CN210306643U

CN210306643U - Rocket flexible automatic posture-adjusting butt joint AGV (automatic guided vehicle) frame vehicle based on six-degree-of-freedom platform

Info

Publication number: CN210306643U
Application number: CN201920541049.6U
Authority: CN
Inventors: 陈宇宁; 吴建民
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2019-04-19
Filing date: 2019-04-19
Publication date: 2020-04-14
Anticipated expiration: 2029-04-19

Abstract

The utility model discloses an automatic appearance butt joint AGV frame car of transferring of rocket flexibility based on six degree of freedom platforms, including the AGV dolly, a plurality of groups drive wheel are installed to the lower extreme of AGV dolly, six degree of freedom platforms are installed to the up end of AGV dolly, the slide is installed to the top of six degree of freedom platforms, the fixed linear guide and the bracket adjustment drive assembly that are provided with two sets of collineation installations of up end of slide, and the symmetrical installation between the linear guide, two sets of brackets are installed respectively to bracket adjustment drive assembly's up end, the frock ring is installed in the upper end of bracket in the top of AGV dolly. The utility model discloses realize simultaneously that the accent appearance of translation, sideslip, lift, driftage, every single move and the 6 degrees of freedom that roll over of work piece is decided on the platform, have flexible frock, applicable in the accent appearance butt joint of the rocket section of thick bamboo section of different diameters and length dimension in the within range.

Description

Rocket flexible automatic posture-adjusting butt joint AGV (automatic guided vehicle) frame vehicle based on six-degree-of-freedom platform

Technical Field

The utility model relates to an aerospace delivery equipment technical field specifically is a flexible automatic appearance butt joint AGV car that transfers of rocket based on six degree of freedom platforms.

Background

With the rapid development of industrial technology, the aerospace field is developed rapidly, the satellite launching amount for scientific research and communication is increased year by year, and the output requirement of a carrier rocket is correspondingly increased. In order to meet the huge demand, the aerospace manufacturing industry must also develop towards modernization, automation and intellectualization. The general assembly attitude-adjusting butt joint assembly technology of the rocket cabin sections needs to sequentially adjust the attitude of each stage of the rocket cabin sections in the space range of 6 degrees of freedom according to the sequence, so that the main axes of the rocket cabin sections are coaxial, the butt joint positioning holes are correspondingly coaxial, and the butt joint work is completed.

The prior art has the following defects:

1. in the using process of the existing butt-joint trolley, the manual trolley is mostly adopted for adjusting the posture of the butt-joint trolley in the traditional assembly, the posture adjusting precision is poor, repeated adjustment is needed, the equipment specificity is strong, and the production capacity of various types of products cannot be realized;

2. the existing butt joint frame vehicle is often extremely low in transfer efficiency in the using process, the yield is difficult to improve, the labor cost is high, and the labor intensity of workers is improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a flexible automatic appearance butt joint AGV car of transferring of rocket based on six degree of freedom platforms to solve the problem that provides among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a flexible automatic appearance butt joint AGV unwheeling of transferring of rocket based on six degrees of freedom platforms, includes the AGV dolly, a plurality of groups of drive wheels are installed to the lower extreme of AGV dolly, six degrees of freedom platforms are installed to the up end of AGV dolly, the slide is installed to the top of six degrees of freedom platforms, the fixed linear guide and the bracket adjustment drive assembly that are provided with two sets of collineation installations of up end of slide, and the symmetry installation between the linear guide, two sets of brackets are installed respectively to bracket adjustment drive assembly's up end, the frock ring is installed in the upper end of bracket in the top of AGV dolly.

Preferably, the AGV dolly is rectangular structure, the AGV dolly size is 2500mm 2000mm 450mm, and slide size 1800mm, the full height 2200mm of car of frame (lower limit) to 2500mm (upper limit).

Preferably, four sets of driving wheels are provided, and the driving wheels are Mecanum wheels.

Preferably, bracket adjustment drive assembly includes motor cabinet, servo motor, lead screw, screw nut and nut seat, the lead screw passes through the bearing activity and sets up in the inside center department of motor cabinet, the outside at the lead screw is established to the screw nut cover, servo motor installs in the outside one side of motor cabinet, and servo motor's output passes through the shaft coupling and is connected with the lead screw.

Preferably, the bracket adjustment driving component is arranged between the two linear guide rails on the sliding seat and is connected with the bracket through a screw nut, and the horizontal heights between the brackets are the same.

Preferably, the tool ring is of an inwards concave arc-shaped structure, the inner surface of the tool ring is subjected to encapsulation treatment, the coating is made of polyurethane, and the thickness of the coating is 3-5 mm.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a through being provided with six degree of freedom platforms, in the use, transfer appearance work in transfer appearance platform can once only transfer appearance to required coordinate position rapidly according to measurement system feedback information, and can be effectual carry out acquisition record work to concrete data, the platform location of six degrees of freedom that adopts simultaneously is accurate, does not have accumulative positioning error, rated load positioning accuracy can reach 0.01mm, repeated positioning accuracy can reach 1.5 mu m;

2. the utility model discloses still set up two upper bracket intervals of platform adjustable and lock simultaneously and die, applicable in the cabin section of different length dimension, the cabin section that can be applicable to different diameter dimensions is used with the conversion frock cooperation to the bracket moreover, and bottom frame car uses mecanum wheel drive AGV, can realize omnidirectional movement, makes the transportation of cabin section more nimble, and can easily withdraw from the butt joint station at the unloaded frame car of completion butt joint back, does not influence follow-up butt joint work, and the effectual work efficient that has guaranteed goes on.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a rocket flexible automatic posture adjustment butt joint AGV based on a six-degree-of-freedom platform of the present invention;

FIG. 2 is a left view of a six-DOF platform-based rocket flexible automatic attitude adjustment docking AGV lifting;

FIG. 3 is a schematic diagram of a structure of a large internal diameter tooling ring for rocket flexible automatic attitude adjustment docking AGV based on a six-degree-of-freedom platform according to the present invention;

FIG. 4 is a schematic diagram of a small inner diameter tooling ring structure for rocket flexible automatic attitude adjustment docking AGV car lifting based on a six-degree-of-freedom platform of the present invention;

fig. 5 is the utility model discloses a flexible automatic appearance butt joint AGV car frame bracket adjustment drive assembly schematic diagram that transfers of rocket based on six degree of freedom platforms.

In the figure: 1. an AGV trolley; 2. a drive wheel; 3. a six degree of freedom platform; 4. the bracket adjusts the driving assembly; 5. a bracket; 6. a slide base; 7. a linear guide rail; 8. a tooling ring; 9. a motor base; 10. a servo motor; 11. a screw rod; 12. a lead screw nut; 13. and a nut seat.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a flexible automatic appearance butt joint AGV unwheeling of transferring of rocket based on six degrees of freedom platforms, includes AGV dolly 1, a plurality of groups drive wheel 2 are installed to AGV dolly 1's lower extreme, six degrees of freedom platforms 3 are installed to AGV dolly 1's up end, slide 6 is installed to six degrees of freedom platforms 3's top, the fixed linear guide 7 and the bracket adjustment drive assembly 4 that are provided with two sets of collineation installations of up end of slide 6, and the symmetry installation between linear guide 7, two sets of brackets 5 are installed respectively to bracket adjustment drive assembly 4's up end, frock ring 8 is installed in bracket 5's upper end to AGV dolly 1's top.

The AGV trolley 1 is of a rectangular structure, the size of the AGV trolley 1 is 2500mm × 2000mm × 450mm, the size of the sliding seat 6 is 1800mm × 1800mm, the overall height of the trolley is 2200mm (lower limit) to 2500mm (upper limit), and the stability of the transfer process is guaranteed; four groups of driving wheels 2 are arranged, and the driving wheels 2 are Mecanum wheels, so that the AGV trolley 1 can be conveniently driven to move in all directions; the bracket adjusting and driving assembly 4 comprises a motor base 9, a servo motor 10, a lead screw 11, a lead screw nut 12 and a nut base 13, wherein the lead screw 11 is movably arranged at the center of the interior of the motor base 9 through a bearing, the lead screw nut 12 is sleeved outside the lead screw 11, the servo motor 10 is arranged on one side of the exterior of the motor base 9, and the output end of the servo motor 10 is connected with the lead screw 11 through a coupler, so that the bracket 5 can move conveniently; the bracket adjusting and driving assembly 4 is arranged between two linear guide rails 7 on the sliding seat 6 and is connected with the bracket 5 through a screw nut 12, and the horizontal heights between the brackets 5 are the same, so that the brackets 5 can be conveniently adjusted; the tool ring 8 is of an inwards concave arc-shaped structure, the inner surface of the tool ring 8 is subjected to encapsulation treatment, the coating is made of polyurethane, the thickness of the coating is 3-5mm, and raw materials are effectively protected.

The working principle is as follows: when the device is used, the AGV trolley 1 is driven to run to a hoisting area under the assistance of the driving wheel 2, the position of a bracket 5 of the AGV trolley 1 is adjusted, under the respective action of two bracket adjusting driving components 4, a servo motor 10 works to effectively drive the bracket 5 to move, so that the distance between the two brackets 5 can be conveniently and effectively adjusted to meet the supporting requirement of a cabin section to be loaded, the coordinate of a six-degree-of-freedom platform 3 is returned to 0, each cabin section is hoisted to the corresponding AGV trolley 1 through a travelling crane in an assembly workshop to be stably supported, after the hoisting is finished, each AGV trolley 1 is driven to carry the corresponding cabin section to a preset position of a butting station, the levelness of the cabin section with the largest mass is firstly adjusted and locked, wheels are locked at a position with a distance of 200mm from the lower cabin section rack trolley butted with the cabin section, the AGV trolley 1 automatically finishes posture adjustment according to the feedback measurement information of a laser tracker, and after the butt joint is completed, the AGV trolleys 1 of the non-main supporting cabin section can retract the six-degree-of-freedom platform 3 to unload loads, quit the butt joint station, drive the AGV trolleys 1 of each main supporting frame to operate in a linkage manner, support the whole arrow to leave the butt joint station to a boxing area, hoist and box the whole arrow by using a workshop crane, and return the AGV trolleys 1 to the standby station.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Rocket flexible automatic posture-adjusting butt joint AGV car lifting based on six-degree-of-freedom platform, including AGV dolly (1), its characterized in that: a plurality of groups drive wheel (2) are installed to the lower extreme of AGV dolly (1), six degree of freedom platforms (3) are installed to the up end of AGV dolly (1), slide (6) are installed to the top of six degree of freedom platforms (3), the fixed linear guide (7) and the bracket adjustment drive assembly (4) that are provided with two sets of collineation installations of up end of slide (6), and the symmetry installation between linear guide (7), two sets of brackets (5) are installed respectively to the up end of bracket adjustment drive assembly (4), frock ring (8) are installed in the upper end of bracket (5) to the top of AGV dolly (1).

2. The six-degree-of-freedom platform based rocket flexible automatic attitude adjusting butt joint AGV car of claim 1, wherein: AGV dolly (1) is the rectangle structure, AGV dolly (1) size is 2500mm 2000mm 450mm, and slide (6) size 1800mm, the full height 2200mm-2500mm of car of erectting.

3. The six-degree-of-freedom platform based rocket flexible automatic attitude adjusting butt joint AGV car of claim 1, wherein: four groups of driving wheels (2) are arranged, and the driving wheels (2) are Mecanum wheels.

4. The six-degree-of-freedom platform based rocket flexible automatic attitude adjusting butt joint AGV car of claim 1, wherein: bracket adjustment drive assembly (4) include motor cabinet (9), servo motor (10), lead screw (11), screw nut (12) and nut seat (13), lead screw (11) set up in the inside center department of motor cabinet (9) through the bearing activity, screw nut (12) cover is established in the outside of lead screw (11), servo motor (10) are installed in outside one side of motor cabinet (9), and the output of servo motor (10) passes through the shaft coupling and is connected with lead screw (11).

5. The six-degree-of-freedom platform based rocket flexible automatic attitude adjusting butt joint AGV car of claim 1, wherein: the bracket adjusting and driving assembly (4) is arranged between two linear guide rails (7) on the sliding seat (6) and is connected with the bracket (5) through a screw nut (12), and the horizontal heights between the brackets (5) are the same.

6. The six-degree-of-freedom platform based rocket flexible automatic attitude adjusting butt joint AGV car of claim 1, wherein: the tool ring (8) is of an inwards concave arc-shaped structure, the inner surface of the tool ring (8) is subjected to encapsulation treatment, the coating is made of polyurethane, and the thickness of the coating is 3-5 mm.