CN116461826A - Three-layer frame type carrier for complex curved surface - Google Patents

Three-layer frame type carrier for complex curved surface Download PDF

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Publication number
CN116461826A
CN116461826A CN202310355961.3A CN202310355961A CN116461826A CN 116461826 A CN116461826 A CN 116461826A CN 202310355961 A CN202310355961 A CN 202310355961A CN 116461826 A CN116461826 A CN 116461826A
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China
Prior art keywords
frame
adsorption
fixedly connected
curved surface
tripod
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CN202310355961.3A
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Chinese (zh)
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CN116461826B (en
Inventor
宿友亮
江奇风
张波
慕松
惠继录
苏宝强
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Ningxia University
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Ningxia University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/40—Maintaining or repairing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
    • B65D25/02—Internal fittings
    • B65D25/10—Devices to locate articles in containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
    • B65D25/20—External fittings
    • B65D25/24—External fittings for spacing bases of containers from supporting surfaces, e.g. legs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)

Abstract

A three-layer frame-type carrier for complex curved surfaces comprises a frame, four first adsorption devices and two second adsorption devices. When the three-layer frame-type carrier for the complex curved surface is required to move to the front side and the rear side of the wing-shaped curved surface, the lifting ends of the four first adsorption devices drive the adsorption ends of the four first adsorption devices to move to the upper side far away from the wing-shaped curved surface, the frame drives the four first adsorption devices to move to the front side and the rear side of the frame, and when the frame moves to a place to be repaired, the lifting ends of the four first adsorption devices drive the adsorption ends of the four first adsorption devices to move to the upper side close to the wing-shaped curved surface, so that the adsorption ends of the four first adsorption devices are relatively fixed to the upper side of the wing-shaped curved surface, the lifting ends are rotationally connected with the adsorption ends, and accordingly the adsorption ends can be in close contact with the upper side of the curved surface while being relatively fixed to the wing-shaped curved surface, and the four angle adjusting assemblies drive the two second adsorption devices to rotate.

Description

Three-layer frame type carrier for complex curved surface
Technical Field
The invention relates to the technical field of carriers, in particular to a three-layer frame type carrier for complex curved surfaces.
Background
In engineering practice, the problem of curved surface operation is often required to be solved, and particularly, the on-site operation of complex wing-shaped curved surfaces is performed on high-end equipment such as a large wind turbine generator, an airplane, a spaceship and the like, currently, the complex curved surfaces are repaired on the high-end equipment, and the complex curved surfaces are disassembled and assembled by a multi-purpose large hoisting device and transported to an original factory by a carrier vehicle for repair and processing, or the on-site repair operation is performed by workers.
When a worker performs repair operation on site, the repair equipment is firstly required to be installed in the in-situ equipment and fixed on the wing-shaped curved surface, the worker uses the repair equipment to repair the wing-shaped curved surface, and the existing in-situ equipment cannot be adjusted to a proper construction position according to the construction process in the operation of multiple damages of the complex wing-shaped curved surface, so that the applicability of the curved surface is poor.
Disclosure of Invention
In view of this, it is necessary to provide a three-layer frame type carrier for complex curved surfaces with high curved surface applicability.
The utility model provides a three-layer frame-type carrier for complicated curved surface, includes frame, four first adsorption equipment and two second adsorption equipment, four the opposite side and the frame fixed connection of first adsorption equipment, and be located the front and back both sides of frame, four first adsorption equipment has the lift end that is used for adjusting self lift and is used for the adsorption end of fixed wing type curved surface relatively, the below and the adsorption end rotation of lift end are connected, still include four angle adjustment subassembly, four angle adjustment subassembly's opposite side and frame fixed connection, and are located the left and right sides of frame, two the opposite side and four angle adjustment subassembly fixed connection of second adsorption equipment, four angle adjustment subassembly are used for driving two second adsorption equipment and rotate, and four rotation ends are used for driving two second adsorption equipment and rotate, and the frame is used for driving four first adsorption equipment and two second adsorption equipment to the front, back, left and right sides of frame removal.
Preferably, the lifting ends of the four first adsorption devices are identical in structure, the lifting ends of the first adsorption devices comprise a third frame body, lifting cylinders and first triangular frames, opposite sides of the third frame body are fixedly connected with the frame and are respectively located on the front side and the rear side of the frame, the upper sides of the lifting cylinders are fixedly connected with the third frame body, the upper sides of the first triangular frames are fixedly connected with the lifting cylinders, the lower sides of the first triangular frames are rotatably connected with the adsorption ends, and the lifting cylinders are used for driving the first triangular frames to move towards the upper sides and the lower sides of the first triangular frames.
Preferably, the four adsorption ends of the first adsorption device have the same structure, the adsorption end of the first adsorption device comprises a first universal ball head and a first vacuum chuck, and the upper part of the first vacuum chuck is rotationally connected with the first tripod through the first universal ball head and is respectively positioned at the front side and the rear side of the frame.
Preferably, the structures of the two second adsorption devices are the same, the second adsorption devices comprise a fourth frame body, an electric push rod, a second vacuum sucker, a second tripod and a second universal ball head, opposite sides of the fourth frame body are fixedly connected with four angle adjusting assemblies and are respectively positioned on the left side and the right side of the frame, the upper part of the electric push rod is fixedly connected with the fourth frame body, the upper part of the second tripod is fixedly connected with the electric push rod, the upper part of the second vacuum sucker is rotationally connected with the second tripod through the second universal ball head, and the electric push rod is used for driving the second tripod to move up and down of the second tripod.
Preferably, the frame comprises an upper layer frame, four pushing components, four moving components, a middle frame, a lower layer frame, four synchronous telescopic components and four pushing air cylinders, wherein the upper layer frame and the lower layer frame are in sliding connection with the middle frame through the four pushing components, the upper layer frame is located above the middle frame, the lower layer frame is located below the middle frame, the four opposite sides of the moving components are movably connected with the upper layer frame and are respectively located at the front side and the rear side of the upper layer frame, the four opposite sides of the synchronous telescopic components are fixedly connected with the lower layer frame and are respectively located at the front side and the rear side of the lower layer frame, the four moving components and the deviating sides of the synchronous telescopic components are fixedly connected with the four first adsorption devices, the four opposite sides of the angle adjusting components are fixedly connected with the middle frame, the output ends of the four pushing air cylinders are fixedly connected with the four pushing components, the four pushing air cylinders are used for driving the four pushing components so that the upper layer frame moves towards the front side and the rear side of the upper layer frame, the four pushing components are respectively located at the front side and the rear side of the lower layer frame, the four lower layer frame and the four lower layer frame are used for synchronously moving the synchronous telescopic components.
Preferably, the four pushing assemblies have the same structure, each pushing assembly comprises a first frame body, a first pulley shaft, a first clamp spring, a first pulley and a first connecting piece, the first frame body is fixedly connected with the upper frame and the lower frame respectively through the first connecting piece and is positioned on the left side and the right side of the upper frame and the front side and the rear side of the lower frame respectively, the outer side of the first pulley shaft is movably connected with the first frame body through the first clamp spring, and the inner side of the first pulley is movably connected with the first pulley shaft.
Preferably, the four moving assemblies have the same structure, each moving assembly comprises a second frame body, a second pulley shaft, a second clamp spring, a second spring and a second pulley, the outer side of the first pulley shaft is movably connected with the second frame body through the second clamp spring, the inner side of the first pulley is movably connected with the first pulley shaft, the inner side of the second spring is movably connected with the second pulley shaft and is respectively positioned at the upper side and the lower side of the second spring, and the second frame body is respectively positioned at the front side and the rear side of the upper frame.
Preferably, the four angle adjusting components have the same structure, the angle adjusting components comprise a driving motor, a connecting frame, a second connecting piece, a first gear, a second gear, a transmission shaft and a joint bearing, opposite sides of the driving motor are fixedly connected with the connecting frame and are respectively positioned at left and right sides of the connecting frame, inner sides of the first gear are fixedly connected with the driving motor, inner sides of the joint bearing, the second gear and the second connecting piece are rotatably connected with the connecting frame through the transmission shaft and are respectively positioned in the connecting frame, opposite sides of the connecting frame are fixedly connected with a middle frame, deviating sides of the second connecting piece are fixedly connected with a fourth frame body, and outer sides of the first gear are rotatably connected with the second gear.
Preferably, the vacuum chuck further comprises a first pressure sensor and a first piezoelectric sensor, wherein the upper part of the first piezoelectric sensor is fixedly connected with the first vacuum chuck, and the upper part of the first piezoelectric sensor is fixedly connected with the second vacuum chuck.
Preferably, the device further comprises a second pressure sensor and a second piezoelectric sensor, wherein the upper part of the second pressure sensor is fixedly connected with the second vacuum chuck, and the upper part of the second piezoelectric sensor is fixedly connected with the second vacuum chuck.
Compared with the prior art, the invention has the beneficial effects that: when the three-layer frame-type carrier for the complex curved surface is required to move to the front side and the rear side of the wing-shaped curved surface, the lifting ends of the four first adsorption devices drive the adsorption ends of the four first adsorption devices to move to the upper side far away from the wing-shaped curved surface, the frame drives the four first adsorption devices to move to the front side and the rear side of the frame, when the frame moves to a place to be repaired, the lifting ends of the four first adsorption devices drive the adsorption ends of the four first adsorption devices to move to the upper side close to the wing-shaped curved surface, so that the adsorption ends of the four first adsorption devices are relatively fixed to the upper side of the wing-shaped curved surface, and the lifting ends are rotationally connected with the adsorption ends, so that the adsorption ends can be in close contact with the upper side of the curved surface while being relatively fixed to the wing-shaped curved surface, the four angle adjusting assemblies drive the two second adsorption devices to rotate, and the frame drives the four angle adjusting assemblies to move to the left side and the right side of the frame, so that the two second adsorption devices are driven to move to the left side and the right side of the frame, and when the frame moves to the place to be repaired, the two second adsorption devices are relatively fixed to the upper side of the wing-shaped curved surface, so that the applicability of the wing-shaped curved surface is achieved.
Drawings
Fig. 1 is a schematic perspective view of a three-layer frame-type carrier for complex curved surfaces.
Fig. 2 is a schematic perspective view of a three-layer frame type carrier moving frame for complex curved surfaces.
Fig. 3 is a schematic perspective view of a U-shaped pushing mechanism of a three-layer frame type carrier for complex curved surfaces.
Fig. 4 is a schematic perspective view of a U-shaped pushing mechanism of a three-layer frame type carrier for complex curved surfaces.
Fig. 5 is a schematic perspective view of a U-shaped moving mechanism of a three-layer frame type carrier for complex curved surfaces.
Fig. 6 is a schematic perspective view of a three-layer frame type carrier angle adjusting mechanism for complex curved surfaces.
Fig. 7 is a plan view of a three-layer frame type carrier angle adjusting mechanism for a complex curved surface.
Fig. 8 is a schematic perspective view of a three-layer frame type carrier lifting adsorption device for complex curved surfaces.
Fig. 9 is a schematic perspective view of an angle-adjusting adsorption device for a three-layer frame-type carrier with a complex curved surface.
Fig. 10 is a schematic bottom view of a first vacuum chuck of a three-layer frame-type carrier for complex curved surfaces.
Fig. 11 is a schematic bottom view of a second vacuum chuck for a three-layer frame-type carrier with a complex curved surface.
In the figure: the frame 100, the upper frame 110, the pushing assembly 120, the first frame body 121, the first pulley shaft 122, the first clamp spring 123, the first spring 124, the first pulley 125, the first connecting piece 126, the moving assembly 130, the second frame body 131, the second pulley shaft 132, the second clamp spring 133, the second spring 134, the second pulley 135, the middle frame 140, the angle adjusting assembly 150, the driving motor 151, the connecting frame 152, the second connecting piece 153, the first gear 154, the second gear 155, the transmission shaft 156, the knuckle bearing 157, the lower frame 160, the synchronous telescoping assembly 170, the pushing cylinder 180, the first adsorption device 200, the third frame body 210, the lifting cylinder 220, the first tripod 230, the first vacuum chuck 240, the first pressure sensor 241, the first piezoelectric sensor 242, the first universal ball 250, the second adsorption device 300, the fourth frame body 310, the electric push rod 320, the second vacuum chuck 330, the second pressure sensor 331, the second piezoelectric sensor 332, the second tripod 340, and the second universal ball 350.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
In the description of the present invention, it should be understood that the terms "upper," "middle," "outer," "inner," "lower," and the like are used for indicating orientations or positional relationships, merely to facilitate the description of the present invention and simplify the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present invention.
Referring to fig. 1-11, a three-layer frame-type carrier for complex curved surfaces comprises a frame 100, four first adsorption devices 200 and two second adsorption devices 300, wherein the four first adsorption devices 200 are fixedly connected with the frame 100 on opposite sides of the frame 100, so that the frame 100 can be stably carried above the wing-shaped curved surfaces, the four first adsorption devices 200 are provided with lifting ends for adjusting self lifting and adsorption ends for relatively fixing the wing-shaped curved surfaces, the frame 100 can be adjusted to a proper standing posture according to curved surfaces with different curvatures, the purpose of conveniently installing repair equipment is achieved, the lower parts of the lifting ends are rotationally connected with the adsorption ends, the adsorption ends can rotate with the lifting ends serving as axes, the adsorption ends can be in tight contact with the upper parts of curved surfaces with different curvatures, the four adsorption devices are further provided with four angle adjusting assemblies 150, the four opposite sides of the angle adjusting assemblies 150 are fixedly connected with the frame 100, the left and right sides of the frame 100 are positioned on the left and right sides of the frame 100, the two second adsorption devices 300 are rotationally connected with the four second adsorption devices 300 at the right sides of the four adsorption devices 300, and the four adsorption devices 300 are rotationally driven to the right sides of the four adsorption devices 300, and the four adsorption devices 300 are rotatably driven to the right sides of the four adsorption devices 300, and the four adsorption devices are required to be rotationally fixed at the right sides of the four wing-shaped curved surfaces, and the four adsorption devices 300 are rotationally driven to be suitable for repairing the four wing-shaped curved surfaces, and the four adsorption devices are required to be rotationally fixed to be driven by the four wing devices and the four wing devices.
When the three-layer frame-type carrier for the complex curved surface is required to move to the front side and the rear side of the wing-shaped curved surface, the lifting ends of the four first adsorption devices 200 drive the adsorption ends of the four first adsorption devices 200 to move to the upper side far away from the wing-shaped curved surface, the frame 100 drives the four first adsorption devices 200 to move to the front side and the rear side of the frame 100, when the carrier moves to a place to be repaired, the lifting ends of the four first adsorption devices 200 drive the adsorption ends of the four first adsorption devices 200 to move to the upper side close to the wing-shaped curved surface, so that the adsorption ends of the four first adsorption devices 200 are relatively fixed to the upper side of the wing-shaped curved surface, the lifting ends are rotationally connected with the adsorption ends, and can be in close contact with the upper side of the wing-shaped curved surface at the same time when the adsorption ends are relatively fixed to the wing-shaped curved surface, the four angle adjusting assemblies 150 drive the two second adsorption devices 300 to rotate, and the frame 100 drives the four angle adjusting assemblies 150 to move to the front side and the rear side of the frame 100, so that the two second adsorption devices 300 are driven to move to the front side and the rear side of the frame 100, and the adsorption devices are relatively fixed to the upper side of the wing-shaped curved surface when the carrier moves to the place to be repaired; when the three-layer frame-type carrier for the complex curved surface is required to move to the left side and the right side of the wing-shaped curved surface, the lifting ends of the four first adsorption devices 200 drive the adsorption ends of the four first adsorption devices 200 to move to the upper side far away from the wing-shaped curved surface, the frame 100 drives the four first adsorption devices 200 to move to the left side and the right side of the frame 100, and when the three-layer frame-type carrier is moved to a place to be repaired, the lifting ends of the four first adsorption devices 200 drive the adsorption ends of the four first adsorption devices 200 to move to the upper side close to the wing-shaped curved surface, so that the adsorption ends of the four first adsorption devices 200 are relatively fixed to the upper side of the wing-shaped curved surface, and the lifting ends are rotationally connected with the adsorption ends, so that the adsorption ends can be in close contact with the upper side of the wing-shaped curved surface while being relatively fixed to the wing-shaped curved surface, the four angle adjusting assemblies 150 drive the two second adsorption devices 300 to rotate, and the frame 100 drives the four angle adjusting assemblies 150 to move to the left side and the right side of the frame 100, so that the two second adsorption devices 300 are driven to move to the left side and the right side of the frame 100, and the right side of the two second adsorption devices 300 are moved to the place to be relatively fixed to the place to the upper side of the wing-shaped curved surface, and the wing-shaped curved surface is relatively fixed.
Further, the lifting ends of the four first adsorption devices 200 are identical in structure, the lifting ends of the first adsorption devices 200 comprise a third frame 210, lifting cylinders 220 and a first tripod 230, opposite sides of the third frame 210 are fixedly connected with the frame 100 and are respectively positioned at the front side and the rear side of the frame 100, the upper parts of the lifting cylinders 220 are fixedly connected with the third frame 210, the upper parts of the first tripod 230 are fixedly connected with the lifting cylinders 220, the lower parts of the first tripod 230 are rotationally connected with the adsorption ends, so that the adsorption ends can be in tight contact with the upper parts of curved surfaces with different curvatures, and the lifting cylinders 220 are used for driving the first tripod 230 to move up and down to the first tripod 230, so that the aim of adapting to the curved surfaces with different curvatures is fulfilled.
Further, the four adsorption ends of the first adsorption device 200 have the same structure, the adsorption end of the first adsorption device 200 includes a first universal ball head 250 and a first vacuum chuck 240, and the upper part of the first vacuum chuck 240 is rotationally connected with the first tripod 230 through the first universal ball head 250 and is respectively located at the front side and the rear side of the frame 100, so that the first vacuum chuck 240 can be in close contact with the upper parts of curved surfaces with different curvatures.
Further, the two second adsorption devices 300 have the same structure, the second adsorption device 300 includes a fourth frame 310, an electric push rod 320, a second vacuum chuck 330, a second tripod 340 and a second universal ball 350, opposite sides of the fourth frame 310 are fixedly connected with the four angle adjusting assemblies 150 and are respectively located at left and right sides of the frame 100, the upper part of the electric push rod 320 is fixedly connected with the fourth frame 310, the upper part of the second tripod 340 is fixedly connected with the electric push rod 320, the upper part of the second vacuum chuck 330 is rotationally connected with the second tripod 340 through the second universal ball 350, so that the second vacuum chuck 330 can be in close contact with the upper parts of different curvature surfaces, and the electric push rod 320 is used for driving the second tripod 340 to move up and down to the second tripod 340, thereby achieving the purpose of adapting to the different curvature surfaces.
Further, the frame 100 includes an upper frame 100, four pushing assemblies 120, four moving assemblies 130, a middle frame 140, a lower frame 160, four synchronous telescopic assemblies 170 and four pushing cylinders 180, the upper frame 100 and the lower frame 160 are slidably connected with the middle frame 140 through the four pushing assemblies 120, the upper frame 100 is located above the middle frame 140, the lower frame 160 is located below the middle frame 140, the inside of the middle frame 140 is used for installing the repairing device, opposite sides of the four moving assemblies 130 are movably connected with the upper frame 100 and are respectively located at the front side and the rear side of the upper frame 100, the opposite sides of the four synchronous telescopic assemblies 170 are fixedly connected with the lower frame 160 and are respectively located at the front side and the rear side of the lower frame 160, the opposite sides of the four moving assemblies 130 and the synchronous telescopic assemblies 170 are fixedly connected with the four first adsorption devices 200, the opposite sides of the four angle adjusting assemblies 150 are fixedly connected with the middle frame 140, the opposite sides of the four pushing cylinders 180 are fixedly connected with the middle frame 140, the four output ends of the four pushing assemblies 180 are respectively located at the front side and the rear side of the lower frame 160, the four synchronous telescopic assemblies 170 are fixedly connected with the four frame bodies 120, the four synchronous telescopic assemblies 170 are fixedly arranged at the front side and the rear side of the lower frame 160, and the four synchronous telescopic assemblies 160 are fixedly arranged at the front side of the upper frame 160, and the four synchronous telescopic assemblies are fixedly connected with the lower frame 100, and are fixedly arranged at the front side of the lower frame 100, and are fixedly arranged.
The four pushing cylinders 180 drive the four pushing assemblies 120 to drive the upper frame 100 to move towards the front and rear sides of the upper frame 100, the lower frame 160 to move towards the left and right sides of the lower frame 160, so that the four first adsorption devices 200 move towards the front and rear sides of the upper frame 100 or towards the left and right sides of the lower frame 160, and the four angle adjusting assemblies 150 drive the two second adsorption devices 300 to rotate with the four angle adjusting assemblies 150 as axes, so that when the three-layer frame type carrier for complex curved surfaces is on the wing-shaped curved surfaces with different curvatures, the three-layer frame type carrier for complex curved surfaces can move to proper places to be repaired on the wing-shaped curved surfaces, thereby achieving the purpose of strong curved surface applicability.
Further, the four pushing assemblies 120 have the same structure, the pushing assemblies 120 include a first frame 121, a first pulley shaft 122, a first clamp spring 123, a first spring 124, a first pulley 125 and a first connecting member 126, the first frame 121 is fixedly connected with the upper frame 100 and the lower frame 160 through the first connecting member 126, and is respectively located at the left side and the right side of the upper frame 100 and the front side and the rear side of the lower frame 160, the outer side of the first pulley shaft 122 is movably connected with the first frame 121 through the first clamp spring 123, the inner side of the first pulley 125 is movably connected with the first pulley shaft 122, the upper side and the lower side of the first pulley 125 are in close contact with the opposite sides of the upper frame 100 and the middle frame 140, and the opposite sides of the lower frame 160 and the middle frame 140, the inner side of the first spring 124 is movably connected with the first pulley shaft 122, and is respectively located at the upper side and the lower side of the first pulley shaft 125, so as to reduce vibration of the first pulley 125, the output ends 180 of the four pushing cylinders 180 are the same, and the output ends of the first frame 121 are fixedly connected.
Further, the four moving assemblies 130 have the same structure, the moving assemblies 130 include a second frame 131, a second pulley shaft 132, a second clamp spring 133, a second spring 134 and a second pulley 135, the outer side of the first pulley shaft 122 is movably connected with the second frame 131 through the second clamp spring 133, the inner side of the first pulley 125 is movably connected with the first pulley shaft 122, the inner side of the second spring 134 is movably connected with the second pulley shaft 132, and is respectively located at the upper and lower sides of the second spring 134, so as to reduce vibration received during the sliding process of the second pulley 135, the second frame 131 is respectively located at the front and rear sides of the upper frame 100, the deviating side of the second frame 131 is fixedly connected with the third frame 210, and is located at the front and rear sides of the upper frame 100.
Further, the four angle adjusting assemblies 150 have the same structure, the angle adjusting assembly 150 includes a driving motor 151, a connecting frame 152, a second connecting member 153, a first gear 154, a second gear 155, a transmission shaft 156, and a joint bearing 157, opposite sides of the driving motor 151 are fixedly connected with the connecting frame 152 and are respectively located at left and right sides of the connecting frame 152, an inner side of the first gear 154 is fixedly connected with the driving motor 151, the driving motor 151 is used for driving the first gear 154 to rotate, inner sides of the joint bearing 157, the second gear 155, and the second connecting member 153 are rotatably connected with the connecting frame 152 through the transmission shaft 156 and are respectively located inside the connecting frame 152, opposite sides of the connecting frame 152 are fixedly connected with the middle frame 140, a deviating side of the second connecting member 153 is fixedly connected with the fourth frame 310, an outer side of the first gear 154 is rotatably connected with the second gear 155, and the first gear 154 rotatably drives the second gear 155 to rotate so that the second connecting member 153 on the same transmission shaft 156 with the second gear 155 rotates, thereby driving the two fourth frame 310 to rotate.
Further, the air conditioner further comprises a first pressure sensor 241 and a first piezoelectric sensor 242, wherein the upper part of the first piezoelectric sensor 242 is fixedly connected with the first vacuum chuck 240, the upper part of the first piezoelectric sensor 242 is fixedly connected with the second vacuum chuck 330, and when the upper part of the first vacuum chuck 240 and the upper part of the wing-shaped curved surface are relatively fixed, the adsorption state of the first vacuum chuck 240 can be monitored in real time by the first pressure sensor 241 and the first piezoelectric sensor 242, so that the upper part of the first vacuum chuck 240 and the upper part of the wing-shaped curved surface are relatively fixed more safely and stably.
Further, the device further comprises a second pressure sensor 331 and a second piezoelectric sensor 332, wherein the upper part of the second pressure sensor 331 is fixedly connected with the second vacuum chuck 330, the upper part of the second piezoelectric sensor 332 is fixedly connected with the second vacuum chuck 330, and when the upper part of the second vacuum chuck 330 and the upper part of the wing-shaped curved surface are relatively fixed, the second pressure sensor 331 and the second piezoelectric sensor 332 can monitor the adsorption state of the second vacuum chuck 330 in real time, so that the upper part of the second vacuum chuck 330 and the upper part of the wing-shaped curved surface are relatively fixed more safely and stably.
The specific working process of the three-layer frame type carrier for the complex curved surface comprises the following steps: when the curved surface of the wing profile needs to be repaired, the repair equipment is installed in the middle frame 140, the four first vacuum chucks 240 are relatively fixed with the upper side of the curved surface of the wing profile, the four second vacuum chucks 330 are relatively fixed with the upper side of the curved surface of the wing profile, a worker repairs the damaged part of the curved surface of the wing profile by using the repair equipment, when the three-layer frame type carrier for the complex curved surface needs to be transferred to other damaged working surfaces after the repair is finished, the four pushing cylinders 180 drive the four first vacuum chucks 240 to move far away from the upper side of the curved surface of the wing profile, the four pushing cylinders 180 drive the upper frame 100 to move towards the front side and the rear side of the upper frame 100 or the lower frame 160 to move towards the left side and the right side of the lower frame 160, so as to drive the four first vacuum chucks 240 to move towards the front side, the rear side, the left side and the right side, and when the four pushing cylinders 180 drive the four first vacuum chucks 240 to move towards the upper side close to the curved surface of the wing profile, the four first vacuum chucks 240 are relatively fixed with the upper part of the wing-shaped curved surface, the two lifting cylinders 220 drive the two second vacuum chucks 330 to move away from the upper part of the wing-shaped curved surface, the four angle adjusting assemblies 150 drive the two second vacuum chucks 330 to rotate, the four pushing cylinders 180 drive the middle frame 140 to move to the front, back, left and right sides of the middle frame 140, when moving to a proper position, the four angle adjusting assemblies 150 drive the two second vacuum chucks 330 to rotate, the two second lifting cylinders 220 drive the two second vacuum chucks 330 to move close to the upper part of the wing-shaped curved surface, the two second vacuum chucks 330 are relatively fixed with the upper part of the wing-shaped curved surface, and the four first vacuum chucks 240 are under the action of the four first universal ball heads 250, the two second vacuum chucks 330 are under the action of the two second universal ball heads 350, can keep a close contact state with the upper parts of curved surfaces with different curvatures, thereby achieving the purpose of strong curved surface applicability.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The modules or units in the device of the embodiment of the invention can be combined, divided and deleted according to actual needs.
The foregoing disclosure is illustrative of the preferred embodiments of the present invention, and is not to be construed as limiting the scope of the invention, as it is understood by those skilled in the art that all or part of the above-described embodiments may be practiced with equivalents thereof, which fall within the scope of the invention as defined by the appended claims.

Claims (10)

1. A three-layer frame-type carrier for complicated curved surface, its characterized in that: including frame, four first adsorption equipment and two second adsorption equipment, four the opposite side and the frame fixed connection of first adsorption equipment, and be located the front and back both sides of frame, four first adsorption equipment has the lift end that is used for adjusting self lift and is used for the adsorption end of relative fixed wing section curved surface, the below and the adsorption end rotation of lift end are connected, still include four angle adjustment subassembly, four angle adjustment subassembly's opposite side and frame fixed connection, and be located the left and right sides of frame, two second adsorption equipment's opposite side and four angle adjustment subassembly fixed connection, four angle adjustment subassembly are used for driving two second adsorption equipment rotation, and four rotation ends are used for driving two second adsorption equipment rotation, and the frame is used for driving four first adsorption equipment and two second adsorption equipment to the front, back, left and right sides removal of frame.
2. The three-layer frame carrier for complex curved surfaces of claim 1, wherein: the four lifting ends of the first adsorption device are identical in structure, the lifting ends of the first adsorption device comprise a third frame body, lifting cylinders and a first tripod, opposite sides of the third frame body are fixedly connected with the frame and are respectively located on the front side and the rear side of the frame, the upper parts of the lifting cylinders are fixedly connected with the third frame body, the upper parts of the first tripod are fixedly connected with the lifting cylinders, the lower parts of the first tripod are rotatably connected with the adsorption ends, and the lifting cylinders are used for driving the first tripod to move towards the upper parts and the lower parts of the first tripod.
3. The three-layer frame carrier for complex curved surfaces of claim 2, wherein: the four adsorption ends of the first adsorption device are identical in structure, the adsorption ends of the first adsorption device comprise first universal ball heads and first vacuum chucks, and the upper parts of the first vacuum chucks are rotationally connected with the first tripod through the first universal ball heads and are respectively positioned on the front side and the rear side of the frame.
4. A three-layer frame carrier for complex curved surfaces according to claim 3, characterized in that: the structure of the second adsorption device is the same, the second adsorption device comprises a fourth frame body, an electric push rod, a second vacuum sucker, a second tripod and a second universal ball head, opposite sides of the fourth frame body are fixedly connected with four angle adjusting assemblies and are respectively positioned on the left side and the right side of the frame, the upper side of the electric push rod is fixedly connected with the fourth frame body, the upper side of the second tripod is fixedly connected with the electric push rod, the upper side of the second vacuum sucker is rotationally connected with the second tripod through the second universal ball head, and the electric push rod is used for driving the second tripod to move towards the upper side and the lower side of the second tripod.
5. The three-layer frame carrier for complex curved surfaces of claim 1, wherein: the frame includes upper frame, four pushing components, four moving components, intermediate frame, lower floor's frame, four synchronous expansion assembly and four promotion cylinders, upper frame and lower floor's frame pass through four pushing components and intermediate frame sliding connection, and upper frame is located intermediate frame's top, lower floor's frame is located intermediate frame's below, four moving components's opposite side and upper frame swing joint, and be located upper frame's preceding, back both sides respectively, four synchronous expansion assembly's opposite side and lower floor's frame fixed connection, and be located lower floor's frame preceding, back both sides respectively, four moving components and synchronous expansion assembly's the side that deviates from and four first adsorption equipment fixed connection, four angle adjusting component's opposite side and intermediate frame fixed connection, four pushing cylinder's the side that deviates from and intermediate frame fixed connection, four pushing cylinder's output and four pushing components fixed connection are used for driving four pushing components to make upper frame to upper frame preceding, back both sides of upper frame, lower floor's frame, four moving components, four lower floor's frame, four moving components and four side frame, four moving components are used for moving synchronous frame, three side frame, four side and four side.
6. The three-layer frame carrier for complex curved surfaces of claim 5, wherein: the four pushing assemblies are identical in structure, each pushing assembly comprises a first frame body, a first pulley shaft, a first clamp spring, a first pulley and a first connecting piece, the first frame bodies are fixedly connected with an upper frame and a lower frame respectively through the first connecting pieces and are located on the left side and the right side of the upper frame and the front side and the rear side of the lower frame respectively, the outer side of the first pulley shaft is movably connected with the first frame body through the first clamp spring, and the inner side of the first pulley is movably connected with the first pulley shaft.
7. The three-layer frame carrier for complex curved surfaces of claim 6, wherein: the four moving assemblies are identical in structure, each moving assembly comprises a second frame body, a second pulley shaft, a second clamp spring, a second spring and a second pulley, the outer side of each first pulley shaft is movably connected with the corresponding second frame body through the corresponding second clamp spring, the inner side of each first pulley is movably connected with the corresponding first pulley shaft, the inner side of each second spring is movably connected with the corresponding second pulley shaft and is respectively located at the upper side and the lower side of each second spring, and the second frame bodies are respectively located at the front side and the rear side of the upper frame.
8. The three-layer frame carrier for complex curved surfaces of claim 7, wherein: the four angle adjusting components are identical in structure, the angle adjusting components comprise a driving motor, a connecting frame, a second connecting piece, a first gear, a second gear, a transmission shaft and a joint bearing, opposite sides of the driving motor are fixedly connected with the connecting frame and are respectively located at the left side and the right side of the connecting frame, the inner sides of the first gear are fixedly connected with the driving motor, the inner sides of the joint bearing, the second gear and the second connecting piece are rotatably connected with the connecting frame through the transmission shaft and are respectively located in the connecting frame, opposite sides of the connecting frame are fixedly connected with an intermediate frame, deviating sides of the second connecting piece are fixedly connected with a fourth frame body, and the outer sides of the first gear are rotatably connected with the second gear.
9. A three-layer frame carrier for complex curved surfaces according to claim 3, characterized in that: the vacuum chuck is characterized by further comprising a first pressure sensor and a first piezoelectric sensor, wherein the upper part of the first piezoelectric sensor is fixedly connected with the first vacuum chuck, and the upper part of the first piezoelectric sensor is fixedly connected with the second vacuum chuck.
10. The three-layer frame carrier for complex curved surfaces of claim 4, wherein: the device further comprises a second pressure sensor and a second piezoelectric sensor, wherein the upper part of the second pressure sensor is fixedly connected with the second vacuum chuck, and the upper part of the second piezoelectric sensor is fixedly connected with the second vacuum chuck.
CN202310355961.3A 2023-04-04 2023-04-04 Three-layer frame type carrier for complex curved surface Active CN116461826B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101463060B1 (en) * 2013-06-03 2014-11-19 (주)금성다이아몬드 Vacuum suction apparatus
CN107640585A (en) * 2017-10-09 2018-01-30 郑州格瑞塔电子信息技术有限公司 The telescopic glass handling car of vacuum suction
CN210557914U (en) * 2019-06-27 2020-05-19 南京涵铭置智能科技有限公司 Transportation mechanism for plate use standard detection device
KR20210127850A (en) * 2020-04-14 2021-10-25 (주)금성다이아몬드 vacuum adsorber for flexible display panel
CN113955489A (en) * 2021-11-04 2022-01-21 苏州像素点显示科技有限公司 Adsorption operation mechanism for processing special-shaped display screen and working method thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101463060B1 (en) * 2013-06-03 2014-11-19 (주)금성다이아몬드 Vacuum suction apparatus
CN107640585A (en) * 2017-10-09 2018-01-30 郑州格瑞塔电子信息技术有限公司 The telescopic glass handling car of vacuum suction
CN210557914U (en) * 2019-06-27 2020-05-19 南京涵铭置智能科技有限公司 Transportation mechanism for plate use standard detection device
KR20210127850A (en) * 2020-04-14 2021-10-25 (주)금성다이아몬드 vacuum adsorber for flexible display panel
CN113955489A (en) * 2021-11-04 2022-01-21 苏州像素点显示科技有限公司 Adsorption operation mechanism for processing special-shaped display screen and working method thereof

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