CN101362328A - A vacuum adsorption type three-coordinate flexible attitude adjustment unit - Google Patents
A vacuum adsorption type three-coordinate flexible attitude adjustment unit Download PDFInfo
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- CN101362328A CN101362328A CNA2008101616602A CN200810161660A CN101362328A CN 101362328 A CN101362328 A CN 101362328A CN A2008101616602 A CNA2008101616602 A CN A2008101616602A CN 200810161660 A CN200810161660 A CN 200810161660A CN 101362328 A CN101362328 A CN 101362328A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 24
- 210000000056 organ Anatomy 0.000 claims abstract description 17
- 230000009467 reduction Effects 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 239000013536 elastomeric material Substances 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 abstract 3
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 240000004859 Gamochaeta purpurea Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
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- 230000003252 repetitive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention discloses a vacuum adsorption type three-coordinate flexible attitude-adjusting unit which comprises a base seat, an X direction ballscrew, an X direction reducer, an X direction servo motor, longitudinal and cross plankers, an upper planker, a supporting cylinder body, a telescopic column, a clamping sleeve, a vaccum adsorption ball-end, a Z direction ballscrew, a Z direction grating ruler, a worm gear reducer, a Y direction guide rail slide, a Y direction linear guide, an X direction organ cover, an X direction linear guide, an X direction guide rail slide, a Y direction ballscrew, a Y direction organ cover, a Z direction servo motor, a Y direction reducer and a Y direction servo motor; the closed-loop control is carried out through the driving of the servo motor and the ballscrew and the feedback of the grating ruler, the accurate positioning in the X, Y and Z directions is realized, and the organ cover is arranged in the corresponding direction for protecting. The component part with complex profile can be supported and fixed through the vacuum adsorption, the supporting is steady and reliable, and the cooperative motion can be realized in the three directions. By adopting the vacuum adsorption type three-coordinate flexible attitude-adjusting unit as the core unit, the attitude-adjusting systems for different purposes can be formed through certain configuration.
Description
Technical field
The present invention relates to a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit.
Background technology
In having the large component of curved profile, thin-wall part assembling process, all face and how it is adjusted to targeted attitude and keep the constant problem of this attitude.These parts with complex profile mostly have strict aerodynamic configuration requirement, guarantee the design of constant feasible support of design outline and posture adjustment frock, make very difficulty.This base part has bigger flexibility usually, be easy to generate distortion, traditional tooling device carries out rigid support for reducing to be out of shape a plurality of positions of being everlasting, come posture adjustment at a plurality of positions by manually-operated in the posture adjustment process, it is correct to adjust the matching part pose that also can only guarantee a small amount of several necessity repeatedly, the posture adjustment workload is big, and the posture adjustment cycle is long, efficient is low, and is easy to generate erection stress.Traditional tooling device like this can only satisfy single or a spot of similar parts.When producing transition, need the redesign technological equipment, cause shortcomings such as the equipment purposes is single, design cycle length, production cost height, and need to be equipped with a large amount of assembly crewmans, assistance for lifting mechanism, handbarrow etc.
Large thin-wall element and complex profile parts, aircraft wing for example, wing wallboards etc. because it is complex-shaped and strict to profile, are difficult on its surface the supporting process joint of transition is installed, and make its clamping difficulty.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit is provided.
Vacuum adsorption type three-coordinate flexible attitude-adjusting unit comprises base, X is to ball-screw, X is to decelerator, X is to servomotor, planker in length and breadth, last planker, support cylinder body, telescopic mast, closing sleeve, the vacuum suction bulb, Z is to ball-screw, Z is to the grating chi, worm type of reduction gearing), Y is to the guide rail slide block, Y is to line slideway, X is to the organ cover, X is to line slideway, X is to the guide rail slide block, Y is to ball-screw, Y is to the organ cover, Z is to servomotor, Y is to decelerator, Y is to servomotor.The base upper surface both sides are provided with X to line slideway, two X are provided with X to ball-screw on the base between line slideway, X is connected to servomotor with X to decelerator through X to the ball-screw end, the nut of X on ball-screw and X are connected with planker in length and breadth to the guide rail slide block, planker upper surface both sides are provided with Y to line slideway in length and breadth, two Y are provided with Y to ball-screw on the planker between line slideway in length and breadth, Y is connected to servomotor with Y to decelerator through Y to the ball-screw end, the nut of Y on ball-screw is connected with last planker to the guide rail slide block with Y, be fixed with the support cylinder body on the last planker, the external Z that is provided with of shoring is to the grating chi, support in the cylinder body and be provided with telescopic mast, be provided with closing sleeve between telescopic mast and the support cylinder body, the telescopic mast upper end is provided with the vacuum suction bulb, is provided with Z in the telescopic mast to ball-screw, and Z is connected to servomotor with Z by worm type of reduction gearing to ball-screw, base is provided with X to the organ cover, and planker is provided with Y to the organ cover in length and breadth.
Described vacuum suction bulb comprises plug screw, bulb mount pad, stage clip, stop valve, vacuum cup, hemispherical head, extension spring; The bulb mount pad is fixed on the telescopic mast, and the bottom is provided with plug screw, and the top is a hemispherical head, is connected by extension spring between hemispherical head and the bulb mount pad, and the hemispherical head top plan is provided with vacuum cup, and hemispherical head inside is provided with stage clip, and the stage clip top is a stop valve.The X that moves through of planker drives to ball-screw to decelerator and X to servomotor, X in length and breadth, and grating chi feedback realizes closed-loop control.The Y that moves through of last planker drives to ball-screw to decelerator and Y to servomotor, Y, and grating chi feedback realizes closed-loop control.Telescopic mast drives to ball-screw to servomotor, worm type of reduction gearing and Z by Z, and Z carries out closed-loop control to grating chi feedback.Base, planker and support on the cylinder body and be equipped with limit switch and mechanical position limitation in length and breadth improve the security of work.The vacuum suction bulb has 30 ° omnirange amount of deflection.Vacuum cup adopts elastomeric material, contacts back common formation closed chamber with the parts profile.The telescopic mast top is provided with the power sensor.Z adopts bias mode to install to the grating chi.
The beneficial effect that the present invention compared with prior art has:
1) can realize accurately moving of X, Y, three directions of Z, three positioning accuracy 0.01mm, repetitive positioning accuracy 0.005mm, X, Y, Z axle be non-perpendicularity 0.025mm/500mm in twos, can realize the accurate posture adjustment to support component;
2) X, Y direction adopt the AC servo machinery driving of band band-type brake, can be locked in X, Y direction optional position, guarantee the stability that supports;
3) X, Y direction adopt precision ball screw transmission and high accuracy line slideway guiding, and grating chi feedback realizes closed-loop control;
4) the Z direction realizes self-locking by worm type of reduction gearing, makes to support reliably;
5) clamp telescopic mast by charging into hydraulic oil generation strain in the closing sleeve, after the fuel cut-off, strain is recovered and is unclamped telescopic mast, and control is convenient, reliable clamping;
6) Z is provided with the power sensor to the telescopic mast top, the mixing control of realizable force and position, the security that has improved system works;
7) X, Y, three directions of Z have designed limit switch and mechanical position limitation respectively, structurally improve the security of work;
8) X, Y guarantee that to having designed protective cover its transmission accuracy and life-span are unaffected;
9) X, Y, three directions of Z can realize synchronous interaction control;
10) the vacuum suction bulb has 30 ° amount of deflection, but self adaptation has the curved surface parts of different profiles
11) the vacuum suction bulb formation enclosed cavity that contacts with the parts profile produces absorption affinity by vacuumizing to build-up member, makes build-up member can keep attitude and resists lateral load;
12) Z adopts bias mode to install to the grating chi, is convenient to safeguard;
13) three by certain configuration or four vacuum adsorption type three-coordinate flexible attitude-adjusting units can constitute the posture adjustment system with different operating performance, have the characteristic of quick reconfiguration with flexible fully.
Description of drawings
Fig. 1 (a) is the vacuum adsorption type three-coordinate flexible attitude-adjusting unit structural front view;
Fig. 1 (b) is a vacuum adsorption type three-coordinate flexible attitude-adjusting unit structure side view;
Fig. 2 is a vacuum suction ball head structure schematic diagram of the present invention;
Among the figure: base 1, X is to ball-screw 2, X is to decelerator 3, X is to servomotor 4, planker 5 in length and breadth, last planker 6, support cylinder body 7, telescopic mast 8, closing sleeve 9, vacuum suction bulb 10, Z is to ball-screw 11, Z is to grating chi 12, worm type of reduction gearing 13, Y is to guide rail slide block 14, Y is to line slideway 15, X is to organ cover 16, X is to line slideway 17, X is to guide rail slide block 18, Y is to ball-screw 19, Y is to organ cover 20, Z is to servomotor 21, Y is to decelerator 22, Y is to servomotor 23, plug screw 24, bulb mount pad 25, stage clip 26, stop valve 27, vacuum cup 28, hemispherical head 29, extension spring 30.
The specific embodiment
The vacuum suction bulb self-adaptive component profile of the present invention by can comprehensive 30 ° of deflections fully contacts laggard vacuum adsorbedly, increases the frictional force that supports, and guarantees the stability and the reliability that support.Attitude-adjusting unit can carry out fine adjustment in X, Y, three directions of Z, and the positioning accuracy height operates steadily.As the core support unit, can select several Support Positions according to the version of big parts, constitute different posture adjustment systems.The comprehensive 30 ° deflection characteristic of vacuum suction bulb can make the complex appearance of its self-adaptive component, has enough flexibilities.
As shown in Figure 1, vacuum adsorption type three-coordinate flexible attitude-adjusting unit comprise base 1, X to ball-screw 2, X to decelerator 3, X to servomotor 4, in length and breadth planker 5, go up planker 6, support cylinder body 7, telescopic mast 8, closing sleeve 9, vacuum suction bulb 10, Z to ball-screw 11, Z to grating chi 12, worm type of reduction gearing 13, Y to guide rail slide block 14, Y to line slideway 15, X to organ cover 16, X to line slideway 17, X to guide rail slide block 18, Y to ball-screw 19, Y to organ cover 20, Z to servomotor 21, Y to decelerator 22, Y to servomotor 23.Base 1 upper surface both sides are provided with X to line slideway 17, two X are provided with X to ball-screw 2 on the base 1 between line slideway 17, X is connected to servomotor 4 with X to decelerator 3 through X to ball-screw 2 ends, the nut of X on ball-screw 2 and X are connected with planker 5 in length and breadth to guide rail slide block 18, planker 5 upper surface both sides are provided with Y to line slideway 15 in length and breadth, two Y are provided with Y to ball-screw 19 on the planker 5 between line slideway 15 in length and breadth, Y is connected to servomotor 23 with Y to decelerator 22 through Y to ball-screw 19 ends, the nut of Y on ball-screw 19 is connected with last planker 6 to guide rail slide block 14 with Y, be fixed with on the last planker 6 and support cylinder body 7, support outside the cylinder body 7 and be provided with Z to grating chi 12, support in the cylinder body 7 and be provided with telescopic mast 8, be provided with closing sleeve 9 between telescopic mast 8 and the support cylinder body 7, telescopic mast 8 upper ends are provided with vacuum suction bulb 10, be provided with Z in the telescopic mast 8 to ball-screw 11, Z is connected to servomotor 21 with Z by worm type of reduction gearing 13 to ball-screw 11, base 1 is provided with X to organ cover 16, and planker 5 is provided with Y to organ cover 20 in length and breadth.
The X that moves through of planker 5 drives to ball-screw 2 to decelerator 3 and X to servomotor 4, X in length and breadth, and X leads to line slideway, and grating chi feedback realizes closed-loop control.The Y that moves through of last planker 6 drives to ball-screw 19 to decelerator 22 and Y to servomotor 23, Y, and Y leads to line slideway, and grating chi feedback realizes closed-loop control.Telescopic mast 8 drives to ball-screw 11 to servomotor 21, worm type of reduction gearing 13 and Z by Z, and Z carries out closed-loop control to grating chi 12 feedbacks.Base 1, planker 5 and support on the cylinder body 7 and be equipped with limit switch and mechanical position limitation in length and breadth improve the security of work.Telescopic mast 8 tops are provided with the power sensor.Z adopts bias mode to install to grating chi 12.
As shown in Figure 2, vacuum suction bulb 10 comprises plug screw 24, bulb mount pad 25, stage clip 26, stop valve 27, vacuum cup 28, hemispherical head 29, extension spring 30; Bulb mount pad 25 is fixed on the telescopic mast 8, and the bottom is provided with plug screw 24, and the top is a hemispherical head 29, be connected by extension spring 30 between hemispherical head 29 and the bulb mount pad 25, hemispherical head 29 top plan are provided with vacuum cup 28, and hemispherical head 29 inside are provided with stage clip 26, and stage clip 26 tops are stop valve 27.
According to the version and the size characteristics of big parts, selection can be born the position of support force in the implementation process, determines the Support Position that needs.According to the support zone configuration vacuum adsorption type three-coordinate flexible attitude-adjusting unit of selecting.For the big parts of different posture adjustments, the attitude-adjusting unit of selection varying number can constitute the posture adjustment system of different layouts.
When parts are carried out posture adjustment, at first according to the member supporting position configuration three-coordinate flexible attitude-adjusting unit of selecting.After the build-up member lifting put in place, the motor-driven telescopic mast stretched out, and telescopic mast promotes the vacuum suction bulb and rises.Because the vacuum suction bulb has 30 ° amount of deflection, make it can self adaptation build-up member surface fit and compress.Vacuum cup is an elastomeric material, can produce distortion when fitting with build-up member, forms enclosed cavity, and has good air-tightness.Extension spring can limit hemispherical head and not skid off the bulb mount pad, and hemispherical head is resetted.After the attitude-adjusting unit support component, vacuum system vacuumizes by the pore of bulb mount pad side, and make stage clip distortion owing to two parts about the hemispherical head have pressure differential this moment, and stop valve is opened.When the vacuum that reaches setting stops later on vacuumizing, stage clip promoted stop valve and resetted this moment, guaranteed the air-tightness of enclosed cavity between bulb and the parts surface.After parts are gone into the position,, carry out posture adjustment by the control system driving according to the path planning algorithm of design.Adopt laser tracker to measure and write down measured value in the posture adjustment process, and calculate the attitude of big parts with this measured value.When build-up member is adjusted to ideal position, charge into hydraulic oil in the closing sleeve, the telescopic mast of locking attitude-adjusting unit, the attitude of holding member does not change, and increases the stability that supports.
Use the step of the embodiment of the invention as follows:
1) determines the layout of attitude-adjusting unit according to the posture adjustment parts, constitute the posture adjustment system;
2) build-up member lifts into the position;
3) vacuum suction bulb and build-up member are fitted and are compressed, and vacuumize to make bulb produce vacuum adsorption force to build-up member;
4) control system is carried out the adjustment of parts attitude;
5) closing sleeve locking keeps the build-up member attitude;
6) finish operations such as follow-up assembling connection.
Claims (10)
1. a vacuum adsorption type three-coordinate flexible attitude-adjusting unit is characterized in that comprising base (1), X is to ball-screw (2), X is to decelerator (3), X is to servomotor (4), planker (5) in length and breadth, last planker (6), support cylinder body (7), telescopic mast (8), closing sleeve (9), vacuum suction bulb (10), Z is to ball-screw (11), Z is to grating chi (12), worm type of reduction gearing (13), Y is to guide rail slide block (14), Y is to line slideway (15), X is to organ cover (16), X is to line slideway (17), X is to guide rail slide block (18), Y is to ball-screw (19), Y is to organ cover (20), Z is to servomotor (21), Y is to decelerator (22), Y is to servomotor (23); Base (1) upper surface both sides are provided with X to line slideway (17), last two X of base (1) are provided with X to ball-screw (2) between line slideway (17), X is connected to servomotor (4) with X to decelerator (3) through X to ball-screw (2) end, the nut of X on ball-screw (2) and X are connected with planker (5) in length and breadth to guide rail slide block (18), planker (5) upper surface both sides are provided with Y to line slideway (15) in length and breadth, last two Y of planker (5) are provided with Y to ball-screw (19) between line slideway (15) in length and breadth, Y is connected to servomotor (23) with Y to decelerator (22) through Y to ball-screw (19) end, the nut of Y on ball-screw (19) is connected with last planker (6) to guide rail slide block (14) with Y, be fixed with on the last planker (6) and support cylinder body (7), support outside the cylinder body (7) and be provided with Z to grating chi (12), support in the cylinder body (7) and be provided with telescopic mast (8), be provided with closing sleeve (9) between telescopic mast (8) and the support cylinder body (7), telescopic mast (8) upper end is provided with vacuum suction bulb (10), be provided with Z in the telescopic mast (8) to ball-screw (11), Z is connected to servomotor (21) with Z by worm type of reduction gearing (13) to ball-screw (11), base (1) is provided with X to organ cover (16), and planker (5) is provided with Y to organ cover (20) in length and breadth.
2. a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit according to claim 1, it is characterized in that described vacuum suction bulb (10) comprises plug screw (24), bulb mount pad (25), stage clip (26), stop valve (27), vacuum cup (28), hemispherical head (29), extension spring (30); Bulb mount pad (25) is fixed on the telescopic mast (8), the bottom is provided with plug screw (24), the top is hemispherical head (29), be connected by extension spring (30) between hemispherical head (29) and the bulb mount pad (25), hemispherical head (29) top plan is provided with vacuum cup (28), hemispherical head (29) inside is provided with stage clip (26), and stage clip (26) top is stop valve (27).
3. a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit according to claim 1, the X that moves through that it is characterized in that described planker in length and breadth (5) drives to ball-screw (2) to decelerator (3) and X to servomotor (4), X, X is to line slideway (17) guiding, and grating chi feedback realizes closed-loop control.
4. a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit according to claim 1, it is characterized in that the described Y that moves through that goes up planker (6) drives to ball-screw (19) to decelerator (22) and Y to servomotor (23), Y, Y is to line slideway (15) guiding, and grating chi feedback realizes closed-loop control.
5. a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit according to claim 1, it is characterized in that described telescopic mast (8) drives to ball-screw (11) to servomotor (21), worm type of reduction gearing (13) and Z by Z, Z carries out closed-loop control to grating chi (12) feedback.
6. a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit according to claim 1 is characterized in that described base (1), planker (5) and support on the cylinder body (7) and be equipped with limit switch and mechanical position limitation in length and breadth, improves the security of work.
7. a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit according to claim 1 is characterized in that described vacuum suction bulb (10) has 30 ° omnirange amount of deflection.
8. a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit according to claim 1 is characterized in that described vacuum cup (28) adopts elastomeric material, contacts back common formation closed chamber with the parts profile.
9. a kind of vacuum adsorption type three-coordinate flexible attitude-adjusting unit according to claim 1 is characterized in that described telescopic mast (8) top is provided with the power sensor.
10. a kind of globular hinge type three-coordinate flexible attitude-adjusting unit according to claim 1 is characterized in that described Z adopts bias mode to install to grating chi (12).
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| CN2008101616602A CN101362328B (en) | 2008-09-19 | 2008-09-19 | Vacuum adsorption type three-coordinate flexible attitude-adjusting unit |
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| CN2008101616602A CN101362328B (en) | 2008-09-19 | 2008-09-19 | Vacuum adsorption type three-coordinate flexible attitude-adjusting unit |
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| CN101362328A true CN101362328A (en) | 2009-02-11 |
| CN101362328B CN101362328B (en) | 2010-08-25 |
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| CN101850512A (en) * | 2010-04-20 | 2010-10-06 | 浙江大学 | A three-coordinate positioner with large stroke, high stiffness and high precision |
| CN102069457A (en) * | 2010-12-07 | 2011-05-25 | 成都飞机工业（集团）有限责任公司 | Self-centering positioning process equipment for fixing curved skin parts |
| CN102486944A (en) * | 2010-12-02 | 2012-06-06 | 核动力运行研究所 | Vacuum chuck guide rail |
| CN103144782A (en) * | 2013-02-27 | 2013-06-12 | 中航飞机股份有限公司西安飞机分公司 | Posture alignment mounting device for component assembly |
| CN103170859A (en) * | 2013-03-27 | 2013-06-26 | 东北大学 | Thin-wall large part flexible fixture |
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| CN101850512A (en) * | 2010-04-20 | 2010-10-06 | 浙江大学 | A three-coordinate positioner with large stroke, high stiffness and high precision |
| CN102486944B (en) * | 2010-12-02 | 2014-06-18 | 核动力运行研究所 | Vacuum chuck guide rail |
| CN102486944A (en) * | 2010-12-02 | 2012-06-06 | 核动力运行研究所 | Vacuum chuck guide rail |
| CN102069457A (en) * | 2010-12-07 | 2011-05-25 | 成都飞机工业（集团）有限责任公司 | Self-centering positioning process equipment for fixing curved skin parts |
| CN103144782A (en) * | 2013-02-27 | 2013-06-12 | 中航飞机股份有限公司西安飞机分公司 | Posture alignment mounting device for component assembly |
| CN103170859A (en) * | 2013-03-27 | 2013-06-26 | 东北大学 | Thin-wall large part flexible fixture |
| CN103578587A (en) * | 2013-10-30 | 2014-02-12 | 核动力运行研究所 | Ultrasonic testing device for circumferential weld of cylinder of nuclear reactor pressure vessel |
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| CN105643605A (en) * | 2016-03-30 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Mechanical arm for laminating transformer cores |
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| CN101362328B (en) | 2010-08-25 |
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