CN208276860U - A kind of multiple degrees of freedom work tooling - Google Patents
A kind of multiple degrees of freedom work tooling Download PDFInfo
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- CN208276860U CN208276860U CN201820685081.7U CN201820685081U CN208276860U CN 208276860 U CN208276860 U CN 208276860U CN 201820685081 U CN201820685081 U CN 201820685081U CN 208276860 U CN208276860 U CN 208276860U
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Abstract
本实用新型涉及一种多自由度作业工装，包括移动小车平台，在所述移动小车平台上设置有X轴移动平台、Y轴移动平台、升降平台及翻转平台，所述翻转平台设置在最上层，所述X轴移动平台、Y轴移动平台、升降平台分别连接X轴移动机构、Y轴移动机构、升降机构，所述翻转平台的一侧通过铰接机构铰接在下层的平台上，所述翻转平台通过翻转机构实现翻转，在所述翻转平台上设置有用于固定工件的固定装置。本实用新型整个结构简单紧凑，可实现多自由度运动调节定位，有效解决了在作业过程中工件的转运、托举、拆装及定位的问题，实现高效、高精度作业，大幅提高了作业质量，降低了劳动强度和生产成本。
The utility model relates to a multi-degree-of-freedom operation tooling, which comprises a mobile trolley platform, on which an X-axis mobile platform, a Y-axis mobile platform, a lifting platform and an overturning platform are arranged, and the overturning platform is arranged on the uppermost layer , the X-axis moving platform, the Y-axis moving platform, and the lifting platform are respectively connected to the X-axis moving mechanism, the Y-axis moving mechanism, and the lifting mechanism, and one side of the turning platform is hinged on the lower platform through a hinge mechanism, and the turning The platform is turned over by a turning mechanism, and a fixing device for fixing workpieces is arranged on the turning platform. The whole structure of the utility model is simple and compact, which can realize multi-degree-of-freedom motion adjustment and positioning, effectively solves the problems of workpiece transfer, lifting, disassembly and positioning during the operation process, realizes high-efficiency and high-precision operation, and greatly improves the operation quality , reducing labor intensity and production costs.
Description
Technical field
It is the utility model relates to a kind of apparatus for work, in particular to a kind of to carry out rolling stock manufacture upkeep operation when institute
The multiple degrees of freedom work tooling used.
Background technique
In EMU manufacture and maintenance process, the installation of auxiliary rectifier inverter module generallys use trolley delivery, manually
It lifts and positions the mode found accurately and realize, there are heavy workload, location difficulty, easily collide with the problems such as damaging to components generation.
Existing travelling bogie also only has the freedom degree of Z-direction, can realize the height in certain stroke range by manual operation
It is promoted, but Universal wheel at bottom can only be relied on to the adjustment of horizontal direction, cannot achieve the micro-adjustment in X-axis and Y direction, and
Current lifting platform can not all overturn workpiece, though certain labor intensity can be reduced, cannot achieve efficient, high
Precision operation.
Utility model content
The utility model mainly solving the technical problems that, provide a kind of simple and compact for structure, be conducive to essence in each freedom degree
Efficient, high-precision operation multiple degrees of freedom work tooling is realized in really adjustment positioning.
To achieve the above object, the technical solution of the utility model is:
A kind of multiple degrees of freedom work tooling, including moving trolley platform are provided with X-axis shifting on the moving trolley platform
Moving platform, Y-axis mobile platform, hoistable platform and overturning platform, in top layer, the X-axis is mobile flat for the overturning platform setting
Platform, Y-axis mobile platform, hoistable platform are separately connected X-axis mobile mechanism, Y-axis moving mechanism, elevating mechanism, the overturning platform
Side be hinged on the platform of lower layer by linkwork, the overturning platform by turnover mechanism realize overturn, described
The fixation device for fixing workpiece is provided on overturning platform.
Further, it is small to be successively set on movement from the bottom to top for the X-axis mobile platform, hoistable platform and Y-axis mobile platform
On vehicle platform.
Further, the X-axis mobile mechanism and Y-axis moving mechanism include power mechanism and the opposite straight line moved in a straight line
Guide rail and sliding block, the linear guide and sliding block are separately fixed on the platform of two relative motions, the power mechanism driving
One of platform is moved with respect to another platform.
Further, the power mechanism is screw nut driven mechanism, is supported by servo motor, lead screw, nut and end
Seat composition.
Further, the elevating mechanism be linear guide elevating mechanism, the linear guide elevating mechanism include lift cylinders,
Multiple groups linear guide group and support base, the lift cylinders are fixed on support base, and the output end of the lift cylinders is fixed on described
On hoistable platform, the linear guide group includes the vertical guide rail and guide block assembly of opposite sliding, the vertical guide rail and guide block
Component is separately fixed on hoistable platform and the platform of lower layer.
Further, one group of linear guide group is respectively arranged at four angles of the hoistable platform.
Further, the turnover mechanism is gear engagement transmission mechanism, and the gear engagement transmission mechanism includes driving electricity
Machine, intermeshing first gear and second gear, the first gear are connected on the output shaft of driving motor, and described second
Gear is connected on the articulated shaft of at least one of group of linkwork.
Further, the overturning platform is zigzag structure, and the outside of vertical component effect is arranged in the linkwork.
Further, the fixed device is multiple rotary pressing devices, and the two sides of workpiece are arranged in the pressing device.
Further, several lightening holes are provided on the X-axis mobile platform, Y-axis mobile platform, hoistable platform.
To sum up content, a kind of multiple degrees of freedom work tooling described in the utility model, total is simple and compact, by from
Under the supreme moving trolley platform set gradually, X-axis mobile platform, hoistable platform, Y-axis mobile platform and overturning platform realize it is more
The positioning of freedom degree motor adjustment, each freedom degree up stroke is long to be conducive to accurate adjustment positioning, efficiently solves the work in operation process
The transhipment of part, the problem of lifting, dismount and positioning, realize efficiently, high-precision operation, operation quality greatly improved, reduce
Labor intensity and production cost.
Detailed description of the invention
Fig. 1 is utility model device structure chart；
Fig. 2 is the A direction view of Fig. 1；
Fig. 3 is the B direction view of Fig. 1.
As shown in Figure 1 to Figure 3, moving trolley platform 1, X-axis mobile platform 2, hoistable platform 3, Y-axis mobile platform 4, overturning
Platform 5, X-axis mobile mechanism 6, elevating mechanism 7, Y-axis moving mechanism 8, linkwork 9, turnover mechanism 10, workpiece 11, fixed dress
Set 12, linear guide 13, sliding block 14, servo motor 15, lead screw 16, nut 17, end support base 18, lift cylinders 19, support base
20, vertical guide rail 21, guide block 22, connecting rod 23, hinged seat 24, articulated shaft 25, driving motor 26, first gear 27, the second tooth
Wheel 28, pressing device 29, swingle 30, lightening hole 31, U-shaped part 32.
Specific embodiment
The utility model is described in further detail with specific embodiment with reference to the accompanying drawing:
As shown in Figure 1 to Figure 3, a kind of multiple degrees of freedom work tooling, including moving trolley platform 1, in moving trolley platform 1
Upper setting X-axis mobile platform 2, hoistable platform 3, Y-axis mobile platform 4 and overturning platform 5, wherein overturning platform 5 is arranged most upper
Layer is provided with the fixation device 12 for fixing workpiece 11 on overturning platform 5.X-axis mobile platform 2, hoistable platform 3, Y-axis are moved
Moving platform 4, which can according to need, to be successively set on moving trolley platform 1.
In the present embodiment, for the adjustment stroke being conducive to lengthen in each freedom degree and accurate adjustment positioning, and make whole knot
Structure is compact, and preferably X-axis mobile platform 2, hoistable platform 3, Y-axis mobile platform 4 are successively set on moving trolley platform 1 from the bottom to top
On.Wherein, moving trolley platform 1 uses omnidirectional's vehicle, and X-axis mobile platform 2 is mounted on moving trolley by X-axis mobile mechanism 6 and puts down
On platform 1, hoistable platform 3 is mounted on X-axis mobile platform 2 by elevating mechanism 7, and Y-axis mobile platform 4 passes through Y-axis moving mechanism 8
It is mounted on hoistable platform 3, the side of overturning platform 5 is hinged on Y-axis mobile platform 4 by linkwork 9, overturns platform 5
It is realized and is overturn by turnover mechanism 10.
In the present embodiment, to simplify structure, X-axis mobile mechanism 6 and Y-axis moving mechanism 8 use identical structure, include
Power mechanism and the opposite linear guide 13 moved in a straight line and sliding block 14, on moving trolley platform 1 and hoistable platform 3 respectively
Two linear guides 13 are set, at least two pairs of cunnings are respectively arranged on the lower surface of X-axis mobile platform 2 and Y-axis mobile platform 4
Block 14, sliding block 14 realize opposite sliding with the cooperation of corresponding linear guide 13.
In the present embodiment, power mechanism preferably uses the simple screw nut driven mechanism of structure, screw nut driven machine
Structure is made of servo motor 15, lead screw 16, nut 17 and end support base 18.Servo motor 15 and end support base 18 are fixed on
On moving trolley platform 1 or hoistable platform 3, nut 17 is fixed on the lower surface of X-axis mobile platform 2 or Y-axis mobile platform 4,
One end of lead screw 16 is connected on 15 output shaft of servo motor, and the other end is rotatably supported on end support base 18, nut 17
It is threadedly coupled with lead screw 16.When needing to adjust the stroke in X-axis and Y-axis, corresponding servo motor 15, servo motor is respectively started
15 drive lead screw 16 to rotate, and move nut 17 along 16 phase of lead screw and move, and then drive X-axis mobile platform 2 or Y-axis mobile platform 4
It is moved respectively along X-axis and Y direction.X-axis mobile platform 2 and Y-axis are moved in the way of servo motor 15 and screw nut driven
Moving platform 4 is adjusted, conducive to accurate adjustment positioning of the workpiece 11 during the installation process in X, Y both direction is realized.
Elevating mechanism 7 can be used scissor-type lifting mechanism, and in the present embodiment, elevating mechanism 7 preferably uses linear guide liter
Descending mechanism, linear guide elevating mechanism include lift cylinders 19, multiple groups linear guide group and support base 20, and support base 20 is fixed on X
On axis mobile platform 2, lift cylinders 19 are fixed on support base 20, and lift cylinders 19 can be using electric cylinder, cylinder etc., lift cylinders 19
Output end be fixed on hoistable platform 3.Linear guide group includes the vertical guide rail 21 and guide block assembly of opposite sliding.In order to protect
It demonstrate,proves hoistable platform 3 steadily to go up and down, the center between X-axis mobile platform 2 and hoistable platform 3 is arranged in lift cylinders 19, in X-axis
One group of linear guide group is respectively set at four angles between mobile platform 2 and hoistable platform 3.Vertically leading in linear guide group
Rail 21 is vertically fixed at four angles of X-axis mobile platform 2, and guide block assembly is made of guide block 22 and connecting rod 23, and guide block 22 is set
It sets in the bottom of connecting rod 23, the top of connecting rod 23 is fixed on hoistable platform 3, and guide block 22 glides along vertical guide rail 21
It is dynamic.
In order to further realize the positioning of the accurate adjustment in each freedom degree of X, Y, Z, can also divide on the platform of X, Y, Z axis
Not Cai Yong infrared linear movement pick-up realize workpiece 11 each by the positioning original part being placed on moving trolley platform 1 in advance
Accurate positioning in freedom degree.
Overturning platform 5 is hinged on the side of Y-axis mobile platform 4 by two groups of linkworks 9, and linkwork 9 includes opposite
The hinged seat 24 of rotation is connected by articulated shaft 25 between two outer hinged seats 24.In the present embodiment, turnover mechanism 10 is preferably used
Gear engagement transmission mechanism, gear engagement transmission mechanism include driving motor 26, intermeshing first gear 27 and the second tooth
Wheel 28, first gear 27 is connected on the output shaft of driving motor 26, and second gear 28 is connected at least one of group of hinged machine
On the articulated shaft 25 of structure 9.The overturning platform 5 is conducive to increase flip angle, and then increases job area.Turnover mechanism 10 can also be adopted
Overturning is realized with cylinder, hydraulic cylinder.In order to accurately adjust flip angle, indexing mechanism can also be set in turnover mechanism 10.
Under the premise of not increasing tooling whole height, the linkwork 9 of side is avoided, in the present embodiment, overturn platform 5
Using zigzag structure, the outside of vertical component effect 5a is arranged in linkwork 9, and 11 bottom of workpiece is placed on horizontal part 5b, workpiece 11
Side can also be resisted against on vertical component effect 5a, make that workpiece 11 is installed and overturning is more steady, and it is flat in overturning to be conducive to workpiece 11
Positioning on platform 5.
Fixed device 12 preferably uses multiple rotary pressing devices 29, and the two sides of workpiece 11 are arranged in pressing device 29,
Rotary pressing device 29 is made of hold-down cylinder and swingle 30, and the bottom of hold-down cylinder is fixed on overturning platform 5, hold-down cylinder
Top is rotatable swingle 30, and when needing fixed workpiece 11, swingle 30 is rotated to the position of workpiece 11, with workpiece
U-shaped part 32 on 11 cooperates, and using the strength workpiece pressing 11 of hold-down cylinder, guarantees that workpiece 11 is not fallen out in switching process.
When detachment is desired, swingle 30 is reversely rotated and is detached from U-shaped part.
In order to mitigate the weight of tooling, if being additionally provided on X-axis mobile platform 2, Y-axis mobile platform 4, hoistable platform 3
Dry lightening hole 31, lightening hole 31 are preferably open using strip.
For leading to the deflection torque generated because of 11 position of workpiece, in the present embodiment, it is preferred to use in moving trolley platform 1
The mode of upper installation clump weight carries out counterweight, and clump weight can be directly installed on the lower section of moving trolley platform 1, can also basis
Clump weight is separately positioned on moving trolley platform 1 by actual needs.
The tooling total is simple and compact, by mobile flat from a supreme moving trolley platform 1 set gradually, X-axis
Platform 2, hoistable platform 3, Y-axis mobile platform 4, overturning platform 5 realize that multifreedom motion adjusts positioning, and each freedom degree up stroke is long
Conducive to accurate adjustment positioning, solves the problems, such as the transhipment of workpiece in operation process, lifts, dismounts and position, realize
Efficiently, operation quality greatly improved in high-precision operation, reduces labor intensity and production cost.
As described above, the plan content in conjunction with given by attached drawing, can derive similar technical solution.But it is all not take off
Content from technical solutions of the utility model is made by the above technical examples according to the technical essence of the present invention any simple
Modification, equivalent variations and modification, are still within the scope of the technical solutions of the present invention.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820685081.7U CN208276860U (en) | 2018-05-09 | 2018-05-09 | A kind of multiple degrees of freedom work tooling |
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| CN201820685081.7U CN208276860U (en) | 2018-05-09 | 2018-05-09 | A kind of multiple degrees of freedom work tooling |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015625A (en) * | 2019-04-03 | 2019-07-16 | 苏州优备精密智能装备股份有限公司 | A kind of turning lifting mechanism |
| CN110116976A (en) * | 2019-06-13 | 2019-08-13 | 中建七局安装工程有限公司 | A kind of mechanical arm platform automating high altitude operation |
| CN110566133A (en) * | 2019-09-28 | 2019-12-13 | 徐州徐工基础工程机械有限公司 | Self-dismounting device for power head of horizontal directional drilling machine |
| CN110861014A (en) * | 2019-11-27 | 2020-03-06 | 苏州福群精密钣金有限公司 | Adjustable auxiliary device for precision sheet metal machining |
| CN111055251A (en) * | 2020-01-03 | 2020-04-24 | 厦门精合电气自动化有限公司 | Mechanism for realizing turnover and pressing product |
| CN111380804A (en) * | 2020-04-23 | 2020-07-07 | 江苏铁锚玻璃股份有限公司 | Multi-dimensional motion platform and detection system for transparent parts detection |
| CN111891199A (en) * | 2020-09-11 | 2020-11-06 | 中车成都机车车辆有限公司 | A brake cylinder transfer platform |
| CN112571127A (en) * | 2020-12-01 | 2021-03-30 | 台州耐科兴智能装备有限公司 | Engraving machine |
| CN112571126A (en) * | 2020-12-01 | 2021-03-30 | 台州耐科兴智能装备有限公司 | Engraving machine |
| CN112706809A (en) * | 2020-12-25 | 2021-04-27 | 中车长春轨道客车股份有限公司 | Four-freedom-degree accurate hoisting carrier loader for lower parts of motor train unit |
| CN113329844A (en) * | 2021-04-25 | 2021-08-31 | 深圳市宏讯实业有限公司 | Automatic operation device |
| CN116728171A (en) * | 2023-06-21 | 2023-09-12 | 中国兵器科学研究院宁波分院 | Loading and unloading device of ion beam polishing equipment |
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2018
- 2018-05-09 CN CN201820685081.7U patent/CN208276860U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110015625A (en) * | 2019-04-03 | 2019-07-16 | 苏州优备精密智能装备股份有限公司 | A kind of turning lifting mechanism |
| CN110116976B (en) * | 2019-06-13 | 2024-09-20 | 中建七局安装工程有限公司 | Automatic change aerial working's arm platform |
| CN110116976A (en) * | 2019-06-13 | 2019-08-13 | 中建七局安装工程有限公司 | A kind of mechanical arm platform automating high altitude operation |
| CN110566133A (en) * | 2019-09-28 | 2019-12-13 | 徐州徐工基础工程机械有限公司 | Self-dismounting device for power head of horizontal directional drilling machine |
| CN110861014A (en) * | 2019-11-27 | 2020-03-06 | 苏州福群精密钣金有限公司 | Adjustable auxiliary device for precision sheet metal machining |
| CN111055251A (en) * | 2020-01-03 | 2020-04-24 | 厦门精合电气自动化有限公司 | Mechanism for realizing turnover and pressing product |
| CN111380804A (en) * | 2020-04-23 | 2020-07-07 | 江苏铁锚玻璃股份有限公司 | Multi-dimensional motion platform and detection system for transparent parts detection |
| CN111891199A (en) * | 2020-09-11 | 2020-11-06 | 中车成都机车车辆有限公司 | A brake cylinder transfer platform |
| CN112571126A (en) * | 2020-12-01 | 2021-03-30 | 台州耐科兴智能装备有限公司 | Engraving machine |
| CN112571127A (en) * | 2020-12-01 | 2021-03-30 | 台州耐科兴智能装备有限公司 | Engraving machine |
| CN112706809A (en) * | 2020-12-25 | 2021-04-27 | 中车长春轨道客车股份有限公司 | Four-freedom-degree accurate hoisting carrier loader for lower parts of motor train unit |
| CN112706809B (en) * | 2020-12-25 | 2024-04-30 | 中车长春轨道客车股份有限公司 | Four-degree-of-freedom precise hoisting carrier vehicle for lower parts of motor train unit |
| CN113329844A (en) * | 2021-04-25 | 2021-08-31 | 深圳市宏讯实业有限公司 | Automatic operation device |
| CN113329844B (en) * | 2021-04-25 | 2023-05-26 | 深圳市宏讯制造技术有限公司 | Automatic operation device |
| CN116728171A (en) * | 2023-06-21 | 2023-09-12 | 中国兵器科学研究院宁波分院 | Loading and unloading device of ion beam polishing equipment |
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