the first axis is rolled out by one-time measurement, the axis of the first axis does not need to be measured again in the subsequent system assembly process, the assembly reference is established, the reference transfer method with higher difficulty is realized, and the reference consistency in the subsequent assembly is ensured.
3. According to the invention, the second axis, the third axis and the fourth axis are obtained through the three-coordinate measuring machine, and simultaneously, after the second axis, the third axis and the fourth axis are respectively compared with the first axis (reference axis), the height of the support frame with the second axis, the heights of the two first support hoops and the two second support hoops are repeatedly and correspondingly adjusted, and the second axis, the third axis and the fourth axis are repeatedly compared with the first axis (reference axis), so that the coaxiality of the second axis and the third axis with the first axis (reference axis) can be controlled to be phi 0.1, and therefore, a high-precision assembly reference can be established for the whole machine of the invention, and the consistency of the reference in subsequent assembly of the invention is ensured.
4. The invention ensures that the flatness of the surface of the mounting platform connected with the two first support clamps and the two second support clamps can be kept at 0.02mm, and the parallelism of the flanges of the two support frames is 0.05 mm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a structural view of a moving mechanism of a planetary vehicle mounted on a moving mechanism spindle mounting accuracy maintaining device according to the present invention;
fig. 2 is a structural view of a moving mechanism spindle mounting accuracy holding device according to the present invention.
101-differential mechanism; 102-an included angle adjustment mechanism; 103-a main shaft; 1-mounting a platform; 2-a support frame; 3-a first support collar; 4-a second support clip; 20-a first target point; 30-a second target point; 40-a third target point; 21-a base; 22-a tray; 221-flanging; 220-a threaded hole; 31-a first seat; 32-a first upper snap ring; 33-a first lower snap ring; 41-a second support; 42-a second upper snap ring; 43-a second lower snap ring; 5-a third adjusting shim; 6-a fourth adjusting shim; 7-a first axis; 8-second axis; 9-third axis; 10-fourth axis.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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 embodiment of the invention discloses a device for maintaining the installation precision of a main shaft of a moving mechanism, which comprises: the device comprises a differential mechanism 101, two included angle adjusting mechanisms 102 and two main shafts 103, wherein the two included angle adjusting mechanisms 102 are correspondingly connected with the differential mechanism 101 through the two main shafts 103 one by one, and the differential mechanism 101, the two included angle adjusting mechanisms 102 and the two main shafts 103 are collinear; the method comprises the following steps: the mounting platform 1, two supporting frames 2 which support the two included angle adjusting mechanisms 102 in a one-to-one correspondence manner, two first supporting hoops 3 which support the two main shafts 103 in a one-to-one correspondence manner, and two second supporting hoops 4 which support the two output shafts of the differential mechanism 101 in a one-to-one correspondence manner;
the mounting platform 1 is a cuboid, and the table top of the mounting platform is horizontal;
the two support frames 2 are vertically connected to the table top of the mounting platform 1, the two support frames 2 are collinear along the y axis and are close to two ends of the mounting platform 1 in a one-to-one correspondence mode, meanwhile, the support surfaces of the two support frames 2 are sunken arc-shaped surfaces, a plurality of first target points 20 are bonded to the positions, close to the two ends, of the sunken arc-shaped surface of each support frame 2, and the first target points 20 close to each end of the sunken arc-shaped surface of each support frame 2 are distributed along the arc length direction of the support surface corresponding to the support frame 2 and extend to form an arc line;
the two first support hoops 3 and the two second support hoops 4 are vertically connected to the table top of the mounting platform 1 and are distributed between the two support frames 2 at intervals, the two first support hoops 3 are collinear along the y axis, and the two second support hoops 4 are collinear along the x axis;
two first support clamps 3 and two second support clamps 4's holding surface are sunken arcwall face, and two first support clamps 3's holding surface all bonds has a plurality of second target points 30, two second support clamps 4's holding surface all bonds has a plurality of third target points 40, a plurality of second target points 30 distribute and extend for the pitch arc along the holding surface arc length direction that corresponds first support clamp 3, a plurality of third target points 40 distribute and extend for the pitch arc along the holding surface arc length direction that corresponds second support clamp 4.
According to the invention, the two support frames 2, the two first support clamps 3 and the two second support clamps 4 are distributed according to the position relationship, and the plurality of first target points 20, the plurality of second target points 30 and the plurality of third target points 40 are arranged in the position and connection relationship and distributed, so that the plurality of first target points 20, the plurality of second target points 30 and the plurality of third target points 40 can be respectively collected by a precise three-coordinate measuring machine, therefore, reference axes of a plurality of structures in the invention can be fitted, the axes of the first support clamps 3 and the second support clamps 4 of the support frames 2 can be compared with the reference axis, and the installation precision of the main axle assembly of the planet vehicle can be ensured by adjusting the poses of the first support clamps 3 and the second support clamps 4 of the support frames 2.
In order to further optimize the above technical solution, the support frame 2 includes:
the base 21 is detachably connected with the mounting platform 1, and a first adjusting gasket is connected between the base 21 and the mounting platform 1;
By adopting the technical scheme, the invention has the beneficial effects that: the base 21 is convenient to disassemble and assemble on the mounting platform 1, so that the first gaskets are convenient to mount between the base 21 and the mounting platform 1, the thickness and the number of the first gaskets are convenient to adjust, one end of the base 21 close to the mounting platform 1 is convenient to polish, the height of the support frame 2 is convenient to adjust, and the coaxiality of the two main shafts 103 can be adjusted;
in addition, the corresponding included angle adjusting mechanism 102 is supported by the semi-annular tray 22, so that the concave arc-shaped surface on the tray 22 can be attached to the included angle adjusting mechanism 102, and therefore, after the plurality of first target points 20 are adhered to the concave arc-shaped surface of the tray 22, the accuracy of fitting the corresponding axis by the precise three-coordinate measuring machine can be improved, and meanwhile, the weight of the support frame 2 is lighter.
In order to further optimize the technical scheme, a flange 221 is fixed on the outer wall of the tray 22 along the circumferential direction of the outer wall, the flange 221 is semi-annular and is close to one end, far away from the first support clamp 3, of the tray 22, and meanwhile a threaded hole 220 penetrates through the flange 221.
By adopting the technical scheme, the invention has the beneficial effects that: the through threaded hole 220 on the flange 221 is an interface connected with the included angle adjusting mechanism 102, so that the included angle adjusting mechanism 102 and the flange 221 can be connected through screws, an operation space is reserved, and the operation in a narrow space is facilitated.
In order to further optimize the above solution, the first support clamp 3 comprises: first support 31, first snap ring 32 and first snap ring 33 down, second support clamp 4 includes: a second support 41, a second upper snap ring 42 and a second lower snap ring 43;
the first support 31 and the second support 41 are both detachably connected with the mounting platform 1, and second adjusting gaskets are connected between the first support 31 and the mounting platform 1 and between the second support 41 and the mounting platform 1;
the protruding end of the first lower clamping ring 33 is fixed on the first support 31, the protruding end of the second lower clamping ring 43 is fixed on the second support 41, the two first lower clamping rings 33 are coaxial along the y axis, and the two second lower clamping rings 43 are coaxial along the x axis;
a corresponding second target point 30 is adhered to the concave arc-shaped surface of the first lower clamping ring 33, and a corresponding third target point 40 is adhered to the concave arc-shaped surface of the second lower clamping ring 43;
the first upper snap ring 32 and the first lower snap ring 33, and the second upper snap ring 42 and the second lower snap ring 43 are detachably connected, and meanwhile, the first upper snap ring 32 and the first lower snap ring 33, and the second upper snap ring 42 and the second lower snap ring 43 are connected to form a circular ring shape.
By adopting the technical scheme, the invention has the beneficial effects that: the first support 31 and the second support 41 are convenient to disassemble and assemble on the mounting platform 1, so that second adjusting gaskets are convenient to connect between the first support 31 and the mounting platform 1 and between the second support 41 and the mounting platform 1, the thickness and the number of the second gaskets are correspondingly adjusted, the first support 31 and one end of the second support 41 close to the mounting platform 1 are convenient to correspondingly adjust the heights of the first support 31 and the second support 41, and the coaxiality of the two main shafts 103 can be adjusted;
in addition, the two main shafts 103 are correspondingly supported by the concave arc-shaped surfaces of the first lower clamping ring 33 and the second lower clamping ring 43 one by one, so that the supporting surfaces of the first lower clamping ring 33 and the second lower clamping ring 43 are correspondingly attached to the two main shafts 103 one by one, therefore, the second target points 30 are adhered to the concave arc-shaped surface of the first lower clamping ring 33, and the accuracy of the axis fitting of the precise three-coordinate measuring machine disclosed by the invention can be improved after the third target points 40 are adhered to the concave arc-shaped surface of the second lower clamping ring 43;
meanwhile, the first upper snap ring 32 and the first lower snap ring 33, and the second upper snap ring 42 and the second lower snap ring 43 can be detachably connected, so that the convenience of debugging the position of the corresponding spindle 103 is improved.
In order to further optimize the above technical solution, the method further comprises: the third adjusting gasket 5 and the fourth adjusting gasket 6 are sleeved on the two main shafts 103 in a one-to-one correspondence manner, and the third adjusting gasket 5 and the fourth adjusting gasket 6 are close to the two included angle adjusting mechanisms 102 in a one-to-one correspondence manner.
By adopting the technical scheme, the invention has the beneficial effects that: the pose debugging work of the two main shafts 103 is completed by adjusting the thickness size and the number of the third adjusting gasket 5 and the third adjusting four pieces so as to restrict the axial size and meet the length requirements of the two main shafts 103.
An assembling method of a main shaft mounting precision maintaining device of a mobile mechanism comprises the following steps:
s1, placing the mounting platform 1 to enable the table top of the mounting platform 1 to be horizontal;
s2, vertically connecting the two support frames 2 on the table top of the mounting platform 1, enabling the two support frames 2 to be close to the two ends of the mounting platform 1 in a one-to-one correspondence manner, and enabling the two support frames 2 to be distributed oppositely along the y axis;
s3, adhering first target points 20 on the supporting surfaces of the two supporting frames 2, and enabling the first target points 20 to be distributed along the arc length direction of the supporting surface of the corresponding supporting frame 2 and extend to form an arc line;
s4, collecting a plurality of first target points 20 which are distributed on the support frame 2 at one end of the mounting platform 1 in a cylindrical manner with the same diameter through a three-coordinate measuring machine to obtain a corresponding contour point set, fitting the corresponding cylindrical shape, and obtaining a first axis 7, wherein the first axis 7 is used as a reference axis of subsequent assembly;
s5, collecting a plurality of first target points 20 which are distributed on the support frame 2 at the other end of the mounting platform 1 in a cylindrical manner with the same diameter through a three-coordinate measuring machine to obtain a corresponding contour point set, fitting the corresponding cylindrical shape, and obtaining a second axis 8;
s6, comparing the first axis 7 with the second axis 8, adjusting the height of the support frame 2 with the second axis 8 according to the comparison result, then continuing to execute the step S5, and continuing to compare the first axis 7 with the second axis 8, and repeating the steps until the coaxiality of the first axis 7 and the second axis 8 reaches phi 0.1;
s7, adhering a plurality of second target points 30 on the supporting surface of the first supporting hoop 3, adhering a plurality of third target points 40 on the supporting surface of the two second supporting hoops 4, distributing and extending the plurality of second target points 30 into arc lines along the arc length direction of the supporting surface corresponding to the first supporting hoop 3, and distributing and extending the plurality of third target points 40 into arc lines along the arc length direction of the supporting surface corresponding to the second supporting hoop 4;
s8, vertically connecting the two first support clamps 3 and the two second support clamps 4 to the table top of the mounting platform 1, and enabling the two first support clamps 3 to be distributed at intervals along the y axis and the two second support clamps 4 to be distributed at intervals along the x axis;
s9, collecting a plurality of second target points 30 which are distributed on two first support clamps 3 in the shape of a cylinder with the same diameter through a three-coordinate measuring machine to obtain corresponding contour point sets, fitting the corresponding cylinder shapes to obtain a third axis 9, collecting a plurality of third target points 40 which are distributed on two second support clamps 4 in the shape of a cylinder with the same diameter through the three-coordinate measuring machine to obtain corresponding contour point sets, fitting the corresponding cylinder shapes to obtain a fourth axis 10;
s10, comparing the third axis 9 and the fourth axis 10 with the first axis 7, respectively adjusting the heights of the two first support clamps 3 and the two second support clamps 4 according to the comparison result, then continuing to execute S10, and continuing to compare the third axis 9 and the fourth axis 10 with the first axis 7, and repeating the steps until the coaxiality of the third axis 9 and the first axis 7 reaches phi 0.1;
s11, connecting two included angle adjusting mechanisms 102 to two supporting frames 2 in a one-to-one correspondence manner, simultaneously connecting two main shafts 103 to two first supporting hoops 3 in a one-to-one correspondence manner, connecting two output shafts of a differential mechanism 101 to two second supporting hoops 4 in a one-to-one correspondence manner, connecting the two included angle adjusting mechanisms 102 to the differential mechanism 101 through the two main shafts 103 in a one-to-one correspondence manner, installing a third adjusting gasket 5 on one main shaft 103, and installing a fourth adjusting gasket 6 on the other main shaft 103;
and S12, after the operation is finished, measuring the overall envelope size of the device, calculating a size chain according to an actual measurement result, and debugging the poses of the two main shafts 103.
According to the invention, the first axis 7 is acquired by the three-coordinate measuring machine, and the first axis 7 is taken as a reference axis of subsequent assembly, after the first axis is rolled out by one-time measurement, the axis of the system does not need to be measured again in the subsequent system assembly process, and an assembly reference is established, so that a reference transfer method with higher difficulty is realized, and the reference consistency in the subsequent assembly is ensured;
moreover, after the second axis 8, the third axis 9 and the fourth axis 10 are obtained through a three-coordinate measuring machine, and simultaneously, after the second axis 8, the third axis 9 and the fourth axis 10 are respectively compared with the first axis 7 (reference axis), the height of the support frame 2 with the second axis 8, the heights of the two first support clamps 3 and the two second support clamps 4 are repeatedly and correspondingly adjusted, and the second axis 8, the third axis 9 and the fourth axis 10 are repeatedly compared with the first axis 7 (reference axis), so that the coaxiality of the second axis 8 and the third axis 9 and the first axis 7 (reference axis) can be controlled to be phi 0.1, a high-precision assembly reference can be established for the whole machine of the invention, and the consistency of the reference in subsequent assembly of the invention can be ensured.
In order to further optimize the above solution, two first support clamps 3 and two second support clamps 4 are mounted on the mounting platform 1 by means of precision machining.
By adopting the technical scheme, the invention has the beneficial effects that: the flatness of the surface of the mounting platform 1 connected with the two first support clamps 3 and the two second support clamps 4 can be kept within 0.02mm, so that the integral mounting precision of the invention is further facilitated.
In order to further optimize the technical scheme, in the step S6, the height of the support frame 2 is adjusted by adjusting the number of the first adjusting shims and grinding one end of the support frame 2 close to the mounting platform 1;
in step S10, the heights of the first support clamp 3 and the second support clamp 4 are adjusted by adjusting the number of corresponding second adjusting spacers and grinding one ends of the first support clamp 3 and the second support clamp 4 close to the mounting platform 1.
By adopting the technical scheme, the invention has the beneficial effects that: the position of the corresponding structure of the invention can be accurately adjusted by adjusting the gasket and grinding, thereby further ensuring the installation precision of the invention, keeping the coaxiality of the invention less than or equal to phi 0.5mm and enabling the parallelism of the flanges 221 of the two support frames 2 to be 0.05 mm.
In order to further optimize the above technical solution, in step S12, the posture adjustment work of the two main shafts 103 is completed by adjusting the thickness size and the number of the third adjustment shim 5 and the third adjustment four pieces, so as to constrain the axial size.
Example 1:
the embodiment of the invention discloses a device for maintaining the mounting precision of a main shaft of a moving mechanism and an assembling method thereof, wherein the working principle is as follows:
s1, placing the mounting platform 1 to enable the table top of the mounting platform 1 to be horizontal;
s2, vertically connecting the bases 21 of the two support frames 2 on the table top of the mounting platform 1, enabling the bases 21 of the two support frames 2 to be close to the two ends of the mounting platform 1 in a one-to-one correspondence manner, and simultaneously enabling the two support frames 2 to be distributed oppositely along the y axis, and enabling the trays 22 of the two support frames 2 to be coaxial along the y axis;
s3, adhering the first target points 20 to the supporting surfaces (the concave arc surfaces of the tray 22) of the two supporting frames 2, and making the first target points 20 distributed along the arc length direction of the supporting surfaces of the corresponding supporting frames 2 and extending into an arc;
s4, collecting a plurality of first target points 20 distributed in a same diameter cylinder on the support frame 2 at one end of the mounting platform 1 by a three-coordinate measuring machine (the plurality of first target points 20 on the concave arc surface of the support frame 2 near each end form an arc, and the arc of the first target points on the concave arc surface of each support frame 2 near both ends can be fitted into a cylinder with the same diameter) to obtain a corresponding contour point set, fitting the corresponding cylinder shape, and obtaining a first axis 7, where the first axis 7 is used as a reference axis for subsequent assembly;
s5, collecting a plurality of first target points 20 (the principle of the same diameter cylinder distribution is the same as S4) which are distributed on the supporting frame 2 at the other end of the mounting platform 1 in the same diameter cylinder distribution through a three-coordinate measuring machine to obtain a corresponding contour point set, fitting the corresponding cylinder shape and obtaining a second axis 8;
s6, comparing the first axis 7 with the second axis 8, adjusting the height of the support frame 2 with the second axis 8 according to the comparison result, then continuing to execute the step S5, and continuing to compare the first axis 7 with the second axis 8, and repeating the steps until the coaxiality of the first axis 7 and the second axis 8 reaches phi 0.1;
s7, adhering a plurality of second target points 30 on the supporting surface of the first supporting hoop 3, adhering a plurality of third target points 40 on the supporting surface of the two second supporting hoops 4, distributing and extending the plurality of second target points 30 into arc lines along the arc length direction of the supporting surface corresponding to the first supporting hoop 3, and distributing and extending the plurality of third target points 40 into arc lines along the arc length direction of the supporting surface corresponding to the second supporting hoop 4;
s8, vertically connecting the first supports 31 of the two first support clamps 3 and the second supports 41 of the two second support clamps 4 to the table top of the mounting platform 1, and enabling the first lower clamp rings 33 of the two first support clamps 3 to be distributed at intervals along the y axis and the second lower clamp rings 43 of the two second support clamps 4 to be distributed at intervals along the x axis;
s9, acquiring a plurality of second target points 30 distributed in the same diameter cylinder on the two first support clamps 3 through a three-coordinate measuring machine (second target point arcs formed on the two first support clamps 3 can be fitted to a cylinder of the same diameter) to obtain a corresponding set of contour points, fitting the corresponding cylindrical shape, and obtaining a third axis 9, acquiring a plurality of third target points 40 distributed in the same diameter cylinder on the two second support clamps 4 through a three-coordinate measuring machine (third target point arcs formed on the two first support clamps 3 can be fitted to a cylinder of the same diameter), to obtain a corresponding set of contour points, fitting the corresponding cylindrical shape, and obtaining a fourth axis 10;
s10, comparing the third axis 9 and the fourth axis 10 with the first axis 7, respectively adjusting the heights of the two first support clamps 3 and the two second support clamps 4 according to the comparison result, then continuing to execute S10, and continuing to compare the third axis 9 and the fourth axis 10 with the first axis 7, and repeating the steps until the coaxiality of the third axis 9 and the first axis 7 reaches phi 0.1, and stopping (the coaxiality of the third axis 9 and the first axis 7 reaches phi 0.1, and simultaneously ensuring that the fourth axis 10 is perpendicular to the first axis 7 all the time);
s11, connecting the two angle adjusting mechanisms 102 to two supporting frames 2 in a one-to-one correspondence manner (by screws passing through the screw holes 220 on the turned-over edge 221 correspondingly so that the angle adjusting mechanisms 102 are connected to the corresponding supporting frames 2 by screws, and the number of screws connecting each pair of angle adjusting mechanism 102 and supporting frame 2 is multiple, and the screw hole 220 on each supporting frame 2 is multiple corresponding to the number of screws one-to-one so as to ensure that each angle adjusting mechanism 102 can be stably connected to the corresponding supporting frame 2), simultaneously placing the two main shafts 103 on the first lower snap rings 33 of the two first supporting clips 3 correspondingly, placing the two output shafts of the differential mechanism 101 on the second lower snap rings 43 of the two second supporting clips 4 correspondingly, connecting the two angle adjusting mechanisms 102 to the differential mechanism 101 correspondingly one by one through the two main shafts 103, and installing a third adjusting gasket 5 on one main shaft 103, a fourth adjusting gasket 6 is arranged on the other main shaft 103;
s12, after the operation is finished, measuring the overall envelope size of the device, calculating a size chain according to an actual measurement result, and finishing the pose debugging work of the two main shafts 103 by adjusting the thickness size and the number of the third adjusting shim 5 and the third adjusting shim to restrict the axial size;
s13, the two first upper snap rings 32 are all connected to the two first lower snap rings 33 by bolts in a one-to-one correspondence manner, and the two second upper snap rings 4 are all connected to the two second lower snap rings 43 by bolts in a one-to-one correspondence manner, so that the first upper snap rings 32 and the first lower snap rings 33 form a circular ring to surround the corresponding main shaft 103, and the second upper snap rings 42 and the second lower snap rings 43 are all connected to form a circular ring to surround the corresponding output shaft of the differential mechanism 101.
And S14, finally measuring that the coaxiality of the whole machine after installation is 0.34mm, meeting the requirement of less than 0.5mm, realizing high coaxiality matching of all modules and providing powerful support.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A moving mechanism spindle mounting accuracy holding device, the moving mechanism comprising: the device comprises a differential mechanism (101), two included angle adjusting mechanisms (102) and two main shafts (103), wherein the two included angle adjusting mechanisms (102) are connected with the differential mechanism (101) through the two main shafts (103) in a one-to-one correspondence manner, and the differential mechanism (101), the two included angle adjusting mechanisms (102) and the two main shafts (103) are collinear; it is characterized by comprising: the mounting platform (1), two supporting frames (2) which support the two included angle adjusting mechanisms (102) in a one-to-one correspondence manner, two first supporting hoops (3) which support the two main shafts (103) in a one-to-one correspondence manner, and two second supporting hoops (4) which support the two output shafts of the differential mechanism (101) in a one-to-one correspondence manner;
the mounting platform (1) is a cuboid, and the table top of the mounting platform is horizontal;
the two support frames (2) are vertically connected to the table top of the mounting platform (1), the two support frames (2) are collinear along the y axis and are close to two ends of the mounting platform (1) in a one-to-one correspondence mode, meanwhile, the support surfaces of the two support frames (2) are sunken arc-shaped surfaces, a plurality of first target points (20) are bonded to the positions, close to the two ends, of the sunken arc-shaped surface of each support frame (2), and the first target points (20) close to each end of the sunken arc-shaped surface of each support frame (2) are distributed along the arc length direction of the support surface corresponding to the support frame (2) and extend to form an arc line;
the two first support clamps (3) and the two second support clamps (4) are vertically connected to the table top of the mounting platform (1) and are distributed between the two support frames (2) at intervals, the two first support clamps (3) are collinear along the y axis, and the two second support clamps (4) are collinear along the x axis;
two first support clamp (3) and two the holding surface that second supported clamp (4) is sunken arcwall face, and two the holding surface of first support clamp (3) all bonds and has a plurality of second target point (30), two the holding surface that second supported clamp (4) all bonds and has a plurality of third target point (40), and is a plurality of second target point (30) are along corresponding the holding surface arc length direction of first support clamp (3) distributes and extends for the pitch arc, and is a plurality of third target point (40) are along corresponding the second supports the holding surface arc length direction of clamp (4) and distributes and extend for the pitch arc.
2. A moving mechanism spindle mounting accuracy retaining device according to claim 1, characterized in that the support frame (2) comprises:
the base (21) is detachably connected with the mounting platform (1), and a first adjusting gasket is connected between the base (21) and the mounting platform (1);
tray (22), tray (22) are the semicircle form, just the protrusion end of tray (22) is fixed on base (21), two support frame (2) tray (22) are along the Y axle coaxial line, simultaneously it is a plurality of that the bonding corresponds on the sunken arcwall face of tray (22) first target point (20).
3. The device for maintaining the mounting accuracy of the spindle of the moving mechanism according to claim 2, wherein a flange (221) is fixed on the outer wall of the tray (22) along the circumferential direction thereof, the flange (221) is semi-annular and is close to one end of the tray (22) far away from the first support clamp (3), and a threaded hole (220) is formed through the flange (221).
4. A moving mechanism spindle mounting accuracy maintaining device according to claim 2, characterized in that the first support clamp (3) comprises: first support (31), first snap ring (32) and first snap ring (33) down, second support clamp (4) includes: a second support (41), a second upper snap ring (42) and a second lower snap ring (43);
the first support (31) and the second support (41) are detachably connected with the mounting platform (1), and second adjusting gaskets are connected between the first support (31) and the mounting platform (1) and between the second support (41) and the mounting platform (1);
the protruding end of the first lower clamping ring (33) is fixed on the first support (31), the protruding end of the second lower clamping ring (43) is fixed on the second support (41), the two first lower clamping rings (33) are coaxial along the y axis, and the two second lower clamping rings (43) are coaxial along the x axis;
the corresponding second target point (30) is adhered to the concave arc-shaped surface of the first lower clamping ring (33), and the corresponding third target point (40) is adhered to the concave arc-shaped surface of the second lower clamping ring (43);
first go up snap ring (32) with between first snap ring (33), and snap ring (42) on the second with all can dismantle the connection between snap ring (43) under the second, simultaneously snap ring (32) on the first with between first snap ring (33), and snap ring (42) on the second with all connect between snap ring (43) down and form the ring form.
5. The moving mechanism spindle mounting accuracy retaining device according to claim 1, further comprising: third adjusting shim (5) and fourth adjusting shim (6), third adjusting shim (5) with fourth adjusting shim (6) one-to-one cover is established two on main shaft (103), just third adjusting shim (5) with fourth adjusting shim (6) one-to-one is close to two contained angle guiding mechanism (102).
6. The assembling method of the moving mechanism spindle mounting accuracy retaining device according to any one of claims 1 to 5, characterized by comprising the steps of:
s1, placing the mounting platform (1) to enable the table top of the mounting platform (1) to be horizontal;
s2, vertically connecting the two support frames (2) on the table top of the mounting platform (1), enabling the two support frames (2) to be close to two ends of the mounting platform (1) in a one-to-one correspondence manner, and enabling the two support frames (2) to be distributed oppositely along the y axis;
s3, adhering the first target points (20) on the supporting surfaces of the two supporting frames (2), and enabling the first target points (20) to be distributed along the arc length direction of the supporting surface corresponding to the supporting frame (2) and extend to form an arc line;
s4, collecting a plurality of first target points (20) which are positioned at one end of the mounting platform (1) and distributed on the supporting frame (2) in a cylinder with the same diameter through a three-coordinate measuring machine to obtain a corresponding contour point set, fitting a corresponding cylinder shape, and obtaining a first axis (7), wherein the first axis (7) is used as a reference axis of subsequent assembly;
s5, collecting a plurality of first target points (20) which are positioned at the other end of the mounting platform (1) on the support frame (2) and distributed in a cylinder with the same diameter through the three-coordinate measuring machine to obtain a corresponding contour point set, fitting the corresponding cylinder shape and obtaining a second axis (8);
s6, comparing the first axis (7) and the second axis (8), adjusting the height of the support frame (2) with the second axis (8) according to the comparison result, then continuing to execute the step S5, and continuing to compare the first axis (7) and the second axis (8), and circulating until the coaxiality of the first axis (7) and the second axis (8) reaches phi 0.1 and stopping;
s7, adhering a plurality of second target points (30) to the supporting surfaces of the two first supporting clamps (3), adhering a plurality of third target points (40) to the supporting surfaces of the two second supporting clamps (4), distributing the plurality of second target points (30) along the arc length direction of the supporting surface corresponding to the first supporting clamps (3) and extending to form an arc line, and distributing the plurality of third target points (40) along the arc length direction of the supporting surface corresponding to the second supporting clamps (4) and extending to form an arc line;
s8, vertically connecting the two first support clamps (3) and the two second support clamps (4) to the table top of the mounting platform (1), enabling the two first support clamps (3) to be distributed at intervals along the y axis, and enabling the two second support clamps (4) to be distributed at intervals along the x axis;
s9, collecting a plurality of second target points (30) which are distributed on the two first support clamps (3) in a cylindrical manner with the same diameter through the three-coordinate measuring machine to obtain corresponding contour point sets, fitting the corresponding cylindrical shapes to obtain third axes (9), collecting a plurality of third target points (40) which are distributed on the two second support clamps (4) in a cylindrical manner with the same diameter through the three-coordinate measuring machine to obtain corresponding contour point sets, fitting the corresponding cylindrical shapes to obtain fourth axes (10);
s10, comparing the third axis (9) and the fourth axis (10) with the first axis (7), respectively adjusting the heights of the two first support clamps (3) and the two second support clamps (4) according to the comparison result, then continuing to execute the S10, and continuing to compare the third axis (9) and the fourth axis (10) with the first axis (7), and circulating the steps until the coaxiality of the third axis (9) and the first axis (7) reaches phi 0.1 and stops;
s11, connecting the two included angle adjusting mechanisms (102) to the two support frames (2) in a one-to-one correspondence manner, simultaneously connecting the two main shafts (103) to the two first support clamps (3) in a one-to-one correspondence manner, connecting the two output shafts of the differential mechanism (101) to the two second support clamps (4) in a one-to-one correspondence manner, connecting the two included angle adjusting mechanisms (102) to the differential mechanism (101) through the two main shafts (103) in a one-to-one correspondence manner, installing the third adjusting gasket (5) on one main shaft (103), and installing the fourth adjusting gasket (6) on the other main shaft (103);
and S12, after the operation is finished, measuring the overall envelope size of the device, calculating a size chain according to an actual measurement result, and debugging the poses of the two main shafts (103).
7. A method of assembling a device for maintaining the mounting accuracy of a spindle of a mobile mechanism according to claim 6, characterized in that two of said first support clamps (3) and two of said second support clamps (4) are mounted on said mounting platform (1) by means of precision machining.
8. The assembling method of the moving mechanism spindle mounting accuracy maintaining device according to claim 6, wherein the step S6 of adjusting the height of the supporting frame (2) is performed by adjusting the number of the first adjusting shims and grinding one end of the supporting frame (2) close to the mounting platform (1);
in the step S10, the height of the first support hoop (3) and the height of the second support hoop (4) are adjusted to correspond to the number of the second adjusting gaskets through adjustment, and the first support hoop (3) and the second support hoop (4) are ground to be close to one end of the mounting platform (1).
9. The assembling method of the moving mechanism spindle mounting accuracy maintaining device according to claim 6, wherein in the step S12, by adjusting the thickness dimension and the number of the third adjusting shim (5) and the third adjusting four pieces, the posture adjustment work of two spindles (103) is completed to restrain the axial dimension.
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