Six-degree-of-freedom annular tooling and delivery device for the space cabin

Abstract

The invention relates to a six-degree-of-freedom annular tool and carrier for a space cabin section. The six-degree-of-freedom annular tool and carrier for the space cabin section comprises an outer bracket, an inner gear ring, a pin, a cage, inner brackets, a servo motor with a brake function and a speed reducer, a pair of polished rods, an outer gear, a bearing support, a supporting frame, a left-handed screw foot seat for an inner hole, a ball screw rod, a right-handed screw foot seat for the inner hole, a mobile trolley, a mobile platform and a mechanical arm assembly, wherein an annular outer bracket is fixedly connected with the inner gear ring, and each inner bracket with the same structure is oppositely arranged in the diameter direction of an inner gear. Each inner bracket is provided with a cage, a servo motor, an outer gear, a bearing support, a supporting frame and the left and right threaded foot seats of the inner hole. The ball screw rod and the pair of polished rods arearranged between the inner brackets, the mobile platform is arranged on the ball screw rod, the mechanical arm assembly is connected with the mobile platform, and the mobile trolley is connected withfour cross-shaped supports uniformly distributed on the outer bracket. An end clamp is provided with six degrees of freedom and accurate posture adjustment, installation and delivery of accessories under complex working conditions can be realized.

Description

technical field [0001] The invention relates to the technical field of aerospace tooling equipment, in particular to a tooling and a carrier device. Background technique [0002] In recent years, people's activities in aerospace engineering, tunnel engineering, track engineering and cylindrical warehouses have become more and more frequent, and the technical problems of cabins, tunnels, and track tooling have become more prominent. Because cabins and tunnels have the characteristics of small operating space, full-circle operation, complex tooling operation, heavy load, heavy workload, and high operating precision, there is an urgent need for an automation that can cope with such extremely severe working conditions. equipment. [0003] At present, on the side wall of the column or cuboid workspace, the carrying and installation of parts is mainly realized by using a three-coordinate mobile platform with a mechanical arm to move freely in the workspace and complete the parts....

AI Technical Summary

Problems solved by technology

Because cabins and tunnels have the characteristics of small operating space, full-circle operation, complex tooling operation, heavy load, heavy workload, and high operating precision, there is an urgent need for an automation that can cope with such extremely severe working conditions. equipment

[0003] At present, on the side wall of the column or cuboid workspace, the carrying and installation of parts is mainly realized by using a three-coordinate mobile platform with a mechanical arm to move freely in the workspace and complete the parts. Installation and transportation, this scheme has a large structural space, low space utilization rate and can not realize the attitude adjustment of parts; for example, the Chinese patent No. CN201120442472.4 discloses a manipulator based on three rectangular There are longitudinal (Z-direction) walking module, horizontal (X-direction) walking module and vertical (Y-direction) walking module respectively. The three-coordinate manipulator can adjust the position in three directions, and it is impossible to realize the workbench around X and Y. , Z-axis rotation attitude adjustment; in addition, the Chinese utility model patent with the publication number CN204397333U proposes a rotating tooling based on cab installation, the structure mainly includes: bottom frame, hand reducer, transmission shaft, left transmission gear, right Transmission gear, left pin wheel, right pin wheel, positioning tool and guide caster, the positioning tool is fixedly installed between the left pin wheel and the right pin wheel, the guide caster is fixedly installed on the bottom frame, the left pin wheel and the right pin wheel The bottom is supported on the guide casters, the hand reducer is installed on the bottom frame, the drive shaft is connected with the output shaft of the hand reducer, the two ends of the drive shaft are installed on the bottom frame through bearings, and the two ends of the drive shaft are respectively installed There are a left transmission gear and a right transmission gear. The left pin wheel and the right pin wheel are respectively composed of several cylindrical pin teeth and an annular outer wheel. Gears mesh with cylindrical pin teeth respectively

The tooling solution adopts the meshing of cylindrical pin teeth and annular outer wheel to realize the rotation of the workbench. This patent solves the non-rotatability of the existing tooling, but it cannot move the workbench along the Z-axis direction, and the degree of freedom of the end actuator is small. The space is small, and the scope of application does not have the generality of mobile rotary tooling

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