WO2023226669A1 - 一种可万向调姿的柔性支撑工装及其调姿方法 - Google Patents

一种可万向调姿的柔性支撑工装及其调姿方法 Download PDF

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Publication number
WO2023226669A1
WO2023226669A1 PCT/CN2023/090765 CN2023090765W WO2023226669A1 WO 2023226669 A1 WO2023226669 A1 WO 2023226669A1 CN 2023090765 W CN2023090765 W CN 2023090765W WO 2023226669 A1 WO2023226669 A1 WO 2023226669A1
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WIPO (PCT)
Prior art keywords
motor
support
driving
bevel gear
bearing
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PCT/CN2023/090765
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English (en)
French (fr)
Inventor
周宏根
刘金锋
陈宇
李磊
康超
李国超
李炳强
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江苏科技大学
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Publication of WO2023226669A1 publication Critical patent/WO2023226669A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C5/00—Equipment usable both on slipways and in dry docks
    • B63C5/02—Stagings; Scaffolding; Shores or struts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to a flexible support tooling with universal posture adjustment and a posture adjustment method thereof, and belongs to the technical field of ship construction.
  • the patent name is "A movable support tooling and its use method".
  • the invention patent number CN201710758405.5 starts from the support tooling structure and adds casters to the tooling, which changes the shortcomings of fixed tooling that cannot move freely and has a low reuse rate.
  • its support device is still a fixed structure, which is easily disturbed by the horizontal component of the hull during support, leading to overturning.
  • the support height can only be adjusted but the support direction cannot be changed, resulting in a greatly limited working radius.
  • the support target position is required to change, and the support device cannot meet the current situation through lifting height alone, the support tooling needs to be moved again, which consumes a lot of labor and time, and is inefficient.
  • the object of the present invention is to provide a flexible support tooling that can be adjusted in all directions, so as to change the current support device in the support tooling structure during ship construction that cannot adjust the angle and direction, and the support tooling is easily disturbed by the horizontal component force when working. problem, in order to improve its working radius and safety, and effectively improve the adaptability to different ship surfaces.
  • the angle and direction of the universal posture-adjusting flexible support device can be adjusted to meet the new target point, effectively improving the efficiency of ship construction.
  • a flexible support tool that can be adjusted in all directions, including a flexible support device and a mobile chassis for moving and carrying the flexible support device.
  • the flexible support device includes a horizontal rotation device, a vertical rotation device and a lifting device.
  • the mobile chassis includes a chassis, a screw, a screw slider, a roller, a motor and a tapered bearing. There are several screws vertically downward on the chassis. There is a screw between one end of the screw and the chassis. The tapered bearing, the lead screw is driven by the motor, the lead screw is equipped with the lead screw slider, and the bottom of the lead screw slider is equipped with the roller.
  • the horizontal rotation device includes a slew cone bearing, a support plate, a large ring gear, a pinion gear and a horizontal slew motor.
  • the outer ring of the slew cone bearing is connected to the chassis, and the inner ring of the slew cone bearing is installed with the The large ring gear, the support plate is installed on the inner ring of the slewing tapered bearing, the horizontal rotary motor is installed on the support plate, the horizontal rotary motor is drivingly connected to the pinion, and the pinion is connected to the large ring gear.
  • the large ring gear meshes.
  • the vertical rotation device includes a vertical plate, a support rod, a driving turbine, a driving worm and a vertical rotation motor.
  • the vertical plate is installed on the support plate.
  • One end of the support rod is provided with a drive shaft in the radial direction.
  • the support rod is hinged on the vertical plate through the drive shaft.
  • the drive turbine is installed on the drive shaft.
  • the drive turbine meshes with the drive worm.
  • the drive worm is rotated vertically by the drive shaft. motor driven.
  • the lifting device includes a driving nut block, a bevel ring gear, a bevel gear, a lifting motor and a support inner tube.
  • the drive nut block is rotatably installed on the support rod.
  • the outer side of the support inner tube is provided with the support inner tube.
  • the matching threads of the driving nut block, the support inner tube is installed on the driving nut block through the threads, the bevel ring gear is provided on the driving nut block, and the output end of the lifting motor is drivingly connected There is the bevel gear, and the bevel gear meshes with the bevel ring gear.
  • chassis is annular, and the number of the screws is three, which are evenly arranged along the outer circumference of the chassis.
  • the horizontal rotation device also includes a large bevel gear, a transmission shaft and a small bevel gear.
  • the pinion gear is installed at the output end of the transmission shaft.
  • the transmission shaft is installed on the support plate through a bearing.
  • the large bevel gear is installed on the input end of the transmission shaft, and the small bevel gear is installed on the output shaft of the horizontal rotary motor.
  • the small bevel gear meshes with the large bevel gear for transmission.
  • the vertical rotation device further includes a seated bearing, and both ends of the driving worm are mounted on the vertical plate through the seated bearings.
  • the lifting device includes a thrust bearing and an equipment box
  • the driving nut block is nested in the support rod
  • the thrust bearing is provided between the driving nut block and the support rod
  • the equipment box It is fixed on the support rod
  • the lifting motor is fixed in the equipment box.
  • the motor, the horizontal rotation motor, the vertical rotation motor and the lifting motor are all stepper motors.
  • the present invention provides a method for adjusting the posture of a flexible support tooling that can be adjusted in all directions, which includes the following steps:
  • the first step is to drive the screw to rotate by controlling the motor to rotate forward, and further drive the screw slider to move, so that the screw slider contacts the ground through the roller below it, thereby achieving universal motion.
  • the flexible support for posture adjustment is the rolling support of the tooling, which facilitates movement.
  • the second step is to drive the inner ring of the rotary tapered bearing to rotate by controlling the rotation of the horizontal rotary motor, thereby driving the support plate and the flexible support device to rotate;
  • the third step is to drive the support rod to pitch by controlling the rotation of the vertical rotation motor, thereby driving the lifting device to pitch;
  • the fourth step is to drive the lifting of the supporting inner tube by controlling the rotation of the lifting motor.
  • the support tooling can freely change its direction.
  • the target position can be repositioned through the flexible support tooling that can be adjusted in all directions, reducing the number of dismantling and erection of the support tooling.
  • the flexible support tooling can move freely to reduce manual labor intensity.
  • the rollers By moving the chassis up and down, the rollers can be retracted, and the chassis can be aligned with the flat surface to fix the position of the flexible support tooling.
  • the present invention can be applied to most support tooling, enhances the reuse rate of the support tool, is beneficial to reducing the manufacturing cost of the support tool, and also reduces the production cycle of the ship to a certain extent.
  • Figure 1 is a schematic structural diagram of an embodiment of the present invention
  • Figure 2 is a schematic structural diagram 2 of an embodiment of the present invention.
  • 1 is the flexible support device
  • 2 is the mobile chassis
  • 3 is the horizontal rotation device
  • 4 is the vertical rotation device
  • 5 is the lifting device
  • 21 is the chassis
  • 22 is the screw
  • 23 is the screw slider
  • 24 is Roller
  • 25 is the motor
  • 26 is the tapered bearing
  • 31 is the rotary tapered bearing
  • 32 is the support plate
  • 33 is the large ring gear
  • 34 is the pinion gear
  • 35 is the horizontal rotary motor
  • 36 is the large bevel gear
  • 37 is the transmission shaft
  • 38 is a small bevel gear
  • 41 is a vertical plate
  • 42 is a support rod
  • 43 is a driving turbine
  • 44 is a driving worm
  • 45 is a vertical rotating motor
  • 46 is a seated bearing
  • 51 is a driving nut block
  • 52 is a bevel ring gear.
  • 53 is the bevel gear
  • 54 is the lifting motor
  • 55 is the support inner tube
  • 56 is the thrust bearing
  • 57 is the equipment box
  • a flexible support tooling with universal posture adjustment includes a flexible support device 1 and a mobile chassis 2 used to move and carry the flexible support device 1.
  • the flexible support device 1 includes Horizontal rotation device 3, vertical rotation device 4 and lifting device 5.
  • the mobile chassis 2 includes a chassis 21, a screw 22, a screw slider 23, a roller 24, a motor 25 and a tapered bearing 26.
  • the screws 22 The tapered bearing 26 is provided between one end of the chassis 21 and the screw 22 is driven by the motor 25.
  • the screw 22 is equipped with the screw slider 23, so The roller 24 is installed at the bottom of the screw slide block 23 .
  • the horizontal rotation device 3 includes a rotary cone bearing 31, a support plate 32, a large ring gear 33, a pinion gear 34 and a horizontal rotary motor 35.
  • the outer ring of the rotary cone bearing 31 is connected to the chassis 21.
  • the large ring gear 33 is installed on the inner ring of the bearing 31.
  • the support plate 32 is installed on the inner ring of the rotary conical bearing 31.
  • the horizontal rotation motor 35 is installed on the support plate 32.
  • the horizontal rotation motor 35 is installed on the inner ring of the bearing 31.
  • the motor 35 is drivingly connected to the pinion gear 34 , and the pinion gear 34 meshes with the large ring gear 33 .
  • the support plate 32 is hidden in FIG. 1 .
  • the vertical rotation device 4 includes a vertical plate 41, a support rod 42, a driving turbine 43, a driving worm 44 and a vertical rotation motor 45.
  • the vertical plate 41 is installed on the support plate 32, and the support rod 42 is One end is provided with a driving shaft 421 in the radial direction.
  • the support rod 42 is hingedly connected to the vertical plate 41 through the driving shaft 421.
  • the driving turbine 43 is installed on the driving shaft 421.
  • the driving turbine 43 is connected to the driving shaft 421.
  • the driving worm 44 is engaged, and the driving worm 44 is driven by the vertical rotation motor 45 .
  • the lifting device 5 includes a driving nut block 51, a bevel ring gear 52, a bevel gear 53, a lifting motor 54 and a support inner tube 55.
  • the driving nut block 51 is rotatably installed on the support rod 42.
  • the support The outer side of the inner tube 55 is provided with threads that match the driving nut block 51.
  • the support inner tube 55 is installed on the driving nut block 51 through the threads.
  • the driving nut block 51 is provided with the
  • the bevel gear 52 is drivingly connected to the output end of the lifting motor 54 with the bevel gear 53 , and the bevel gear 53 meshes with the bevel gear 52 .
  • the chassis 21 is annular, and the number of the screws 22 is three, which are evenly arranged along the outer circumference of the chassis 21 .
  • the horizontal rotation device 3 also includes a large bevel gear 36, a transmission shaft 37 and a small bevel gear 38.
  • the pinion gear 34 is installed at the output end of the transmission shaft 37.
  • the transmission shaft 37 is installed on the support through a bearing.
  • the large bevel gear 36 is installed on the input end of the transmission shaft 37, and the small bevel gear 38 is installed on the output shaft of the horizontal rotary motor 35.
  • the small bevel gear 38 and the large bevel gear 38 are installed on the plate 32.
  • the bevel gear 36 meshes and transmits.
  • the vertical rotation device 4 also includes a seated bearing 46, and both ends of the driving worm 44 are mounted on the vertical plate 41 through the seated bearings 46.
  • the lifting device 5 includes a thrust bearing 56 and an equipment box 57.
  • the driving nut block 51 is nested in the support rod 42.
  • the thrust bearing is provided between the driving nut block 51 and the support rod 42.
  • the equipment box 57 is fixed on the support rod 42, and the lifting motor 54 is fixed in the equipment box 57.
  • the motor 25, the horizontal rotation motor 35, the vertical rotation motor 45 and the lifting motor 54 are all stepper motors.
  • the above-mentioned method for adjusting the posture of flexible support workwear that can be adjusted in all directions includes the following steps:
  • the first step is to drive the screw 22 to rotate by controlling the motor 25 to rotate forward, further driving the screw slider 23 to move, so that the screw slider 23 contacts the ground through the roller 24 below it.
  • the rolling support of the flexible support tooling that can be adjusted in all directions is realized, which facilitates movement.
  • the screw slider 23 is retracted by controlling the reverse rotation of the motor 25;
  • the second step is to drive the inner ring of the rotary conical bearing 31 to rotate by controlling the rotation of the horizontal rotary motor 35, thereby driving the support plate 32 and the flexible support device 1 to rotate;
  • the third step is to drive the support rod 42 to pitch by controlling the rotation of the vertical rotation motor 45, thereby driving the lifting device 5 to pitch;
  • the fourth step is to drive the lifting and lowering of the support inner tube 55 by controlling the rotation of the lifting motor 54 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Gear Transmission (AREA)
  • Working Measures On Existing Buildindgs (AREA)

Abstract

一种可万向调姿的柔性支撑工装，包括柔性支撑装置（1）和用于移动和承载柔性支撑装置（1）的移动底盘（2），柔性支撑装置（1）包括水平转动装置（3）、竖直转动装置（4）和升降装置（5）。该支撑工装可自由改变朝向，当目标位置发生变化时，能重新定位目标位置，减少支撑工装的拆除及搭建次数。

Description

一种可万向调姿的柔性支撑工装及其调姿方法 技术领域
本发明涉及一种可万向调姿的柔性支撑工装及其调姿方法，属于船舶建造技术领域。
背景技术
专利名称为“一种可移动支撑工装及其使用方法”，专利号为CN201710758405.5的发明专利从支撑工装结构入手为工装加入脚轮，改变了固定式工装无法自由移动、重复利用率低的缺点。但其支撑装置仍为固定式结构，在支撑时易受船体水平向分力扰动导致倾覆，且只能调节支撑高度无法改变支撑方向，导致其工作半径大大受限。当要求支撑目标位置发生改变，且支撑装置不能仅通过升降高度满足当前状况时，需要重新移动支撑工装，消耗大量人工和时间，效率低下。因此需要研究一种支撑装置可万向调姿的柔性支撑工装，增加支撑工装的工作半径，减少不必要的工装拆装；在支撑时能承受更大的船体水平向分力，增加支撑工装的工作能力和安全性。
发明内容
本发明的目的在于提供一种可万向调姿的柔性支撑工装，以改变目前船舶建造过程中支撑工装结构中的支撑装置无法调整角度及方向，且支撑工装工作时易受水平向分力扰动的问题，以此提高其工作半径和安全性，有效提高对不同船舶曲面的适应性。在目标支撑点变更的情况下，也能通过调节万向调姿柔性支撑装置的角度及方向满足新的目标点位，有效的提高了船舶建造的效率。
为达到上述目的，本发明通过以下技术予以实现：
一种可万向调姿的柔性支撑工装，包括柔性支撑装置和用于移动和承载所述柔性支撑装置的移动底盘，所述柔性支撑装置包括水平转动装置、竖直转动装置和升降装置。
所述移动底盘包括底盘、丝杠、丝杠滑块、滚轮、电机和圆锥轴承，所述底盘上垂直向下有若干所述丝杠，所述丝杠的一端和所述底盘之间设有所述圆锥轴承，所述丝杠由所述电机驱动，所述丝杠安装有所述丝杠滑块，所述丝杠滑块的底部安装有所述滚轮。
所述水平转动装置包括回转圆锥轴承、支撑板、大齿圈、小齿轮和水平回转电机，所述回转圆锥轴承的外圈与所述底盘连接，所述回转圆锥轴承的内圈安装有所述大齿圈，所述回转圆锥轴承的内圈上安装有所述支撑板，所述支撑板上安装所述水平回转电机，所述水平回转电机传动连接有所述小齿轮，所述小齿轮与所述大齿圈啮合。
所述竖直转动装置包括立板、支撑杆、驱动涡轮、驱动蜗杆和竖直转动电机，所述立板安装在所述支撑板上，所述支撑杆的一端沿径向设有驱动轴，所述支撑杆通过所述驱动轴铰接在所述立板上，所述驱动轴上安装有所述驱动涡轮，所述驱动涡轮与所述驱动蜗杆啮合，所述驱动蜗杆由所述竖直转动电机驱动。
所述升降装置包括驱动螺母块、锥齿圈、锥齿轮、升降电机和支撑内管，所述驱动螺母块可转动的安装在所述支撑杆上，所述支撑内管的外侧设有与所述驱动螺母块相配合的螺纹，所述支撑内管通过所述螺纹安装在所述驱动螺母块上，所述驱动螺母块上设有所述锥齿圈，所述升降电机的输出端驱动连接有所述锥齿轮，所述锥齿轮与所述锥齿圈相啮合。
进一步，所述底盘为圆环形，所述丝杠的数量为三个，沿所述底盘的外圆周均匀设置。
进一步，所述水平转动装置还包括大锥齿轮，传动轴和小锥齿轮，所述小齿轮安装在所述传动轴的输出端，所述传动轴通过轴承安装在所述支撑板上，所述传动轴的输入端安装有所述大锥齿轮，所述水平回转电机的输出轴上安装有所述小锥齿轮，所述小锥齿轮和所述大锥齿轮啮合传动。
进一步，所述竖直转动装置还包括带座轴承，所述驱动蜗杆的两端通过所述带座轴承安装在所述立板上。
进一步，所述升降装置包括推力轴承和设备箱，所述驱动螺母块嵌套在所述支撑杆内，所述驱动螺母块与所述支撑杆之间设有所述推力轴承，所述设备箱固定在所述支撑杆上，所述升降电机固定在所述设备箱内。
进一步，所述电机、所述水平回转电机、所述竖直转动电机和所述升降电机均为步进电机。
本发明的一种可万向调姿的柔性支撑工装的调姿方法，其包括以下步骤：
第一步、通过控制所述电机正转驱动所述丝杠转动，进一步带动所述丝杠滑块移动，使得所述丝杠滑块通过其下方的所述滚轮接触地面，从而实现可万向调姿的柔性支撑工装的滚动支撑，方便移动，移动完成后，通过控制所述电机反转，使得所述丝杠滑块的收回；
第二步、通过控制所述水平回转电机的转动，驱动所述回转圆锥轴承的内圈转动，从而带动所述支撑板以及所述柔性支撑装置转动；
第三步、通过控制所述竖直转动电机的转动，驱动所述支撑杆俯仰，从而带动所述升降装置俯仰；
第四步、通过控制所述升降电机的转动，驱动所述支撑内管的升降。
本发明现具有以下技术效果：
1.支撑工装可自由改变朝向，当目标位置发生变化时，可通过可万向调姿的柔性支撑工装重新定位目标位置，减少支撑工装的拆除及搭建次数。
2.通过移动底盘，可实现柔性支撑工装的自由移动，以减少人工劳动强度。
3.通过移动底盘的升降可将滚轮收起，将底盘与平面相贴合，以固定柔性支撑工装的位置。
4.本发明能适用于大部分支撑工装，增强了支撑工装的重复使用率，有利于降低支撑工装的制造成本，一定程度上也减少了船舶的生产周期。
附图说明
图1是本发明实施例的结构示意图一；
图2是本发明实施例的结构示意图二；
图中：1为柔性支撑装置、2为移动底盘、3为水平转动装置、4为竖直转动装置、5为升降装置、21为底盘、22为丝杠、23为丝杠滑块、24为滚轮、25为电机、26为圆锥轴承、31为回转圆锥轴承、32为支撑板、33为大齿圈、34为小齿轮、35为水平回转电机、36为大锥齿轮，37为传动轴、38为小锥齿轮、41为立板、42为支撑杆、43为驱动涡轮、44为驱动蜗杆、45为竖直转动电机、46为带座轴承、51为驱动螺母块、52为锥齿圈、53为锥齿轮、54为升降电机、55为支撑内管、56为推力轴承、57为设备箱。
具体实施方式
下面将结合本发明实施例中的附图，对本发明作进一步详细说明。
如图1和图2所示，一种可万向调姿的柔性支撑工装，包括柔性支撑装置1和用于移动和承载所述柔性支撑装置1的移动底盘2，所述柔性支撑装置1包括水平转动装置3、竖直转动装置4和升降装置5。
所述移动底盘2包括底盘21、丝杠22、丝杠滑块23、滚轮24、电机25和圆锥轴承26，所述底盘21上垂直向下有若干所述丝杠22，所述丝杠22的一端和所述底盘21之间设有所述圆锥轴承26，所述丝杠22由所述电机25驱动，所述丝杠22安装有所述丝杠滑块23，所 述丝杠滑块23的底部安装有所述滚轮24。
所述水平转动装置3包括回转圆锥轴承31、支撑板32、大齿圈33、小齿轮34和水平回转电机35，所述回转圆锥轴承31的外圈与所述底盘21连接，所述回转圆锥轴承31的内圈安装有所述大齿圈33，所述回转圆锥轴承31的内圈上安装有所述支撑板32，所述支撑板32上安装所述水平回转电机35，所述水平回转电机35传动连接有所述小齿轮34，所述小齿轮34与所述大齿圈33啮合。
其中图1中隐藏了所述支撑板32。
所述竖直转动装置4包括立板41、支撑杆42、驱动涡轮43、驱动蜗杆44和竖直转动电机45，所述立板41安装在所述支撑板32上，所述支撑杆42的一端沿径向设有驱动轴421，所述支撑杆42通过所述驱动轴421铰接在所述立板41上，所述驱动轴421上安装有所述驱动涡轮43，所述驱动涡轮43与所述驱动蜗杆44啮合，所述驱动蜗杆44由所述竖直转动电机45驱动。
所述升降装置5包括驱动螺母块51、锥齿圈52、锥齿轮53、升降电机54和支撑内管55，所述驱动螺母块51可转动的安装在所述支撑杆42上，所述支撑内管55的外侧设有与所述驱动螺母块51相配合的螺纹，所述支撑内管55通过所述螺纹安装在所述驱动螺母块51上，所述驱动螺母块51上设有所述锥齿圈52，所述升降电机54的输出端驱动连接有所述锥齿轮53，所述锥齿轮53与所述锥齿圈52相啮合。
所述底盘21为圆环形，所述丝杠22的数量为三个，沿所述底盘21的外圆周均匀设置。
所述水平转动装置3还包括大锥齿轮36，传动轴37和小锥齿轮38，所述小齿轮34安装在所述传动轴37的输出端，所述传动轴37通过轴承安装在所述支撑板32上，所述传动轴37的输入端安装有所述大锥齿轮36，所述水平回转电机35的输出轴上安装有所述小锥齿轮38，所述小锥齿轮38和所述大锥齿轮36啮合传动。
所述竖直转动装置4还包括带座轴承46，所述驱动蜗杆44的两端通过所述带座轴承46安装在所述立板41上。
所述升降装置5包括推力轴承56和设备箱57，所述驱动螺母块51嵌套在所述支撑杆42内，所述驱动螺母块51与所述支撑杆42之间设有所述推力轴承56，所述设备箱57固定在所述支撑杆42上，所述升降电机54固定在所述设备箱57内。
所述电机25、所述水平回转电机35、所述竖直转动电机45和所述升降电机54均为步进电机。
调姿态方法
上述可万向调姿的柔性支撑工装调姿方法，其包括以下步骤：
第一步、通过控制所述电机25正转驱动所述丝杠22转动，进一步带动所述丝杠滑块23移动，使得所述丝杠滑块23通过其下方的所述滚轮24接触地面，从而实现可万向调姿的柔性支撑工装的滚动支撑，方便移动，移动完成后，通过控制所述电机25反转，使得所述丝杠滑块23的收回；
第二步、通过控制所述水平回转电机35的转动，驱动所述回转圆锥轴承31的内圈转动，从而带动所述支撑板32以及所述柔性支撑装置1转动；
第三步、通过控制所述竖直转动电机45的转动，驱动所述支撑杆42俯仰，从而带动所述升降装置5俯仰；
第四步、通过控制所述升降电机54的转动，驱动所述支撑内管55的升降。
以上仅是本专利所描述的实施例，对于本领域的普通技术人员来说，可以在不脱离发明技术原理的前提下，对实施例做出改变和修改，这些改变和修改也应视为本发明的保护范围。

Claims (7)

  1. 一种可万向调姿的柔性支撑工装，包括柔性支撑装置(1)和用于移动和承载所述柔性支撑装置(1)的移动底盘(2)，其特征在于：所述柔性支撑装置(1)包括水平转动装置(3)、竖直转动装置(4)和升降装置(5)；
    所述移动底盘(2)包括底盘(21)、丝杠(22)、丝杠滑块(23)、滚轮(24)、电机(25)和圆锥轴承(26)，所述底盘(21)上垂直向下有若干所述丝杠(22)，所述丝杠(22)的一端和所述底盘(21)之间设有所述圆锥轴承(26)，所述丝杠(22)由所述电机(25)驱动，所述丝杠(22)安装有所述丝杠滑块(23)，所述丝杠滑块(23)的底部安装有所述滚轮(24)；
    所述水平转动装置(3)包括回转圆锥轴承(31)、支撑板(32)、大齿圈(33)、小齿轮(34)和水平回转电机(35)，所述回转圆锥轴承(31)的外圈与所述底盘(21)连接，所述回转圆锥轴承(31)的内圈安装有所述大齿圈(33)，所述回转圆锥轴承(31)的内圈上安装有所述支撑板(32)，所述支撑板(32)上安装所述水平回转电机(35)，所述水平回转电机(35)传动连接有所述小齿轮(34)，所述小齿轮(34)与所述大齿圈(33)啮合；
    所述竖直转动装置(4)包括立板(41)、支撑杆(42)、驱动涡轮(43)、驱动蜗杆(44)和竖直转动电机(45)，所述立板(41)安装在所述支撑板(32)上，所述支撑杆(42)的一端沿径向设有驱动轴(421)，所述支撑杆(42)通过所述驱动轴(421)铰接在所述立板(41)上，所述驱动轴(421)上安装有所述驱动涡轮(43)，所述驱动涡轮(43)与所述驱动蜗杆(44)啮合，所述驱动蜗杆(44)由所述竖直转动电机(45)驱动；
    所述升降装置(5)包括驱动螺母块(51)、锥齿圈(52)、锥齿轮(53)、升降电机(54)和支撑内管(55)，所述驱动螺母块(51)可转动的安装在所述支撑杆(42)上，所述支撑内管(55)的外侧设有与所述驱动螺母块(51)相配合的螺纹，所述支撑内管(55)通过所述螺纹安装在所述驱动螺母块(51)上，所述驱动螺母块(51)上设有所述锥齿圈(52)，所述升降电机(54)输出端驱动连接有所述锥齿轮(53)，所述锥齿轮(53)与所述锥齿圈(52)相啮合。
  2. 根据权利要求1所述的一种可万向调姿的柔性支撑工装，其特征在于：所述底盘(21)为圆环形，所述丝杠(22)的数量为三个，沿所述底盘(21)的外圆周均匀设置。
  3. 根据权利要求1所述的一种可万向调姿的柔性支撑工装，其特征在于：所述水平转动装置(3)还包括大锥齿轮(36)，传动轴(37)和小锥齿轮(38)，所述小齿轮(34)安装在所述传动轴(37)的输出端，所述传动轴(37)通过轴承安装在所述支撑板(32)上，所述传动轴(37)的输入端安装有所述大锥齿轮(36)，所述水平回转电机(35)的输出轴上安装 有所述小锥齿轮(38)，所述小锥齿轮(38)和所述大锥齿轮(36)啮合传动。
  4. 根据权利要求1所述的一种可万向调姿的柔性支撑工装，其特征在于：所述竖直转动装置(4)还包括带座轴承(46)，所述驱动蜗杆(44)的两端通过所述带座轴承(46)安装在所述立板(41)上。
  5. 根据权利要求1所述的一种可万向调姿的柔性支撑工装，其特征在于：所述升降装置(5)包括推力轴承(56)和设备箱(57)，所述驱动螺母块(51)嵌套在所述支撑杆(42)内，所述驱动螺母块(51)与所述支撑杆(42)之间设有所述推力轴承(56)，所述设备箱(57)固定在所述支撑杆(42)上，所述升降电机(54)固定在所述设备箱(57)内。
  6. 根据权利要求1所述的一种可万向调姿的柔性支撑工装的，其特征在于：所述电机(25)、所述水平回转电机(35)、所述竖直转动电机(45)和所述升降电机(54)均为步进电机。
  7. 一种利用权利要求1-6任意一项所述的可万向调姿的柔性支撑工装调姿方法，其特征在于，其包括以下步骤：
    第一步、通过控制所述电机(25)正转驱动所述丝杠(22)转动进一步带动所述丝杠滑块(23)移动，使得所述丝杠滑块(23)通过其下方的所述滚轮(24)接触地面，从而实现可万向调姿的柔性支撑工装的滚动支撑，方便移动，移动完成后，通过控制所述电机(25)反转，使得所述丝杠滑块(23)的收回；
    第二步、通过控制所述水平回转电机(35)的转动，驱动所述回转圆锥轴承(31)的内圈转动，从而带动所述支撑板(32)以及所述柔性支撑装置(1)转动；
    第三步、通过控制所述竖直转动电机(45)的转动，驱动所述支撑杆(42)俯仰，从而带动所述升降装置(5)俯仰；
    第四步、通过控制所述升降电机(54)的转动，驱动所述支撑内管(55)的升降。
PCT/CN2023/090765 2022-05-25 2023-04-26 一种可万向调姿的柔性支撑工装及其调姿方法 WO2023226669A1 (zh)

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