CN114044161A

CN114044161A - Omnidirectional conveying frame vehicle for small and medium-sized aircraft structural parts

Info

Publication number: CN114044161A
Application number: CN202111428572.6A
Authority: CN
Inventors: 庞彩珠; 靳江艳; 方忆湘
Original assignee: Hebei University of Science and Technology
Current assignee: Hebei University of Science and Technology
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2022-02-15

Abstract

The invention provides an omnidirectional conveying frame trolley for structural members of small and medium-sized airplanes, which adopts an omnidirectional wheel design with Mecanum wheels as main bodies, realizes the functions of transverse movement, longitudinal movement and arbitrary angle rotation around the center of the frame trolley on the premise of keeping the position of the frame trolley unchanged, and can move to a specified position along an arbitrary continuous track on a plane, and simultaneously adopts a flexible supporting device to realize the adjustability of the three-dimensional freedom of the structural members, thereby increasing the practicability of the supporting device and improving the flexibility of the conveying frame trolley.

Description

Omnidirectional conveying frame vehicle for small and medium-sized aircraft structural parts

Technical Field

The invention relates to the technical field of conveying of medium and small aircraft structural members, in particular to an omnidirectional conveying frame vehicle.

Background

The aircraft component in the aeronautical manufacturing industry needs to adopt the transportation frame vehicle to carry out the transmission between different assembly stations or to complete the butt joint of parts, and the transportation frame vehicle not only needs to satisfy basic movement function and bearing capacity, but also needs to be adapted to limited operation space and has higher operation precision. The traditional transportation platform adopts a common wheel type moving mechanism, so that a certain turning radius is needed during turning, free steering movement cannot be performed in a workshop, and the utilization rate, the assembly efficiency and the installation precision of the workshop are reduced.

Disclosure of Invention

In view of the above problems, the present invention provides a flexible transportation trolley with certain versatility, which can realize continuous movement, compact structure, high transportation efficiency, and high precision positioning and orientation functions. In order to achieve the purpose, the invention adopts the technical scheme that: the omnidirectional conveying trolley can realize transverse movement, longitudinal movement, rotation around the center and a combined movement mode thereof.

A vehicle frame is erected: the universal wheel mechanism and the flexible supporting device are used for mounting the universal wheel mechanism and the flexible supporting device, and the vehicle body welded in a truss mode and formed by welding 20 steel trusses is low in mass and not prone to deformation.

The omnidirectional wheel mechanism is fixed at the lower end of the frame of the trolley to realize transverse movement, longitudinal movement, rotation around the center and combined movement of the trolley.

The flexible supporting mechanism comprises: the height adjusting device is fixedly arranged at the upper end of the trolley frame, the position of the supporting device is adjusted according to the size of the aircraft structural part, the structural part is fixedly supported, and the height can be adjusted up and down according to the assembly requirement.

The invention further discloses a Mecanum wheel mechanism which is composed of a roller, a roller shaft cover plate and a hub, wherein the roller can rotate around the axis of the hub while the Mecanum wheel integrally rotates around the axis of the hub.

The omnidirectional wheel mechanism further comprises a damping mechanism, a support frame, a spring support and a spring component, and is used for slowing down shock absorption and ensuring that a conveying frame vehicle generates large shock in the working process and each Mecanum wheel can keep good grounding performance when uneven ground is met.

The invention further provides that the omnidirectional wheel mechanism further comprises a top cover used for connecting the frame and the Mecanum wheel mechanism.

The invention further discloses a flexible supporting mechanism, which further comprises an XY moving platform mechanism, a Z-axis lifting mechanism and a flexible process joint.

The XY moving platform mechanism is further composed of a motor, a speed reducer, a coupler, a ball screw pair, a linear guide rail pair, a supporting plate and the like.

Further, in the XY moving platform mechanism, the motor is used as power drive, a control system sends out signals, the signals are transmitted to the ball screw pair through the speed reducer and the coupler, and the screw rotates to push the screw nut to drive the supporting plate to move along the linear guide rail, so that the XY direction movement is realized.

Further, the supporting plate of the XY moving platform mechanism is divided into an upper supporting plate and a lower supporting plate.

The Z-axis lifting mechanism further comprises a motor, a worm and gear reducer, a coupler, a ball screw pair, a telescopic cylinder and a supporting cylinder.

In the Z-axis lifting mechanism, the motor drives the worm gear reducer through the coupler to achieve the expected rotating speed, and then the expected rotating speed is transmitted to the vertically installed ball screw pair through the coupler, and the screw nut pushes the telescopic cylinder to move along the direction limited by the support cylinder, so that the lifting movement is realized.

Furthermore, the flexible process joint consists of a spherical movable device and a rubber soft protection pad with large friction.

The flexible process joint can freely rotate within a certain angle, and when the aircraft structural member is supported and positioned, the purpose of supporting and positioning is achieved through the dead weight of the structural member and the static friction force between the surface of the structural member and the rubber soft protection pad.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a vehicle frame of the present invention;

FIG. 3 is a schematic view of the omni-directional wheel mechanism of the present invention;

fig. 4 is a schematic view of the flexible support mechanism of the present invention.

In the figure: 1. a vehicle frame is erected; 2. an omnidirectional wheel mechanism; 3. a damping mechanism; 4. a flexible support mechanism; 5. an XY moving stage mechanism; 6. a Z-axis lifting mechanism; 7. a flexible process connection; 8. a mecanum wheel mechanism; 9. a top cover; 10. a spring; 11. a spring support; 12. a support frame; 13. a roller shaft; 14. a hub; 15. a roller axle cover plate; 16. a roller; 17. a second driver; 18. a speed reducer; 19. a second linear guide; 20. an upper supporting plate; 21. a second ball screw pair 22 and a mounting table; 23. a support frame; 24. a support cylinder 25, a telescopic cylinder; 26. a flexible process connection; 27. a first driver; 28. a first linear guide rail; 29. a lower supporting plate; 30. a third driver; 31. a first ball screw pair; 32. a fourth driver; 33 worm reducer; 34. and a third ball screw pair.

Detailed Description

In order to make the working process of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings.

The omnidirectional conveying frame vehicle for the medium and small aircraft structure is shown in figure 1: the device comprises three parts, namely a trolley frame 1, an omnidirectional wheel mechanism 2 and a flexible supporting mechanism 3.

As shown in fig. 1: the 20-steel frame 1 is made of 20 square steel of 80mm multiplied by 60mm multiplied by 5mm under the condition of meeting the strength because the frame is easy to weld and has higher toughness. The vehicle body welded by the truss type is small in weight, the total mass of the whole vehicle is reduced, the motion performance is stable, and deformation is not easy to generate.

As shown in fig. 3: in the omnidirectional wheel mechanism 2, a top cover 9 is connected with the frame 1 of the trolley and is also connected with a support frame 12 of the damping mechanism 3, the support frame 12 is connected with the mecanum wheel mechanism 8, and the omnidirectional wheel mechanism 2 is connected into the frame 1 of the trolley through the top cover 9.

As shown in fig. 3: in the damping mechanism 3, a support frame 12 is connected with a spring support post 11, a damping spring 10 is sleeved on the spring support post 11, and the upper end of the spring support post 11 is connected with a top cover 9 to play a role in damping a vehicle body. The roller shafts in the mecanum wheel mechanism 8 are connected to a support frame 12, via roller shafts 13 to a hub 14, on which are mounted rollers 16, which are fixed on both sides by roller shaft covers 15. Driven by a first driver 27.

As shown in fig. 4: the flexible supporting mechanism 4 comprises an XY moving platform mechanism 5, the middle of a lower supporting plate 29 is connected with a first ball screw pair 31, and first linear guide rails 28 are connected to two sides of the upper supporting plate 29. The middle of the upper supporting plate 20 is connected with a second ball screw pair 21, the second linear guide rails 19 are connected with two sides of the upper supporting plate 20, the second actuator 17 is connected with the speed reducer 18 and drives the first ball screw pair 31, and the third actuator 30 drives the second ball screw pair 21 to realize the XY direction movement.

As shown in fig. 4: the flexible supporting mechanism 4 further comprises a Z-axis lifting mechanism 6, a fourth driver 32 is mounted on the mounting table 22 and is connected with a worm reducer 33, the supporting cylinder 25 is fixed on the supporting frame 23, the telescopic cylinder 25 is connected to the supporting cylinder 25, and a third ball screw pair 34 is mounted in the cylinder.

As shown in fig. 4: the flexible supporting mechanism 4 also comprises a flexible process joint 26, the flexible process joint 26 mainly comprises a spherical moving device and a rubber soft protection pad with larger friction, and when the aircraft structural member is supported and positioned, the purpose of supporting and positioning is achieved through the dead weight of the structural member and the static friction force between the surface of the structural member and the rubber soft protection pad.

The omnidirectional wheel is driven by a first driver, under the premise that the position of a frame vehicle is not changed by a Mecanum wheel mechanism, the conveying frame vehicle can move transversely and longitudinally and rotate at any angle around the center of the frame vehicle, the movement is very flexible, the conveying frame vehicle can move to a specified position along any continuous track on a plane, three degrees of freedom of the frame vehicle can be completely controlled, the conveying frame vehicle is a complete constraint, meanwhile, through the driving of a second third driver, a first ball screw pair is connected with a first linear guide rail and realizes the position adjustment of an XY direction to a conveying structural member, a fourth driver realizes the up-and-down stretching of a telescopic cylinder through being connected with a third ball screw pair, and the up-and-down position adjustment of the conveying structural member is achieved.

The above embodiments are merely illustrative of the technical route and features of the present invention, and are not restrictive, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are included in the scope of the present invention.

Claims

1. The invention relates to an omnidirectional conveying frame vehicle for a medium and small aircraft structure, which is characterized in that:

a vehicle frame is erected: the universal wheel mechanism and the flexible supporting device are used for mounting the universal wheel mechanism and the flexible supporting device, and the vehicle body welded in a truss mode by adopting 20 steel truss type welding has smaller mass and is not easy to deform; the omnidirectional wheel mechanism is fixed at the lower end of the frame of the trolley to realize the transverse movement, the longitudinal movement, the rotation around the center and the combined movement of the trolley; the flexible supporting mechanism comprises: the height adjusting device is fixedly arranged at the upper end of the trolley frame, the position of the supporting device is adjusted according to the size of the aircraft structural part, the structural part is fixedly supported, and the height can be adjusted up and down according to the assembly requirement.

2. The omnidirectional transportation trolley frame for the structural members of the small and medium-sized airplanes according to claim 1, wherein the trolley frame is made of 20 steel because the frame is easy to weld and has high toughness, so that under the condition of meeting the strength requirement, 20 square steel with the thickness of 80mm x 60mm x 5mm is selected, and the total mass of the whole trolley is reduced due to the fact that the trolley body welded by a truss type is relatively small in mass.

3. The omnidirectional trolley for structural members of small and medium-sized airplanes as recited in claim 1, wherein the omnidirectional wheel mechanism further comprises a mecanum wheel mechanism, the mecanum wheel mechanism is composed of a roller, a roller shaft cover plate and a hub, and the roller can rotate around the axis of the roller while the mecanum wheel rotates around the axis of the hub.

4. An omnidirectional conveying frame trolley for structural members of small and medium-sized airplanes according to claim 1, wherein the omnidirectional wheel mechanism further comprises a shock absorbing mechanism, and the shock absorbing mechanism is composed of a supporting frame, a spring support and a spring component and is used for reducing shock absorption and ensuring that the conveying frame trolley generates large shock during working, and each Mecanum wheel can maintain good grounding performance when uneven ground is met.

5. The omnidirectional bogie carriage for structural members of small and medium-sized aircraft as recited in claim 1, further comprising a top cover for connecting the carriage with the mecanum wheel mechanism.

6. The omnidirectional transport trolley frame for small and medium-sized aircraft structural members as claimed in claim 1, wherein the flexible support mechanism further comprises an XY moving platform mechanism, a Z-axis elevating mechanism and a flexible process joint.

7. The omnidirectional conveying rack vehicle for the structural members of the small and medium-sized airplanes according to claim 5, wherein the XY moving platform mechanism further comprises a motor, a speed reducer, a coupler, a ball screw pair, a linear guide rail pair and a supporting plate, the motor is used as power drive, a control system sends a signal and transmits the signal to the ball screw pair through the speed reducer and the coupler, and the screw rotates to push a screw nut to drive the supporting plate to move along the linear guide rail, so that the movement in the XY direction is realized.

8. The omnidirectional conveying rack vehicle for the structural members of small and medium-sized airplanes according to claim 5, wherein the Z-axis lifting mechanism further comprises a motor, a worm gear reducer, a coupler, a ball screw pair, a telescopic cylinder and a supporting cylinder;

the motor drives the worm gear reducer through the coupler, the expected rotating speed is achieved and then is transmitted to the vertically installed ball screw pair through the coupler, and the screw nut pushes the telescopic cylinder to move along the direction limited by the supporting cylinder, so that the lifting movement is realized.

9. The omnidirectional transportation rack vehicle for structural members of small and medium-sized airplanes according to claim 5, wherein the flexible process joint further comprises a spherical movable device and a rubber soft protection pad with large friction, and when the structural members of airplanes are supported and positioned, the purpose of supporting and positioning is achieved through the dead weight of the structural members and the static friction between the surfaces of the structural members and the rubber soft protection pad.