CN210047637U

CN210047637U - Five-degree-of-freedom tool unit

Info

Publication number: CN210047637U
Application number: CN201920452378.3U
Authority: CN
Inventors: 张伊然; 黄嘉�; 尤庆远; 朱永国
Original assignee: Nanchang Hangkong University
Current assignee: Nanchang Hangkong University
Priority date: 2019-04-04
Filing date: 2019-04-04
Publication date: 2020-02-11
Anticipated expiration: 2029-04-04

Abstract

The utility model discloses a five degree of freedom frock units, including base and a plurality of wheels, a plurality of wheel activities set up the lower terminal surface at the base, still include control system, hydraulic means and bearing disc, control system and hydraulic means all set up on the base, the up end of base is equipped with a plurality of flexible posts of being connected with hydraulic means's output, the upper end at a plurality of flexible posts is installed to the bearing disc, the up end of bearing disc is equipped with guide rail one and motor one, be equipped with ball one in the guide rail one, ball one's one end and motor one's output transmission are connected, ball is gone up through threaded connection has guide rail two, be equipped with ball two and motor two in the guide rail two, ball one's one end and motor two's output transmission are connected, ball is two last to have the support column through threaded connection. The utility model discloses five degree of freedom motions can be realized to simple structure, but independent motion also can constitute the multiple spot frock, and realizability is strong, and the scope of disturbance angle is big.

Description

Five-degree-of-freedom tool unit

Technical Field

The utility model relates to an assembly quality technical field, concretely relates to five degree of freedom frock units.

Background

The assembly technology is a decisive factor for determining the production period of an airplane in the aviation manufacturing process, numerous types of flexible supporting tool technologies are researched and developed abroad, a multi-lattice flexible tool system is widely applied, the problems of large tool floor area and the like are solved to a certain extent, but higher space utilization rate is still not realized, and the unit body of the multi-lattice flexible tool can only realize three-degree-of-freedom motion, so that higher requirements are imposed on the overall structure of the multi-lattice flexible tool; similar frock in China develops slowly, and the low degree of digitization still exists in the flexible frock of the multiple spot that has independently researched and developed at present, and butt joint adopts plastic material or vacuum chuck to lead to assembly error scheduling problem. The transportation problem of large parts or products is particularly important in the aviation manufacturing industry and other industries, and the transportation of the large products adopts a flat car so far, so that the products are easy to deform and damage in the transportation process, and the occupied area is large, and the occupied space resources are large. The common motion platform in the market at present is mostly three degrees of freedom, realizes that the structure of four degrees of freedom, five degrees of freedom is mostly the structure and the structure complicacy that can not bear the heavy load such as arm, and the cost is higher. In order to solve the above-mentioned problems,

therefore, a tool which can move independently, realizes five-degree-of-freedom movement, improves bearing capacity, is high in space utilization rate and does not reduce product quality in the transportation or assembly process is urgently needed to be designed.

Disclosure of Invention

The utility model discloses the problem that will solve is: the five-degree-of-freedom tool unit is simple in structure, capable of realizing five-degree-of-freedom motion, capable of independently moving, capable of forming a multi-point tool, high in realizability and large in disturbance angle range.

The utility model discloses a solve the technical scheme that above-mentioned problem provided and do: a five-degree-of-freedom tool unit comprises a base, a plurality of wheels, a control system, a hydraulic device and a bearing disc, wherein the wheels are movably arranged on the lower end surface of the base, the control system and the hydraulic device are both arranged on the base, the upper end surface of the base is provided with a plurality of telescopic columns connected with the output end of the hydraulic device, the bearing disc is arranged at the upper ends of the telescopic columns, a first sliding rail and a first motor are arranged on the upper end surface of the bearing disc, a first ball screw is arranged in the first slide rail, one end of the first ball screw is in transmission connection with the output end of the first motor, the ball screw I is connected with a slide rail II through threads, the slide rail II is internally provided with a ball screw II and a motor II, one end of the first ball screw is in transmission connection with the output end of the second motor, and the second ball screw is connected with a support column through threads.

Preferably, the telescopic columns are four and evenly distributed at four corners of the upper end face of the base.

Preferably, the telescopic column is provided with a thread and two nuts matched with the thread, the bearing plate is provided with a mounting hole matched with the telescopic column in shape, the telescopic column penetrates through the mounting hole, and the bearing plate is fixed on the telescopic column through the two nuts.

Preferably, a rubber ring is padded between the nut and the bearing disc.

Preferably, the lower terminal surface of bearing plate is equipped with a hemisphere, be equipped with the ball seat on the position that corresponds with the hemisphere on the base, it is provided with a plurality of balls to surround on the internal surface of ball seat, the activity of the semicircle face end of hemisphere sets up in the ball seat.

Preferably, a plastic rubber ring is padded at the joint of the bearing disc and the base.

Preferably, a plurality of said wheels may be locked.

Compared with the prior art, the utility model has the advantages that: the utility model discloses five degree of freedom motions can be realized to simple structure, but independent motion has reduced the especially dependence to frock joint design and frock overall structure in the assembling process of transportation, also can constitute the multiple spot frock, and realizability is strong, and the scope of disturbance angle is big.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it.

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

fig. 2 is a schematic view of the movement of the present invention in a vertical plane.

Fig. 3 is a schematic view of a first slide rail of the present invention;

fig. 4 is a schematic view of a second slide rail of the present invention;

fig. 5 is a schematic view of the present invention with the bearing plate removed;

the attached drawings are marked as follows: 1. the device comprises a base, 2, wheels, 3, a control system, 4, a hydraulic device, 5, a telescopic column, 6, a bearing disc, 7, a ball seat, 8, a ball, 9, a hemisphere, 10, a first sliding rail, 11, a second sliding rail, 12, a second ball screw, 13, a second motor, 14, a supporting column, 15, a nut, 16, a rubber ring, 17, a first ball screw, 18 and a first motor.

Detailed Description

The following detailed description will be made with reference to the accompanying drawings and examples, so that how to implement the technical means of the present invention to solve the technical problems and achieve the technical effects can be fully understood and implemented.

The specific embodiment of the utility model is shown in fig. 1-5, a five-degree-of-freedom tooling unit, which comprises a base 1 and a plurality of wheels 2, a plurality of wheels 2 are movably arranged on the lower end surface of the base 1, and the five-degree-of-freedom tooling unit also comprises a control system 3, a hydraulic device 4 and a bearing disc 6, wherein the control system 3 and the hydraulic device 4 are both arranged on the base 1, the upper end surface of the base 1 is provided with a plurality of telescopic columns 5 connected with the output end of the hydraulic device 4, the bearing disc 6 is arranged at the upper ends of the telescopic columns 5, the upper end surface of the bearing disc 6 is provided with a first slide rail 10 and a first motor 18, a first ball screw 17 is arranged in the slide rail 10, one end of the first ball screw 17 is in transmission connection with the output end of the first motor 18, the first ball screw 17 is connected with a second slide rail 11 through a thread, a second ball screw 12 and, one end of the first ball screw 17 is in transmission connection with the output end of the second motor 13, and the second ball screw 12 is connected with a support column 14 through threads.

The telescopic columns 5 are four and evenly distributed on four corners of the upper end face of the base 1.

Be equipped with on the flexible post 5 the screw thread and with two nuts 15 of screw-thread fit, be equipped with on the bearing plate 6 with the mounting hole of 5 shape looks adaptations of flexible post, flexible post 5 passes the mounting hole, the bearing plate 6 is through two nuts 15 is fixed on flexible post 5.

And a rubber ring 16 is padded between the nut 15 and the bearing plate 6.

The lower terminal surface of bearing plate 6 is equipped with a hemisphere 9, be equipped with ball seat 7 on the base 1 with hemisphere 9 corresponding position, the internal surface of ball seat 7 is gone up the encircleing and is provided with a plurality of balls 8, hemisphere 9's semicircle face end activity sets up in the ball seat 7.

And a plastic rubber ring is padded at the joint of the bearing disc 6 and the base 1.

A plurality of said wheels 2 may be locked.

According to the five-degree-of-freedom tool unit, the workpiece can be moved in five degrees of freedom, and the workpiece can be controlled to move along the Z-axis direction through the telescopic motion of the telescopic column; the motor in the Y direction of the guide rail I is controlled to drive the ball screw I in the Y direction of the guide rail I to rotate, so that the telescopic shaft moves along the Y-axis direction, and the workpiece is controlled to move along the Y-axis direction; the motor in the first guide rail X direction is controlled to drive the ball screw II in the first guide rail X direction to rotate, so that the part in the first guide rail X direction moves along the X axial direction, and the workpiece is controlled to move along the X axial direction; the hydraulic device controls the extension and retraction of the four telescopic columns, so that the bearing plate rotates in any vertical plane, and the hemisphere rotates in the ball seat along with the bearing plate at the moment, so that the stability of the bearing plate is ensured, and the workpiece can stably rotate in any vertical plane; the wheels at the bottom of the base can rotate at will, so that the tool trolley can move to any position, and the wheels at the bottom of the base can be locked, so that the stability of the tool trolley during use is ensured.

The utility model has the advantages that: the utility model discloses five degree of freedom motions can be realized to simple structure, but independent motion has reduced the especially dependence to frock joint design and frock overall structure in the assembling process of transportation, also can constitute the multiple spot frock, and realizability is strong, and the scope of disturbance angle is big.

The foregoing is illustrative of the preferred embodiments of the present invention only, and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to be changed. All changes which come within the scope of the independent claims of the invention are to be embraced within their scope.

Claims

1. The utility model provides a five degree of freedom frock units, includes base (1) and a plurality of wheel (2), and is a plurality of wheel (2) activity sets up the lower terminal surface of base (1), its characterized in that: the device is characterized by further comprising a control system (3), a hydraulic device (4) and a bearing disc (6), wherein the control system (3) and the hydraulic device (4) are arranged on the base (1), a plurality of telescopic columns (5) connected with the output end of the hydraulic device (4) are arranged on the upper end face of the base (1), the bearing disc (6) is arranged at the upper ends of the telescopic columns (5), a first sliding rail (10) and a first motor (18) are arranged on the upper end face of the bearing disc (6), a first ball screw (17) is arranged in the first sliding rail (10), one end of the first ball screw (17) is in transmission connection with the output end of the first motor (18), a second sliding rail (11) is connected to the first ball screw (17) through threads, a second ball screw (12) and a second motor (13) are arranged in the second sliding rail (11), one end of the first ball screw (17) is in transmission connection with the output end of the second motor (13), and a support column (14) is connected to the second ball screw (12) through a thread.

2. The five-degree-of-freedom tooling unit of claim 1, wherein: the telescopic columns (5) are four and uniformly distributed at four corners of the upper end face of the base (1).

3. The five-degree-of-freedom tooling unit of claim 1, wherein: be equipped with on flexible post (5) the screw thread and with two nuts (15) of screw-thread fit, be equipped with on bearing plate (6) with the mounting hole of flexible post (5) shape looks adaptation, flexible post (5) pass the mounting hole, bearing plate (6) are through two nut (15) are fixed on flexible post (5).

4. The five-degree-of-freedom tooling unit of claim 3, wherein: and a rubber ring (16) is padded between the nut (15) and the bearing disc (6).

5. The five-degree-of-freedom tooling unit of claim 1, wherein: the lower terminal surface of bearing dish (6) is equipped with a hemisphere (9), be equipped with ball seat (7) on base (1) the position that corresponds with hemisphere (9), it is provided with a plurality of balls (8) to surround on the internal surface of ball seat (7), the activity of the semicircle face end of hemisphere (9) sets up in ball seat (7).

6. The five-degree-of-freedom tooling unit of claim 5, wherein: and a plastic rubber ring is padded at the joint of the bearing disc (6) and the base (1).

7. The five-degree-of-freedom tooling unit of claim 1, wherein: a plurality of wheels (2) can be locked.