CN1958245A - Fine setting device with six degree of freedom - Google Patents
Fine setting device with six degree of freedom Download PDFInfo
- Publication number
- CN1958245A CN1958245A CN 200610021879 CN200610021879A CN1958245A CN 1958245 A CN1958245 A CN 1958245A CN 200610021879 CN200610021879 CN 200610021879 CN 200610021879 A CN200610021879 A CN 200610021879A CN 1958245 A CN1958245 A CN 1958245A
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Abstract
A 6-freedom trimming apparatus for regulating the position and pasture of large objects in order to smoothly butt-connect them with each other or assembly them is composed of a clamping unit with drive bar moving up and down, a floating unit with master spring in the center of supporting frame and several secondary springs at the periphery of said supporting frame, and a slide platform unit.
Description
Technical field
The invention belongs to and be used for fastening, connection, dismounting or clamping tools or bench device field, be specifically related to a kind of fine setting device with six degree of freedom.
Background technology
When some volumes or the bigger parts of quality are carried out submissive butt joint assembling, the comparatively easy lifting assembling mode of general employing solves, and for some inconvenience lift or the lifting space is restricted volume or the bigger parts of quality, some pose governor motions are often adopted in the butt joint assembling.Especially accurate butt joint assembling, the free degree of adjusting is many more, and the pose governor motion is complicated more.
Name is called the patent application document of " Six-degree-of-freedom Large Stroke, High Precision Flexible Parallel Connection Robot ", and (number of patent application: CN200410013628.1) disclose a kind of parallel high precision position and adjusted robot, this invention realizes that by the drive unit and the flexible hinge of rigidity workbench is in the position of Centimeter Level and the adjustment of attitude.But this invention can not be satisfied the position adjustment of bigger stroke and the requirement of workpiece self adaptation assembling.
Summary of the invention
In order to overcome requirement and the volume or the bigger product unworkable deficiency under the situation that can't lift of quality of the assembling of the position adjustment that can not satisfy bigger stroke in the prior art and workpiece self adaptation, the invention provides a kind of fine setting device with six degree of freedom, device integrates support, clamping and submissive posture adjustment function, can realize the submissive butt joint assembling in vertical direction, horizontal direction and the certain angle scope.
A kind of fine setting device with six degree of freedom of the present invention comprises relocation mechanism, workpiece clamping mechanism, the clamp mechanism of floating and sliding platform mechanism.
Relocation mechanism contains support, main spring, secondary spring, lead and scissors jack, and support is a tubular structure.
Workpiece clamping mechanism contains three-jaw centralizer and drive link, and drive link is a tubular, and the drive link top is a taper surface.
Sliding panel, transmission ball seat and base are contained in sliding platform mechanism, and the central part of base is provided with circular convex, and the center of sliding panel is provided with circular hole, and sliding panel center hole diameter is greater than the diameter of the circular convex in the base.
Unsteady clamp mechanism contains nut and stand briquetting.
Its annexation is, the top of the support of relocation mechanism is fixedly connected with pallet, and main spring is set in place in the drive link in the workpiece clamping mechanism of carriage center, and several secondary springs are arranged on the periphery of support, and the distance between the secondary spring equates.The support bottom is provided with lead, and an end of lead is connected with secondary spring, and the other end is fixedlyed connected with the support bottom, and lead is outside equipped with fairlead, and a gap is arranged between lead and the fairlead; The upper end that is arranged on the main spring in the drive link is provided with the multi-directional ball hinge, and the main spring lower end is disposed with push rod and scissors jack, and main spring is connected with the scissors jack by push rod, and the scissors jack is connected with base; The three-jaw centralizer of workpiece clamping mechanism is arranged on the support upper end, and the upper end of drive link is provided with handle by screw thread and support flexible connection, its bottom, and drive link top taper surface and three-jaw centralizer flexibly connect; The stand briquetting that is arranged on several the unsteady clamp mechanism on the support is fixed into one by nut with support and base, and the briquetting that is arranged on several the unsteady clamp mechanism on the sliding panel is connected with base with sliding panel by nut; The sliding panel of sliding platform mechanism flexibly connects by transmission ball seat and base, and the base bottom is provided with universal wheel.
The quantity of the secondary spring that is arranged on a frame peripheral described in the fine setting device with six degree of freedom of the present invention is 3～5, and distance equates between the secondary spring.
The described quantity that is arranged on the unsteady clamp mechanism on the support is 3～5, and equidistantly is arranged on a frame peripheral.
The described quantity that is arranged on the unsteady clamp mechanism on the sliding panel is 3～5, and equidistantly is arranged on around the sliding panel.
Basic principle of the present invention is, the main spring of the relocation mechanism of six degree of freedom fine setting appearance device of the present invention is in the center of support, secondary spring be evenly distributed on support around, main spring is used to support most of weight of entire bracket and product (can be regulated arbitrarily in 0～G scope, G is a product weight), secondary spring is except sharing sub-fraction weight, and main effect is to realize floating of support.The elastic force of main spring can move up and down and changes with push rod, the switching with non-quick condition of floating of implement device.Support move up and down and swinging of spring all is limited within limits, make six degree of freedom of the present invention fine setting appearance device can realize floating a little of six-freedom degree, its equation of motion is:
∑ F
i: F
i+ ∑ f
Play i=ma
i
M ρ wherein
2Rotary inertia for the assembly bench that floats; ∑ f
Play i, F
iBe respectively spring force and the component of operation external force on x, y, three directions of z; ∑ M
Play i, ∑ M
External force iBe respectively spring force and operation external force moment around x, y, z axle;
Be respectively the corner of platform that float around x, y, z axle.
Because the active force of main spring is by the barycenter of platform that floats, be so act on the spring resultant moment of the platform that floats:
∑ M
Play i=K
1l
i(δ
1+ δ
2+ δ
3+ δ
4)
δ wherein
1, δ
2, δ
3, δ
4Be four auxiliary deflections, l
iBe the arm of force of each spring torque apart from reference axis, K
1Be auxiliary rigidity, l
i, K
1Be definite value.
By above formula as can be known, the flexible swinging of whole unsteady assembly bench depends primarily on the auxiliary deflection that is provided with around the support.So by moving up and down of push rod, thereby change auxiliary deflection, realize the adjusting of unsteady assembly bench flexible swinging; Simultaneously, by changing the stroke that moves up and down of floating bracket, can realize the adjusting of spring floating amplitude.
Fine setting device with six degree of freedom of the present invention can be realized the unsteady a little posture adjustment function of the six-freedom degree of product, and the posture adjustment amplitude can control to adjust; Can satisfy the needs that the position is adjusted and the workpiece self adaptation is assembled of big stroke, the size of posture adjustment power can realize the purpose of " art is good for strength "; Artificial down auxiliary, can realize the submissive posture adjustment of workpiece easily; Fine setting device with six degree of freedom volume of the present invention is little, and compact conformation is safe and reliable, has mobility preferably simultaneously.
Below in conjunction with accompanying drawing fine setting device with six degree of freedom of the present invention is described specifically
Description of drawings
Fig. 1 is the working state schematic representation of fine setting device with six degree of freedom of the present invention
Fig. 2 is the principle schematic of fine setting device with six degree of freedom of the present invention
Fig. 3 is the structural representation of the embodiment of fine setting device with six degree of freedom of the present invention
Fig. 4 is the structural representation of sliding platform mechanism of the embodiment of fine setting device with six degree of freedom of the present invention
Among the figure, 1. support 2. main springs 3. secondary springs 4. push rods 5. workpiece 6. leads 7. fairleads 8. sliding panels 9. transmission ball seats 11. drive links 12. handles 13. multi-directional ball hinge 14. scissors jack, 15. universal wheel nuts (16,26) 17. stand briquettings 18. three-jaw centralizers 19. pallets 20. bases
The specific embodiment
Embodiment
Fig. 1 is the working state schematic representation of fine setting device with six degree of freedom of the present invention, and Fig. 1 a represents that two workpiece dock on parallel direction, and Fig. 1 b represents that two workpiece dock in vertical direction, and Fig. 1 c represents that two workpiece are in the butt joint that has on the certain angle direction.
Fig. 2 is the principle schematic of fine setting device with six degree of freedom of the present invention, among the figure, the main spring 2 of the relocation mechanism of fine setting device with six degree of freedom of the present invention is positioned at the center of support 1, secondary spring 3 be evenly distributed on support 1 around, main spring 2 is used to support outside most of weight of entire bracket 1 and workpiece 5, and main effect is to realize floating of support 1.The elastic force of main spring 2 can move up and down and changes with push rod 4, the switching with non-quick condition of floating of implement device.Support 1 move up and down and swinging of spring all is limited within limits, make fine setting device with six degree of freedom of the present invention can realize floating a little of six-freedom degree.
In Fig. 3～Fig. 4, fine setting device with six degree of freedom of the present invention comprises relocation mechanism, workpiece clamping mechanism, the clamp mechanism of floating and sliding platform mechanism.
Relocation mechanism contains support 1, main spring 2, secondary spring 3, lead 6 and scissors jack 14, and support 1 is a tubular structure.
Workpiece clamping mechanism contains three-jaw centralizer 18 and drive link 11, and drive link 11 is a tubular, and drive link 11 tops are taper surface.
Unsteady clamp mechanism contains nut (16,26) and stand briquetting 17.
In the fine setting device with six degree of freedom of the present invention, the top of the support 1 of relocation mechanism is fixedly connected with pallet 19, main spring 2 is set in place in the drive link 11 in the product clamp mechanism at support 1 center, four secondary springs 3 be arranged on support 1 bottom around, distance equates between each secondary spring.Support 1 bottom is provided with lead 6, and an end of lead 6 is connected with secondary spring 3, and the other end is fixedlyed connected with support 1 bottom, and lead 6 is outside equipped with fairlead 7, between lead 6 and the fairlead 7 gap is arranged; The upper end that is arranged on the main spring 2 in the drive link 11 is provided with multi-directional ball hinge 13, main spring 2 lower ends are disposed with push rod 4 and scissors jack 14, main spring 2 is connected with scissors jack 14 by push rod 4, and scissors jack 14 is fixedlyed connected with the prominent face of the circle of base 20; The three-jaw centralizer 18 of workpiece clamping mechanism is arranged on support 1 upper end, and the upper end of drive link 11 is provided with handle 12 by screw thread and support 1 flexible connection, bottom, and drive link 11 top taper surfaces and three-jaw centralizer 18 flexibly connect; The stand briquetting 17 that is arranged on the unsteady clamp mechanism on the support 1 is fixed as one support 1 and base 20 by nut 16, and the quantity of the unsteady clamp mechanism on support 1 is four, and equidistantly is arranged on around support 1 bottom.The briquetting that is arranged on the unsteady clamp mechanism on the sliding panel 8 is connected with base 20 with sliding panel 8 by nut 26, and the quantity of the unsteady clamp mechanism on sliding panel 8 is four, and equidistantly is arranged on around the sliding panel 8; The sliding panel 8 of sliding platform mechanism flexibly connects by transmission ball seat 9 and base 20, and base 20 bottoms are provided with universal wheel 15.
The support 1 of fine setting device with six degree of freedom of the present invention and the weight of workpiece 5 are mainly supported by main spring 2, multi-directional ball hinge 13 guarantees that support 1 swing is free, four secondary springs are only born a fraction of load, regulate the displacement that moves up and down of drive link 11 by scissors jack 14, change the force-bearing situation of each spring, the adjusting of the flexible swinging of implement device.Domain of walker realizes by the space of the clamp mechanism limit bracket 1 of floating.The function of relocation mechanism mainly is that the six degree of freedom of realizing product floats a little, thereby adjusts the attitude of product.
The clamping function of fine setting device with six degree of freedom of the present invention is realized by workpiece clamping mechanism and unsteady clamp mechanism.Workpiece clamping mechanism mainly be that workpiece is fixed on the fine setting device with six degree of freedom of the present invention, it is moved with fine setting device with six degree of freedom of the present invention.When workpiece clamping mechanism clamps, move handle 12, screw thread pair mechanism makes on the drive link 11 and moves, and three-jaw centralizer 18 is held workpiece 5 tightly.When unclamping, move handwheel in the opposite direction, three-jaw centralizer 18 unclamps workpiece 5.The major function of the clamp mechanism of floating is control quick condition of the present invention and stationary state, also controls the amplitude of floating simultaneously.Regulate star nut 16 and can control the position of stand briquetting 17, realize the switching of quick condition and non-unsteady clamped condition.
The sliding platform mechanism of fine setting device with six degree of freedom of the present invention realizes coarse positioning of the present invention and moves clamping function.During transmitting workpiece, the clamp mechanism of floating connects firmly support 1 and its base 20 by star nut 16 and is integral; When floating, unclamp unsteady clamp mechanism.Coarse positioning mainly is divided into perpendicular positioning and horizontal location two parts of product.Perpendicular positioning is by rising four leg adjusting levels on the castor 15, realizing the vertical coarse positioning of product.Horizontal location realizes by sliding platform mechanism.During coarse positioning, unclamp the nut 26 that is arranged in the clamp mechanism, discharge the free degree of mobile sliding panel 8.Mobile sliding panel 8 slides on transmission ball seat 9, realizes coarse positioning, and is by clamp mechanism that sliding panel 8 is fixing behind the coarse positioning, finishes the coarse positioning of horizontal direction.
Workflow of the present invention is: before the posture adjustment, fine setting device with six degree of freedom of the present invention does not allow to float, and jack 14 is dropped to lowest order, and at this moment main spring 2 is inoperative.And the support force of four secondary springs is less than the weight of workpiece and floating bracket, and fine setting device with six degree of freedom of the present invention can not float; At this moment workpiece 5 can be placed on the pallet 19, product be clamped by clamping device.Carry out posture adjustment behind the coarse positioning, when needing to float, the clamp mechanism of will floating is earlier unclamped, and scissors jack 14 rises push rod 4 works main spring 2, and at this moment bearing load under secondary spring, main spring acting in conjunction, floats whole floating bracket 1 gradually; Because gapped between lead 6 and the fairlead 7, floating bracket 1 floats in the scope of crack during this time a little, domain of walker can be regulated by unsteady clamp mechanism; Under unsteady clamp mechanism restriction and protection, the floating range of floating bracket can not surpass the scope that allows like this, and fine setting device with six degree of freedom of the present invention can be realized floating a little of a plurality of frees degree.
Claims (5)
1. fine setting device with six degree of freedom is characterized in that: described device comprises relocation mechanism, workpiece clamping mechanism, the clamp mechanism of floating and sliding platform mechanism;
Relocation mechanism contains support (1), main spring (2), secondary spring (3), lead (6) and scissors jack (14), and support (1) is a tubular structure;
Workpiece clamping mechanism contains three-jaw centralizer (18) and drive link (11), and drive link (11) is a tubular, and drive link (11) top is a taper surface;
Sliding panel (8), transmission ball seat (9) and base (20) are contained in sliding platform mechanism, and the central part of base (20) is provided with circular convex, and the center of sliding panel (8) is provided with circular hole;
Unsteady clamp mechanism contains nut (16,26) and stand briquetting (17);
Its annexation is, the top of the support of relocation mechanism (1) is fixedly connected with pallet (19), and main spring (2) is set in place in the drive link (11) in the product clamp mechanism at support (1) center, and secondary spring (3) is arranged on the periphery of support (1); Support (1) bottom is provided with lead (6), and an end of lead (6) is connected with secondary spring (3), and the other end is fixedlyed connected with support (1) bottom, and lead (6) is outside equipped with fairlead (7), between lead (6) and the fairlead (7) gap is arranged; The upper end that is arranged on the main spring (2) in the drive link (11) is provided with multi-directional ball hinge (13), main spring (2) lower end is disposed with push rod (4) and scissors jack (14), main spring (2) is connected with scissors jack (14) by push rod (4), and scissors jack (14) is connected with base (20); The three-jaw centralizer (18) of workpiece clamping mechanism is arranged on support (1) upper end, the upper end of drive link (11) is provided with handle (12) by screw thread and support (1) flexible connection, bottom, and drive link (11) top taper surface and three-jaw centralizer (18) flexibly connect; The stand briquetting (17) that is arranged on the unsteady clamp mechanism on the support (1) is fixed as one support (1) and base (20) by nut (16), and the briquetting that is arranged on the unsteady clamp mechanism on the sliding panel (8) is connected with base (20) with sliding panel (8) by nut (26); The sliding panel of sliding platform mechanism (8) flexibly connects by transmission ball seat (9) and base (20), and base (20) bottom is provided with universal wheel (15).
2. fine setting device with six degree of freedom according to claim 1 is characterized in that: the described quantity that is arranged on support (1) secondary spring (3) on every side is 3～5, and distance equates between the secondary spring.
3. fine setting device with six degree of freedom according to claim 1 is characterized in that: the described quantity that is arranged on the unsteady clamp mechanism on the support (1) is 3～5, and equidistantly is arranged on support (1) on every side.
4. fine setting device with six degree of freedom according to claim 1 is characterized in that: the described quantity that is arranged on the unsteady clamp mechanism on the sliding panel (8) is 3～5, and equidistantly is arranged on sliding panel (8) on every side.
5. fine setting device with six degree of freedom according to claim 1 is characterized in that: the diameter of described sliding panel (8) center hole is greater than the diameter of the circular convex of base (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610021879 CN1958245A (en) | 2006-09-16 | 2006-09-16 | Fine setting device with six degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610021879 CN1958245A (en) | 2006-09-16 | 2006-09-16 | Fine setting device with six degree of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1958245A true CN1958245A (en) | 2007-05-09 |
Family
ID=38070173
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|---|---|---|---|
| CN 200610021879 Pending CN1958245A (en) | 2006-09-16 | 2006-09-16 | Fine setting device with six degree of freedom |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100448629C (en) * | 2007-06-21 | 2009-01-07 | 重庆大学 | Self control type multi- degree of freedom buttjunction platform |
| CN100448628C (en) * | 2007-06-20 | 2009-01-07 | 重庆大学 | Mechanical flexibility space buttjunction platform |
| CN100448627C (en) * | 2007-06-15 | 2009-01-07 | 重庆大学 | Six degree of freedom buttjunction platform |
| CN100469537C (en) * | 2007-06-20 | 2009-03-18 | 重庆大学 | Air suspension flexibility space buttjunction platform |
| CN101817405A (en) * | 2010-03-30 | 2010-09-01 | 浙江大学 | Heavy-duty three-dimensional positioner |
| CN101596712B (en) * | 2009-07-08 | 2010-10-27 | 宝钢钢构有限公司 | Steel structure pre-mounted support base |
| CN102189511A (en) * | 2011-03-23 | 2011-09-21 | 昆山若宇检具工业有限公司 | Positioning mechanism with fine adjustment function |
| CN102343603A (en) * | 2010-08-06 | 2012-02-08 | 上海昱龄环保科技有限公司 | New material-saving process for laminated wood board core |
| CN104647021A (en) * | 2015-01-07 | 2015-05-27 | 北京卫星环境工程研究所 | Six-degree-of-freedom adjustment removal and installation tool for equipment removal and installation in narrow space |
| CN105643230A (en) * | 2016-03-14 | 2016-06-08 | 北京工业大学 | Multiple-degree-of-freedom valve industrial assembly platform |
| CN108068048A (en) * | 2017-11-23 | 2018-05-25 | 北京特种机械研究所 | A kind of planar three freedom combination Floatable supporting mechanism of self-return |
| CN108068049A (en) * | 2017-11-23 | 2018-05-25 | 北京特种机械研究所 | A kind of planar three freedom Floatable supporting mechanism of self-return |
| CN108818440A (en) * | 2018-06-22 | 2018-11-16 | 湖北蓝铝智能家居有限公司 | Adjustable fixator is used in a kind of production of aluminium alloy furniture profile |
| CN109129426A (en) * | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of manipulator and the synchronous wheel assembly of retarder, wrist and forearm casting |
| CN116079163A (en) * | 2023-03-24 | 2023-05-09 | 苏州三光科技股份有限公司 | Five-degree-of-freedom floating valve sleeve part angular pre-positioning platform for flexible automatic line |
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2006
- 2006-09-16 CN CN 200610021879 patent/CN1958245A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100448627C (en) * | 2007-06-15 | 2009-01-07 | 重庆大学 | Six degree of freedom buttjunction platform |
| CN100448628C (en) * | 2007-06-20 | 2009-01-07 | 重庆大学 | Mechanical flexibility space buttjunction platform |
| CN100469537C (en) * | 2007-06-20 | 2009-03-18 | 重庆大学 | Air suspension flexibility space buttjunction platform |
| CN100448629C (en) * | 2007-06-21 | 2009-01-07 | 重庆大学 | Self control type multi- degree of freedom buttjunction platform |
| CN101596712B (en) * | 2009-07-08 | 2010-10-27 | 宝钢钢构有限公司 | Steel structure pre-mounted support base |
| CN101817405A (en) * | 2010-03-30 | 2010-09-01 | 浙江大学 | Heavy-duty three-dimensional positioner |
| CN102343603A (en) * | 2010-08-06 | 2012-02-08 | 上海昱龄环保科技有限公司 | New material-saving process for laminated wood board core |
| CN102189511A (en) * | 2011-03-23 | 2011-09-21 | 昆山若宇检具工业有限公司 | Positioning mechanism with fine adjustment function |
| CN104647021A (en) * | 2015-01-07 | 2015-05-27 | 北京卫星环境工程研究所 | Six-degree-of-freedom adjustment removal and installation tool for equipment removal and installation in narrow space |
| CN105643230B (en) * | 2016-03-14 | 2018-03-09 | 北京工业大学 | A kind of multiple degrees of freedom valve industry mounting plate |
| CN105643230A (en) * | 2016-03-14 | 2016-06-08 | 北京工业大学 | Multiple-degree-of-freedom valve industrial assembly platform |
| CN108068048A (en) * | 2017-11-23 | 2018-05-25 | 北京特种机械研究所 | A kind of planar three freedom combination Floatable supporting mechanism of self-return |
| CN108068049A (en) * | 2017-11-23 | 2018-05-25 | 北京特种机械研究所 | A kind of planar three freedom Floatable supporting mechanism of self-return |
| CN108068049B (en) * | 2017-11-23 | 2019-07-05 | 北京特种机械研究所 | A kind of planar three freedom Floatable supporting mechanism of self-return |
| CN108068048B (en) * | 2017-11-23 | 2019-10-25 | 北京特种机械研究所 | A kind of planar three freedom combination Floatable supporting mechanism of self-return |
| CN108818440A (en) * | 2018-06-22 | 2018-11-16 | 湖北蓝铝智能家居有限公司 | Adjustable fixator is used in a kind of production of aluminium alloy furniture profile |
| CN108818440B (en) * | 2018-06-22 | 2020-05-08 | 江西名福宫实业有限公司 | Fixing device with adjustable aluminum alloy furniture section bar production is used |
| CN109129426A (en) * | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of manipulator and the synchronous wheel assembly of retarder, wrist and forearm casting |
| CN109129426B (en) * | 2018-09-25 | 2024-03-29 | 苏州富强科技有限公司 | Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting |
| CN116079163A (en) * | 2023-03-24 | 2023-05-09 | 苏州三光科技股份有限公司 | Five-degree-of-freedom floating valve sleeve part angular pre-positioning platform for flexible automatic line |
| CN116079163B (en) * | 2023-03-24 | 2023-06-09 | 苏州三光科技股份有限公司 | Five-degree-of-freedom floating valve sleeve part angular pre-positioning platform for flexible automatic line |
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