CN215622379U - Six-degree-of-freedom butt joint equipment - Google Patents
Six-degree-of-freedom butt joint equipment Download PDFInfo
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- CN215622379U CN215622379U CN202121465567.8U CN202121465567U CN215622379U CN 215622379 U CN215622379 U CN 215622379U CN 202121465567 U CN202121465567 U CN 202121465567U CN 215622379 U CN215622379 U CN 215622379U
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Abstract
The utility model discloses six-degree-of-freedom docking equipment, and belongs to the technical field of vehicle assembly. The six-degree-of-freedom docking equipment is used for docking a first workpiece to be docked and a second workpiece to be docked, and comprises a first docking supporting device and a second docking supporting device, wherein the first docking supporting device is used for supporting and fixing the first workpiece to be docked, and the first docking supporting device is configured to be capable of adjusting the height of the first workpiece to be docked along the Z-axis direction, the rotation angle around the Z-axis, the rotation angle around the X-axis and the rotation angle around the Y-axis; the second butt joint supporting device is used for supporting and fixing a second workpiece to be butted, and the second butt joint supporting device is configured to be capable of adjusting the position of the second workpiece to be butted along the X-axis direction and/or the position of the second workpiece to be butted along the Y-axis direction. The six-degree-of-freedom docking equipment can precisely dock a precise complex structure and has the advantages of simplicity, flexibility, time saving, labor saving, safety and high efficiency.
Description
Technical Field
The utility model relates to the technical field of vehicle assembly, in particular to six-degree-of-freedom docking equipment.
Background
The weight of large-scale parts such as engine, gearbox is heavier, and weight generally can reach 1 ~ 3 tons, generally need be with the help of hoists such as driving during the assembly, and large-scale parts such as engine, gearbox structure is complicated and accurate, except two locating pins during its assembly, often still has a plurality of integral key shafts or gear to dock simultaneously, adopts the unable accurate position of controlling the part of traditional hoist, causes the assembly difficulty.
Therefore, there is a need for a six-degree-of-freedom docking apparatus capable of precisely docking a precise complex structure to solve the above technical problems in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide six-degree-of-freedom docking equipment which can be used for accurately docking a precise complex structure and has the advantages of simplicity, flexibility, time and labor saving, safety and high efficiency.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a six-degree-of-freedom docking apparatus for docking of a first workpiece to be docked and a second workpiece to be docked, the six-degree-of-freedom docking apparatus comprising:
a first butt support device for supporting and fixing the first workpiece to be butted, the first butt support device being configured to be capable of adjusting a height of the first workpiece to be butted in a Z-axis direction, a rotation angle around a Z-axis, a rotation angle around an X-axis, and a rotation angle around a Y-axis;
the second butt joint support device is used for supporting and fixing the second workpiece to be butted, and the second butt joint support device is configured to be capable of adjusting the position of the second workpiece to be butted along the X-axis direction and/or the position of the second workpiece to be butted along the Y-axis direction.
As a preferable technical solution of the six-degree-of-freedom docking apparatus, the first docking supporting device includes:
the first supporting platform is used for supporting and fixing the first workpiece to be butted;
at least three height adjustment mechanisms supported below the first support platform, the at least three height adjustment mechanisms configured to enable adjustment of a height of the first support platform along a Z-axis direction, a rotation angle about an X-axis, and a rotation angle about a Y-axis;
the height adjusting mechanism is connected to the rotating platform;
and the rotating mechanism is connected below the rotating platform and is used for adjusting the rotating angle of the rotating platform around the Z axis.
As a preferred technical scheme of six-degree-of-freedom docking equipment, the number of the height adjusting mechanisms is four, and the side length of a square formed by connecting lines of the four height adjusting mechanisms is parallel to an X axis or a Y axis.
As a preferred technical scheme of the six-degree-of-freedom docking equipment, the height adjusting mechanism and the rotating mechanism are both worm and gear mechanisms.
As a preferable technical solution of the six-degree-of-freedom docking apparatus, the second docking supporting device includes:
the second supporting platform is used for supporting and fixing the second workpiece to be butted;
the X-direction driving mechanism is connected below the second supporting platform and used for driving the second supporting platform to move along the X-axis direction;
and/or the Y-direction driving mechanism is connected below the second supporting platform and used for driving the second supporting platform to move along the Y-axis direction.
As a preferable technical solution of the six-degree-of-freedom docking device, the second docking supporting device further includes a middle supporting platform, the Y-direction driving mechanism is connected to the middle supporting platform, and the X-direction driving mechanism is connected below the middle supporting platform.
As a preferred technical scheme of the six-degree-of-freedom docking equipment, the X-direction driving mechanism and the Y-direction driving mechanism are both worm and gear mechanisms.
As a preferable technical solution of the six-degree-of-freedom docking apparatus, the second docking supporting device further includes a Y-guide rail slider assembly, and the Y-guide rail slider assembly is disposed between the second supporting platform and the middle supporting platform to guide the movement of the second supporting platform along the Y-axis direction.
As a preferable technical solution of the six-degree-of-freedom docking apparatus, the second docking supporting device further includes an X-direction guide rail slider assembly, and the X-direction guide rail slider assembly is disposed below the middle supporting platform to guide the movement of the middle supporting platform along the X-axis direction.
As a preferred technical solution of a six-degree-of-freedom docking apparatus, the six-degree-of-freedom docking apparatus further includes:
the first base is connected below the first butt joint supporting device;
the second base is connected below the second butt joint supporting device;
the roller wheels are arranged below the first base and the second base and used for moving the first base and the second base along the X-axis direction or the Y-axis direction.
The utility model provides six-degree-of-freedom docking equipment, which is used for docking a first workpiece to be docked and a second workpiece to be docked and comprises a first docking support device and a second docking support device, wherein the first docking support device is used for supporting and fixing the first workpiece to be docked, and the first docking support device is configured to be capable of adjusting the height of the first workpiece to be docked along the Z-axis direction, the rotation angle around the Z-axis, the rotation angle around the X-axis and the rotation angle around the Y-axis, so that the adjustment of four degrees of freedom is realized; the second butt joint supporting device is used for supporting and fixing a second workpiece to be butted, the second butt joint supporting device is configured to be capable of adjusting the position of the second workpiece to be butted along the X-axis direction and/or the position of the second workpiece to be butted along the Y-axis direction, when the second butt joint supporting device can only adjust the position along the X-axis direction or the Y-axis direction, the second butt joint supporting device and the first butt joint supporting device can move relatively along the other direction, so that the adjustment of two degrees of freedom is realized, the first butt joint supporting device and the second butt joint supporting device jointly realize the six-degree-of-freedom adjustment of the first workpiece to be butted and the second workpiece to be butted, so that a precise and complex butt joint structure can be accurately realized, and the advantages of simplicity, flexibility, time saving, labor saving, safety and high efficiency are achieved.
Drawings
FIG. 1 is a schematic structural diagram of a six-degree-of-freedom docking device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another six-degree-of-freedom docking device provided in the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a docking apparatus with six degrees of freedom according to an embodiment of the present invention.
Reference numerals:
100. a first workpiece to be butted; 200. a second workpiece to be butted;
1. a first butt support device; 11. a first support platform; 12. a height adjustment mechanism; 13. rotating the platform; 14. a rotation mechanism;
2. a second docking support; 21. a second support platform; 22. an X-direction driving mechanism; 23. a Y-direction driving mechanism; 24. a middle support platform; 25. a Y-guide rail slider assembly; 26. an X-direction guide rail slider assembly;
3. a first base; 4. a second base; 5. a roller; 6. and (4) a bracket.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The conventional docking equipment is mainly used for docking by hoisting or by means of a guide rod. For the hoisting and butt-joint mode, as the engine, the gearbox and other large parts are heavy in weight, 2-4 slings and other riggings are generally used for hoisting, the stability of the gravity center of the equipment to be butted and the dynamic balance of the equipment to be butted are difficult to ensure, and the butt-joint pin holes and the splines are very difficult to realize. For the mode of guide bar butt joint, the equipment of treating the butt joint can only be along the direction back-and-forth movement of guide bar, only has a butt joint degree of freedom, can satisfy assembly operation requirement basically to the equipment that only needs the pinhole butt joint, but to complicated equipment, for example when the butt joint of a plurality of splines and spline housing, because the spline structure is relatively accurate, need the accurate butt joint of all spline key teeth and keyway to carry out follow-up assembly, and the guide bar butt joint has only one degree of freedom, can't guarantee accurate butt joint, is difficult to assemble. The existing butt joint equipment cannot accurately control the workpieces to be butted, and the workpieces to be butted can not be collided with each other in operation, so that the problems of damage to the workpieces to be butted, sealing failure of a joint surface and the like are caused; the butt joint has randomness, time and labor are wasted, the butt joint of the workpieces to be butted is mainly performed by depending on the experience of operators, the requirement on the skills of the operators is high, and meanwhile, the labor intensity is increased.
To solve the above problem, as shown in fig. 1 and fig. 2, the present embodiment provides a six-degree-of-freedom docking apparatus for docking a first workpiece to be docked 100 and a second workpiece to be docked 200, the six-degree-of-freedom docking apparatus comprising a first docking support device 1 and a second docking support device 2, wherein the first docking support device 1 is used for supporting and fixing the first workpiece to be docked 100, and the first docking support device 1 is configured to be capable of adjusting the height of the first workpiece to be docked 100 in the Z-axis direction, the rotation angle around the Z-axis, the rotation angle around the X-axis, and the rotation angle around the Y-axis; the second butt joint support device 2 is used for supporting and fixing a second workpiece 200 to be butted, and the second butt joint support device 2 is configured to be capable of adjusting the position of the second workpiece 200 to be butted along the X-axis direction and/or the position along the Y-axis direction.
The first butting supporting device 1 is configured to be capable of adjusting the height of the first workpiece to be butted 100 in the Z-axis direction, the rotation angle around the Z-axis, the rotation angle around the X-axis, and the rotation angle around the Y-axis, enabling adjustment of four degrees of freedom; the second butt joint supporting device 2 is configured to be capable of adjusting the position of the second workpiece to be butted 200 along the X-axis direction and/or the position of the second workpiece to be butted 200 along the Y-axis direction, when the second butt joint supporting device 2 is only capable of adjusting the position of the second workpiece to be butted 200 along the X-axis direction or along the Y-axis direction, the second butt joint supporting device 2 and the first butt joint supporting device 1 can be adopted to move relatively along the other direction, so that adjustment of two degrees of freedom is realized, the first butt joint supporting device 1 and the second butt joint supporting device 2 jointly realize adjustment of six degrees of freedom of the first workpiece to be butted 100 and the second workpiece to be butted 200, so that a precise and complex butt joint structure can be accurately realized, and the advantages of simplicity, flexibility, time saving, labor saving, safety and high efficiency are achieved.
As shown in fig. 1, when the second docking support device 2 is configured to be able to adjust the position of the second workpiece to be docked 200 in the X-axis direction and the position in the Y-axis direction, a bracket 6 may be provided below the first docking support device 1 and the second docking support device 2 for supporting the first docking support device 1 and the second docking support device 2.
When the second docking support device 2 can only adjust the position of the second workpiece to be docked 200 in the X-axis direction or in the Y-axis direction, as shown in fig. 2, the second docking support device 2 and the first docking support device 1 may be adopted to move relatively in another direction, and the six-degree-of-freedom docking apparatus further includes, for example, a first base 3, a second base 4, and a plurality of rollers 5, wherein the first base 3 is connected below the first docking support device 1; the second base 4 is connected below the second butt joint supporting device 2; a plurality of rollers 5 are arranged below the first base 3 and the second base 4, and the rollers 5 are used for moving the first base 3 and the second base 4 along the X-axis direction or the Y-axis direction, so that the relative movement between the first butt-joint supporting device 1 and the second butt-joint supporting device 2 is realized. The six-degree-of-freedom butt joint equipment with the rollers 5 is placed on a large assembly line to work, and the assembly function of the assembly line can be realized.
Specifically, as shown in fig. 1 and fig. 2, the first butt joint supporting device 1 includes a first supporting platform 11, at least three height adjusting mechanisms 12, a rotating platform 13 and a rotating mechanism 14, wherein the first supporting platform 11 is used for supporting and fixing a first workpiece 100 to be butted; at least three height adjusting mechanisms 12 are supported below the first supporting platform 11, and the at least three height adjusting mechanisms 12 are configured to be capable of adjusting the height of the first supporting platform 11 along the Z-axis direction, the rotation angle around the X-axis, and the rotation angle around the Y-axis, so as to achieve the purpose of adjusting the height of the first workpiece to be butted 100 along the Z-axis direction, the rotation angle around the X-axis, and the rotation angle around the Y-axis; the height adjusting mechanism 12 is connected to the rotary platform 13; the rotation mechanism 14 is attached below the rotation platform 13, and the rotation mechanism 14 is used to adjust the rotation angle of the rotation platform 13 about the Z axis. The first supporting platform 11 includes a workpiece holder, the workpiece holder fixes the relative position of the first workpiece 100 to be butted by pins, and different workpiece holders can be designed and replaced according to different butted products. The rotating mechanism 14 drives the rotating platform 13 to rotate, so that the first supporting platform 11 connected to the rotating platform 13 rotates, and the purpose of adjusting the rotating angle of the first supporting platform 11 around the Z axis is achieved, and the purpose of adjusting the rotating angle of the first workpiece 100 to be butted around the Z axis is achieved.
In the present embodiment, the number of the height adjusting mechanisms 12 is four, and the side length of a square formed by connecting four height adjusting mechanisms 12 is parallel to the X axis or the Y axis. When the height of the first supporting platform 11 along the Z-axis direction is adjusted, the heights of the four height adjusting mechanisms 12 can be adjusted at the same time, so that the first supporting platform 11 moves integrally along the Z-axis direction, and the purpose of adjusting the height of the first workpiece 100 to be butted along the Z-axis direction is achieved. When the rotation angle of the first supporting platform 11 around the X axis is adjusted, the two height adjusting mechanisms 12 on the left and right sides along the Y axis direction can be adjusted to different heights, so that the rotation of the first supporting platform 11 around the X axis is realized, and the purpose of adjusting the rotation angle of the first workpiece 100 to be butted around the X axis is realized. When the rotation angle of the first supporting platform 11 around the Y axis is adjusted, the two height adjusting mechanisms 12 at the front side and the rear side along the X axis direction can be adjusted to have different heights, so that the rotation of the first supporting platform 11 around the Y axis is realized, and the purpose of adjusting the rotation angle of the first workpiece 100 to be butted around the Y axis is realized.
Preferably, the height adjustment mechanism 12 and the rotation mechanism 14 are both worm and worm gear mechanisms.
Specifically, the second butt joint support device 2 comprises a second support platform 21 and an X-direction driving mechanism 22, and/or a Y-direction driving mechanism 23, wherein the second support platform 21 is used for supporting and fixing a second workpiece 200 to be butted; the X-direction driving mechanism 22 is connected below the second supporting platform 21 and is used for driving the second supporting platform 21 to move along the X-axis direction, so as to achieve the purpose of adjusting the position of the second workpiece 200 to be butted along the X-axis direction; the Y-direction driving mechanism 23 is connected below the second supporting platform 21, and is used for driving the second supporting platform 21 to move along the Y-axis direction, so as to achieve the purpose of adjusting the position of the second workpiece 200 to be butted along the Y-axis direction.
In this embodiment, as shown in fig. 1, the second butt joint supporting device 2 further includes an intermediate supporting platform 24, the Y-direction driving mechanism 23 is connected to the intermediate supporting platform 24, and the Y-direction driving mechanism 23 can directly drive the second supporting platform 21 to move along the Y-axis direction, so as to achieve the purpose of adjusting the position of the second workpiece 200 to be butted along the Y-axis direction; the X-direction driving mechanism 22 is connected below the middle supporting platform 24, the X-direction driving mechanism 22 drives the middle supporting platform 24 to move along the X-axis direction, and the second supporting platform 21 is arranged above the middle supporting platform 24, so that the second supporting platform 21 moves along the X-axis direction, and the purpose of adjusting the position of the second workpiece 200 to be butted along the X-axis direction is achieved.
Preferably, the X-direction drive mechanism 22 and the Y-direction drive mechanism 23 are both worm and gear mechanisms. The height adjusting mechanism 12, the rotating mechanism 14, the X-direction driving mechanism 22 and the Y-direction driving mechanism 23 in the embodiment all adopt worm and gear mechanisms, and the worm and gear mechanisms have the advantages of large transmission ratio, compact structure, stable transmission, and small impact, vibration and noise, so that the butt joint of the six-degree-of-freedom butt joint equipment is labor-saving, and meanwhile, the six-degree-of-freedom butt joint equipment has the function of accurate adjustment, and the problem of workpiece collision in the butt joint process is avoided; the worm gear mechanism has a self-locking function, can effectively maintain the stability of the workpiece for a long time especially for the workpiece with larger weight, and has high safety. In other embodiments, a jackscrew, lead screw nut, or the like may be used instead of the worm gear mechanism.
Preferably, the second docking supporting device 2 further includes a Y-guide rail slider assembly 25, and the Y-guide rail slider assembly 25 is disposed between the second supporting platform 21 and the middle supporting platform 24 to guide the movement of the second supporting platform 21 in the Y-axis direction, so that the movement of the second supporting platform 21 in the Y-axis direction is more stable. Preferably, the second docking support device 2 further includes an X-guide rail slider assembly 26, and the X-guide rail slider assembly 26 is disposed below the intermediate support platform 24 to guide the movement of the intermediate support platform 24 in the X-axis direction, so that the movement of the intermediate support platform 24 in the X-axis direction is more stable.
Illustratively, as shown in fig. 3, the process of assembling the first workpiece to be butted 100 and the second workpiece to be butted 200 by using the six-degree-of-freedom butting apparatus in the present embodiment is as follows:
the first step is preassembly. Respectively fixing a first workpiece to be butted 100 and a second workpiece to be butted 200 on a first butting support device 1 and a second butting support device 2, adjusting the relative positions of the first workpiece to be butted 100 and the second workpiece to be butted 200 through the first butting support device 1 and the second butting support device 2, and simultaneously rotating internal splines, gears and other parts of the first workpiece to be butted 100 and the second workpiece to be butted 200 to complete the accurate butting of the pin shafts and the spline shafts in the first workpiece to be butted 100 and the second workpiece to be butted 200;
the second step is formal assembly. Adjusting the first butt joint supporting device 1 and the second butt joint supporting device 2 to drive the first workpiece to be butt jointed 100 and the second workpiece to be butt jointed 200 to separate along the X-axis direction, performing cleaning, gluing and other treatment on the mounting surfaces of the first workpiece to be butt jointed 100 and the second workpiece to be butt jointed 200, then adjusting the first butt joint supporting device 1 and the second butt joint supporting device 2 to drive the first workpiece to be butt jointed 100 and the second workpiece to be butt jointed 200 to be butt jointed along the X-axis direction, fixing the first workpiece to be butt jointed 100 and the second workpiece to be butt jointed 200 tightly according to requirements, and finishing final assembly.
It should be noted that after the pre-assembly is completed, it is ensured that the first butt joint support device 1 and the second butt joint support device 2 and the first workpiece to be butted 100 and the second workpiece to be butted 200 do not allow movement or rotation in other directions except for movement in the X-axis direction, otherwise the pre-assembly step is repeated. It should be noted that the movement along the X-axis direction in the above steps may also be a movement along the Y-axis direction, and specific operation steps are not described herein again.
The assembling method has the characteristics of stability and easiness in reproduction, the pre-assembling method can effectively avoid collision damage in the assembling process, the operation steps are simple, the requirement on the skill of an operator is low, meanwhile, the labor intensity is effective, the complex and precise assembling process is simplified and streamlined, and the method is suitable for assembly line assembly of large equipment workpieces.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (10)
1. A six-degree-of-freedom docking apparatus for docking of a first workpiece (100) to be docked and a second workpiece (200) to be docked, the six-degree-of-freedom docking apparatus comprising:
a first butt supporting device (1), the first butt supporting device (1) being used for supporting and fixing the first workpiece (100) to be butted, the first butt supporting device (1) being configured to be capable of adjusting the height of the first workpiece (100) to be butted along the Z-axis direction, the rotation angle around the Z-axis, the rotation angle around the X-axis and the rotation angle around the Y-axis;
a second butt joint supporting device (2), wherein the second butt joint supporting device (2) is used for supporting and fixing the second workpiece to be butted (200), and the second butt joint supporting device (2) is configured to be capable of adjusting the position of the second workpiece to be butted (200) along the X-axis direction and/or the position of the second workpiece to be butted along the Y-axis direction.
2. The six-degree-of-freedom docking apparatus according to claim 1, wherein the first docking support means (1) comprises:
the first supporting platform (11) is used for supporting and fixing the first workpiece (100) to be butted;
at least three height adjustment mechanisms (12) supported below the first support platform (11), the at least three height adjustment mechanisms (12) being configured to enable adjustment of a height of the first support platform (11) in a Z-axis direction, a rotation angle about an X-axis, and a rotation angle about a Y-axis;
the height adjusting mechanism (12) is connected to the rotating platform (13);
the rotating mechanism (14) is connected below the rotating platform (13), and the rotating mechanism (14) is used for adjusting the rotating angle of the rotating platform (13) around the Z axis.
3. The six-degree-of-freedom docking device according to claim 2, wherein the number of the height adjusting mechanisms (12) is four, and the side length of a square formed by connecting four height adjusting mechanisms (12) is parallel to an X axis or a Y axis.
4. The six-degree-of-freedom docking apparatus of claim 2, wherein the height adjustment mechanism (12) and the rotation mechanism (14) are both worm and gear mechanisms.
5. The six-degree-of-freedom docking apparatus according to claim 1, wherein the second docking support means (2) comprises:
the second supporting platform (21) is used for supporting and fixing the second workpiece (200) to be butted;
the X-direction driving mechanism (22) is connected below the second supporting platform (21) and used for driving the second supporting platform (21) to move along the X-axis direction;
and/or a Y-direction driving mechanism (23) connected below the second supporting platform (21) and used for driving the second supporting platform (21) to move along the Y-axis direction.
6. The six-degree-of-freedom docking apparatus according to claim 5, wherein the second docking support device (2) further comprises an intermediate support platform (24), the Y-direction drive mechanism (23) is connected to the intermediate support platform (24), and the X-direction drive mechanism (22) is connected below the intermediate support platform (24).
7. The six-degree-of-freedom docking device according to claim 5, wherein the X-direction drive mechanism (22) and the Y-direction drive mechanism (23) are both worm and gear mechanisms.
8. The six-degree-of-freedom docking apparatus according to claim 6, wherein the second docking support device (2) further comprises a Y-guide rail slider assembly (25), the Y-guide rail slider assembly (25) being disposed between the second support platform (21) and the intermediate support platform (24) to guide the movement of the second support platform (21) in the Y-axis direction.
9. The six-degree-of-freedom docking apparatus according to claim 6, wherein the second docking support device (2) further comprises an X-direction rail slider assembly (26), the X-direction rail slider assembly (26) being disposed below the intermediate support platform (24) to guide the movement of the intermediate support platform (24) in the X-axis direction.
10. The six-degree-of-freedom docking device of claim 1, further comprising:
a first base (3), the first base (3) being connected below the first butt support device (1);
a second base (4), the second base (4) being connected below the second butt support device (2);
a plurality of gyro wheels (5), first base (3) with the below of second base (4) all is provided with a plurality of gyro wheel (5), gyro wheel (5) are used for first base (3) with the removal of second base (4) along X axle direction or along the removal of Y axle direction.
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| CN202121465567.8U CN215622379U (en) | 2021-06-30 | 2021-06-30 | Six-degree-of-freedom butt joint equipment |
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| CN202121465567.8U CN215622379U (en) | 2021-06-30 | 2021-06-30 | Six-degree-of-freedom butt joint equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114700910A (en) * | 2022-04-01 | 2022-07-05 | 华能(大连)热电有限责任公司 | Method for centering rotating equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114700910A (en) * | 2022-04-01 | 2022-07-05 | 华能(大连)热电有限责任公司 | Method for centering rotating equipment |
| CN114700910B (en) * | 2022-04-01 | 2023-12-29 | 华能(大连)热电有限责任公司 | Method for centering rotating equipment |
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