Adaptive ball head positioning device

Abstract

The application discloses an adaptive ball head entering device, which comprises a base, a three-dimensional force sensor installed on the base, a bearing seat installed above the three-dimensional force sensor, a flange cover installed above the bearing seat, a locking cover installed above the flange cover, a ball head seat installed in the flange cover, the ball head seat being located above the bearing seat and a tapered roller bearing being arranged between the ball head seat and the bearing seat, a first central through hole being arranged on the ball head seat, an adaptive positioning section being arranged at the upper end of the first central through hole, and an inner conical surface being arranged on the inner wall of the adaptive positioning section; a second central through hole for the ball head to enter and exit is arranged in the flange cover, a third central through hole for the ball head to pass through is arranged on the locking cover; a control mechanism for controlling the ball head is arranged on the flange cover; the control mechanism comprises a locking through hole arranged in the side wall of the second central through hole, a locking pin installed in the locking through hole and a control driving mechanism for driving the locking pin to move along the locking through hole between a free station, an anti-escape station and a locking station.

Description

Technical Field

[0001] This invention belongs to the field of aircraft manufacturing and assembly technology, specifically an adaptive ball joint positioning device. Background Technology

[0002] With the rapid development of China's aviation and aerospace industries, large components with complex curved shapes are being used extensively. These components are assembled using a segmented, modular approach, with production completed through assembly. The assembly process employs aircraft digital assembly technology, typically using three-point or four-point positioners for attitude adjustment of large components. Ball joint positioning devices are used to fix the process ball joints on the attitude adjustment components and are crucial components connecting large aircraft components and CNC positioners.

[0003] Traditional ball joint positioning devices typically employ pin-type or circumferential claw-type anti-escape structures, which suffer from complex mechanical structures and high manufacturing requirements. Furthermore, due to errors during the ball joint installation process, the ball joint may experience compression with the positioning device during positioning, generating stress and deformation. This affects component positioning efficiency and docking accuracy, and may even damage the positioning device. Summary of the Invention

[0004] In view of this, the present invention addresses the problems existing in the hoisting and positioning of large aircraft components during attitude adjustment by proposing an adaptive ball joint positioning device. This device optimizes the ball joint positioning guidance and reduces the ball joint swing friction to meet the positioning requirements of digital assembly of aircraft and ensure production quality and efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An adaptive ball joint positioning device includes a base, on which a three-dimensional force sensor is mounted, a bearing seat is mounted above the three-dimensional force sensor, a flange cover is mounted above the bearing seat, and a locking cover is mounted above the flange cover; a ball joint seat is installed inside the flange cover, the ball joint seat is located above the bearing seat, and a tapered roller bearing is provided between the ball joint seat and the bearing seat.

[0007] The ball joint seat is provided with a first central through hole, and the upper end of the first central through hole is provided with an adaptive positioning section for receiving the ball joint. The inner wall of the adaptive positioning section is an inner conical surface. The flange cover is provided with a second central through hole for the ball joint to enter and exit, and the locking cover is provided with a third central through hole for the ball joint to pass through. The first central through hole and the second central through hole are coaxially arranged, and a laser displacement sensor coaxial with the first central through hole is installed in the bearing seat.

[0008] The flange cover is provided with a control mechanism for controlling the ball head; the control mechanism includes a locking through hole disposed in the side wall of the second central through hole, a locking pin installed in the locking through hole, and a control drive mechanism for driving the locking pin to move along the locking through hole between a free position, an anti-escape position, and a locking position; when the locking pin is in the free position, the ball head can freely enter and exit the second central through hole; when the locking pin is in the anti-escape position, the ball head is limited in the second central through hole but can rotate relative to the ball head seat; when the locking pin is in the locking position, the ball head is locked and fixed on the ball head seat.

[0009] Furthermore, the second central through hole includes a connecting section and a control section located above the connecting section. The connecting section is fixedly connected to the bearing housing, and both the tapered roller bearing and the ball head are located within the connecting section. The locking through hole is disposed within the side wall of the control section. The inner diameter of the control section is smaller than the inner diameter of the connecting section, and a support step surface is formed between the control section and the connecting section above the ball head. A first mounting through hole is provided on the support step surface, and a first mounting groove is provided on the top surface of the ball head corresponding to the first mounting through hole. A support spring is provided in the first mounting through hole between the first mounting groove and the locking cover.

[0010] Furthermore, a protective cover is provided between the flange cover and the base; an electrical interface is installed on the protective cover.

[0011] Furthermore, the inner end face of the locking pin is configured as a spherical surface that matches the outer surface of the ball head.

[0012] Furthermore, the flange cover is provided with a second mounting through hole, and a photoelectric switch for detecting the locking state of the locking pin is installed in the second mounting through hole.

[0013] Furthermore, the flange cover is provided with limiting grooves corresponding to the locking through holes one by one. The axis of the limiting groove intersects perpendicularly with the axis of the corresponding locking through hole, and the limiting groove passes through the two side walls of the corresponding locking through hole; limiting posts are installed in the limiting grooves.

[0014] The locking pin has a second mounting groove on its inner end face, and the locking pin has a sliding groove that slides with the limiting post. A reset spring is installed in the second mounting groove between the limiting post and the bottom of the second mounting groove.

[0015] Furthermore, at least three locking through holes are provided, and the locking through holes are evenly distributed in a ring within the sidewall of the second central through hole.

[0016] Furthermore, the control drive mechanism includes a locking turntable sleeved on the flange cover. The locking turntable is rotatably engaged with the flange cover, and the inner wall of the locking turntable is provided with control grooves corresponding to the locking through holes. The two ends of the control grooves are a free control position and a locking control position, respectively, and the middle of the control groove is provided with an anti-escape control position. The distance between the bottom of the control groove and the axis of the second central through hole gradually decreases along the direction from the free control position to the locking control position. When the locking pin engages with the free control position of the control groove, the locking pin is located in the free position. When the locking pin engages with the anti-escape control position of the control groove, the locking pin is located in the anti-escape position. When the locking pin engages with the locking control position of the control groove, the locking pin is located in the locking position.

[0017] Furthermore, the outer wall of the flange cover is provided with a cylindrical surface for engaging with the locking turntable.

[0018] Furthermore, the control drive mechanism also includes a locking handle for driving the locking turntable to rotate. The locking handle is fixedly connected to the locking turntable, and the locking cover is provided with a clearance groove for accommodating the locking handle. The clearance groove has three locking positions. The two locking positions at both ends correspond to the free control position and the locking control position, respectively, and one of the locking positions corresponds to the anti-escape control position. When the locking handle is located in the locking position corresponding to the free control position, the locking pin engages with the free control position of the control groove. When the locking handle is located in the locking position corresponding to the anti-escape control position, the locking pin engages with the anti-escape control position of the control groove. When the locking handle is located in the locking position corresponding to the locking control position, the locking pin engages with the locking control position of the control groove.

[0019] The beneficial effects of this invention are as follows:

[0020] The adaptive ball joint positioning device of the present invention utilizes a three-dimensional force sensor mounted on a base, and a bearing housing mounted on the three-dimensional force sensor. This allows the force on the ball joint to be transmitted to the three-dimensional force sensor via a tapered roller bearing and the bearing housing. Simultaneously, the tapered roller bearing reduces friction when the ball joint oscillates under the action of the process ball joint. By providing a first central through-hole on the ball joint, a second central through-hole on the flange cover, and a third central through-hole on the locking cover, a laser emitted by a laser displacement sensor located within the bearing housing can pass through these three central through-holes, thereby guiding the ball joint into precise positioning and improving work efficiency and reliability. Furthermore, by providing an adaptive positioning section with an inner conical surface at the upper end of the first central through-hole, combined with the force detected by the three-dimensional force sensor, adaptive centering of the ball joint can be achieved, further optimizing the guidance of the process ball joint positioning. Finally, by providing a control mechanism on the flange cover, the locking pin can be moved using a control drive mechanism, allowing the ball joint to have three states: locked, anti-escape, and free entry / exit, to meet relevant process requirements. In summary, the adaptive ball joint positioning device of the present invention optimizes ball joint positioning guidance and reduces ball joint oscillation friction to meet the positioning requirements of aircraft digital assembly and ensure production quality and efficiency. Attached Figure Description

[0021] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0022] Figure 1 This is a schematic diagram of an embodiment of the adaptive ball head positioning device of the present invention;

[0023] Figure 2 for Figure 1 Enlarged view of region A;

[0024] Figure 3 for Figure 1 Top view and partial sectional view;

[0025] Figure 4 This is a schematic diagram of the flange cover structure;

[0026] Figure 5 This is a perspective view of the adaptive ball head positioning device in this embodiment.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1-Mounting base; 2-Three-position force sensor; 3-Protective cover; 4-Bearing housing; 4a-Third mounting through hole; 5-Laser displacement sensor; 6-Tap roller bearing; 7-Flange cover; 7a-Locking through hole; 7b-First mounting through hole; 7c-Limiting groove; 7d-Second center through hole; 7e-Cylindrical surface; 7f-Second mounting through hole; 7g-Supporting stepped surface; 8-Ball head seat; 8a-First center through hole; 8b-Adaptive positioning Section; 9-Locking turntable; 9a-Control groove; 10-Locking cover; 10a-Third center through hole; 10b-Leaving groove; 10c-Locking position; 10d-Locking position; 10e-Locking position; 11-Support spring; 12-Photoelectric switch; 13-Process ball head; 14-Locking handle; 15-Electrical interface; 16-Locking pin; 16a-Second mounting groove; 16b-Slide groove; 16c-Reset spring; 17-Limit post. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0030] like Figure 1 As shown, the adaptive ball joint positioning device of this embodiment includes a base 1, a three-dimensional force sensor 2 mounted on the base 1, a bearing seat 4 mounted above the three-dimensional force sensor 2, a flange cover 7 mounted above the bearing seat 4, and a locking cover 10 mounted above the flange cover 7. A ball joint seat 8 is installed inside the flange cover 7 in this embodiment, located above the bearing seat 4, and a tapered roller bearing 6 is provided between the ball joint seat 8 and the bearing seat 4. In a preferred embodiment, a protective cover 3 is provided between the flange cover 7 and the base 1, and an electrical interface 15 is mounted on the protective cover 3. The electrical interface 15 is used to connect an external power source to provide power to the various internal sensors and other components.

[0031] Specifically, in this embodiment, the ball joint seat 8 is provided with a first central through hole 8a, and the upper end of the first central through hole 8a is provided with an adaptive positioning section 8b for receiving the ball joint 13. The inner wall of the adaptive positioning section 8b is set as an inner conical surface with a taper of 1:0.5. Specifically, the bottom outer wall of the ball joint 13 adapted in this embodiment is also set as an outer conical surface. Through the adaptive fit between the inner conical surface and the outer conical table, the ball joint 13 can be positioned and centered. The force on the ball joint seat 8 is transmitted downward to the three-dimensional force sensor 2 through the tapered roller bearing 6 and the bearing seat 4. In this embodiment, the flange cover 7 is provided with a second central through hole 7d for the ball joint to enter and exit, and the locking cover 10 is provided with a third central through hole 10a for the ball joint 13 to pass through. The first central through hole 8a and the second central through hole 7d are coaxially arranged, and a laser displacement sensor 5 coaxial with the first central through hole 8a is installed in the bearing housing 4. In this way, the laser emitted by the laser displacement sensor 5 can pass through the first central through hole 8a, the second central through hole 7d and the third central through hole 10a, thereby guiding the ball head 13 into position with high precision, improving working efficiency and reliability.

[0032] The flange cover 7 of this embodiment is provided with a control mechanism for controlling the ball head 13. Specifically, the control mechanism of this embodiment includes a locking through hole 7a disposed in the side wall of the second central through hole 7d, a locking pin 16 installed in the locking through hole 7a, and a control drive mechanism for driving the locking pin 16 to move along the locking through hole 7a between a free position, an anti-escape position, and a locking position. Specifically, in this embodiment, the locking through hole 7a is located in the radial direction of the second central through hole 7d, that is, the locking pin 16 moves along the radial direction of the second central through hole 7d. At least three locking through holes 7a are provided, and the locking through holes 7a are evenly distributed in a ring within the side wall of the second central through hole 7d. Thus, by controlling the position of the locking pin 16 within the locking through holes 7a, different restrictive effects can be achieved on the ball head 13: when the locking pin 16 is in the free position, the ball head 13 can freely enter and exit the second central through hole 7d; when the locking pin 16 is in the anti-escape position, the ball head 13 is confined within the second central through hole 7d but can rotate relative to the ball head seat 8; when the locking pin 16 is in the locking position, the ball head 13 is locked and fixed on the ball head seat 8. In a preferred embodiment, the inner end face of the locking pin 16 is a spherical surface that matches the outer surface of the ball head 13. When the locking pin 16 is in the locking position, there is a surface contact fit between the inner end face of the locking pin 16 and the outer spherical surface of the ball head 13.

[0033] Specifically, in this embodiment, the flange cover 7 is provided with limiting grooves 7c corresponding to the locking through holes 7a one-to-one. The axis of the limiting groove 7c intersects perpendicularly with the axis of the corresponding locking through hole 7a, and the limiting groove 7c penetrates the two side walls of the corresponding locking through hole 7a. A limiting post 17 is installed in the limiting groove 7c. The inner end face of the locking pin 16 is provided with a second mounting groove 16a, and the locking pin 16 is provided with a sliding groove 16b that slides with the limiting post 17. A return spring 16c is installed in the second mounting groove 16a, located between the limiting post 17 and the bottom of the second mounting groove 16a. The return spring 16c applies a radially outward elastic force to the locking pin 16, and the locking pin 16 is limited by the limiting post 17 and the sliding groove 16b.

[0034] The control drive mechanism of this embodiment includes a locking turntable 9 sleeved on the flange cover 7, which rotates in conjunction with the flange cover 7. Specifically, in a preferred embodiment, the outer wall of the flange cover 7 has a cylindrical surface 7e for engaging with the locking turntable 9. The cylindrical surface 7e is coaxially arranged with the second central through hole 7d to guide the rotation of the locking turntable 9. The inner wall of the locking turntable 9 has control grooves 9a corresponding to the locking through holes 7a. The two ends of the control grooves 9a are a free control position and a locking control position, respectively, and the middle of the control grooves 9a has an escape prevention control position. Specifically, the inner wall of the portion of the locking turntable 9 located between two adjacent control grooves 9a engages with the cylindrical surface 7e, ensuring that the locking turntable 9 and the second central through hole 7d remain coaxial. The distance between the bottom of the control groove 9a and the axis of the second central through hole 7d gradually decreases along the direction from the free control position to the locking control position. Furthermore: when the locking pin 16 engages with the free control position of the control groove 9a, the locking pin 16 is in the free position; when the locking pin 16 engages with the anti-escape control position of the control groove 9a, the locking pin 16 is in the anti-escape position; and when the locking pin 16 engages with the locking control position of the control groove 9a, the locking pin 16 is in the locking position. In a preferred embodiment, the flange cover 7 is provided with a second mounting through hole 7f, and a photoelectric switch 12 for detecting the locking state of the locking pin 16 is installed in the second mounting through hole 7f. A third mounting through hole 4a is provided on the bearing seat 4, corresponding one-to-one with the second mounting through hole 7f. The third mounting through hole 4a is coaxial with the corresponding second mounting through hole 7f and is used to install the photoelectric switch 12 and lead out the power line of the photoelectric switch 12. Specifically, the spacing between the free control position and the locking control position of two adjacent control slots 9a is equal to the spacing between the free control position and the locking control position of the same control slot 9a. In this embodiment, the photoelectric switches 12 are evenly distributed in a ring, and the number of photoelectric switches 12 is equal to the sum of the number of free control positions and locking control positions of all control slots 9a. Thus, the state of the known 16 can be determined by the state of the photoelectric switches 12.

[0035] Specifically, the control drive mechanism in this embodiment also includes a locking handle 14 for driving the locking turntable 9 to rotate. The locking handle 14 is fixedly connected to the locking turntable 9, and the locking cover 10 is provided with a clearance groove 10b for making way for the locking handle 14. The clearance groove 10b is provided with three locking positions, namely locking position 10c, locking position 10d and locking position 10e. The two locking positions 10c and 10e at both ends correspond to the free control position and the locking control position, respectively, while the locking position 10d in one of the positions corresponds to the anti-escape control position. Furthermore: when the locking handle 14 is in the locking position 10c corresponding to the free control position, the locking pin 16 engages with the free control position of the control groove 9a; when the locking handle 14 is in the locking position 10d corresponding to the anti-escape control position, the locking pin 16 engages with the anti-escape control position of the control groove 9a; and when the locking handle 14 is in the locking position 10e corresponding to the locking control position, the locking pin 16 engages with the locking control position of the control groove 9a. In this embodiment, the locking handle 14 drives the locking turntable 9 to rotate around the cylindrical surface 7e of the flange cover 7, while the clearance groove 10b limits the rotation range of the locking handle 14 and the locking turntable 9, ensuring that the locking pin 16 is always within the corresponding control groove 9a. This not only facilitates operation but also reduces control difficulty and manufacturing costs.

[0036] Specifically, in this embodiment, the second central through hole 7d includes a connecting section and a control section located above the connecting section. The connecting section is fixedly connected to the bearing housing 4, and both the tapered roller bearing 6 and the ball head seat 8 are located within the connecting section. A locking through hole 7a is provided within the side wall of the control section. The inner diameter of the control section is smaller than the inner diameter of the connecting section, forming a support step surface 7g above the ball head seat 8 between the control section and the connecting section. The flange cover 7 has a first mounting through hole 7b penetrating its top surface and the support step surface 7g. The top surface of the ball head seat 8 has a first mounting groove 8a corresponding to each of the first mounting through holes 7b. A support spring 11 is provided within the first mounting through hole 7b, located between the first mounting groove 8a and the locking cover 10. In this embodiment, the first mounting through holes 7b are arranged in three groups, with each group including three first mounting through holes 7b.

[0037] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. An adaptive ball head positioning device, characterized by: It includes the base (1), the three-dimensional force sensor (2) is installed on the base, the bearing seat (4) is installed above the three-dimensional force sensor (2), the flange cover (7) is installed above the bearing seat (4), the locking cover (10) is installed above the flange cover (7), the ball head seat (8) is installed in the flange cover (7), the ball head seat (8) is located above the bearing seat (4), and the tapered roller bearing (6) is arranged between the ball head seat (8) and the bearing seat (4); The first center through hole is provided on the ball head seat (8), the upper end of the first center through hole is provided with an adaptive positioning section for receiving the ball head (13), the inner wall of the adaptive positioning section is provided as an inner conical surface, the bottom outer wall of the ball head (13) is also provided as an outer conical surface, and the ball head (13) is adapted by the adaptive cooperation between the inner conical surface and the outer conical surface; The second center through hole for the ball head to enter and exit is arranged in the flange cover (7), and the third center through hole for the ball head (13) to pass through is arranged on the locking cover (10); The first center through hole and the second center through hole are coaxially arranged, and the laser displacement sensor (5) coaxial with the first center through hole is installed in the bearing seat (4); The control mechanism for controlling the ball head (13) is arranged on the flange cover (7); The control mechanism includes a locking through hole (7a) arranged in the side wall of the second center through hole, a locking pin (16) installed in the locking through hole (7a), and a control driving mechanism for driving the locking pin (16) to move along the locking through hole between a free station, an anti-escape station and a locking station; When the locking pin (16) is located at the free station, the ball head (13) can freely enter and exit the second center through hole; When the locking pin (16) is located at the anti-escape station, the ball head (13) is limited in the second center through hole but can rotate relative to the ball head seat (8); When the locking pin (16) is located at the locking station, the ball head (13) is locked and fixed on the ball head seat (8); The second center through hole includes a connecting section and a control section located above the connecting section, the connecting section is fixedly connected with the bearing seat (4), and the tapered roller bearing (6) and the ball head seat (8) are located in the connecting section; The locking through hole is arranged in the side wall of the control section; The inner diameter of the control section is smaller than that of the connecting section, and a support step surface located above the ball head seat (8) is formed between the control section and the connecting section; The first mounting through hole (7b) is arranged on the support step surface, the first mounting groove (8a) corresponding to the first mounting through hole (7b) is arranged on the top surface of the ball head seat (8), and the support spring (11) is arranged between the first mounting groove (8a) and the locking cover (10) in the first mounting through hole (7b).

2. The self-adapting ball head positioning device according to claim 1, wherein: The protective cover (3) is arranged between the flange cover (7) and the base (1); The electrical interface (15) is installed on the protective cover (3).

3. The self-adapting ball head positioning device according to claim 1, wherein: The inner end surface of the locking pin is provided with a spherical surface matching the outer surface of the ball head (13).

4. The self-adapting ball head positioning device according to claim 1, wherein: The flange cover (7) is internally provided with a second mounting through hole, and a photoelectric switch (12) for detecting the locking state of the locking pin (16) is mounted in the second mounting through hole.

5. The self-adapting ball head positioning device according to any one of claims 1-4, characterized in that: The flange cover (7) is provided with a limiting groove (7c) corresponding to the locking through hole (7a), the axis of the limiting groove (7c) is perpendicular to the axis of the corresponding locking through hole (7a), and the limiting groove (7c) penetrates through the two side walls of the corresponding locking through hole (7a); a limiting column (17) is mounted in the limiting groove (7c). The inner end surface of the locking pin (16) is provided with a second mounting groove, and the locking pin (16) is provided with a sliding groove slidingly matched with the limiting column (17), and a return spring is mounted in the second mounting groove between the limiting column (17) and the groove bottom of the second mounting groove.

6. The self-adapting ball head positioning device according to claim 5, wherein: The locking through hole (7a) is provided with at least three, and the locking through holes (7a) are annularly and uniformly arranged in the side wall of the second center through hole.

7. The self-adapting ball head positioning device according to claim 6, wherein: The control driving mechanism comprises a locking turntable (9) sleeved outside the flange cover (7), the locking turntable (9) is rotationally matched with the flange cover (7), and the inner wall of the locking turntable (9) is provided with a control groove corresponding to the locking through hole (7a), the two ends of the control groove are respectively a free control position and a locking control position, and the middle part of the control groove is provided with an anti-escape control position; the distance between the groove bottom of the control groove and the axis of the second center through hole gradually decreases along the direction from the free control position to the locking control position, and: when the locking pin (16) is matched with the free control position of the control groove, the locking pin (16) is located in the free position; when the locking pin (16) is matched with the anti-escape control position of the control groove, the locking pin (16) is located in the anti-escape position; when the locking pin (16) is matched with the locking control position of the control groove, the locking pin (16) is located in the locking position.

8. The self-adapting ball head positioning device according to claim 7, wherein: The outer wall of the flange cover is provided with a cylindrical surface for matching with the locking turntable (9).

9. The self-adapting ball head positioning device according to claim 7, wherein: The control driving mechanism further comprises a locking handle (14) for driving the rotation of the locking turntable (9), the locking handle (14) is fixedly connected with the locking turntable (9), and the locking cover (10) is provided with a displacement slot for accommodating the locking handle (14), three locking stations are arranged in the displacement slot, two locking stations at both ends correspond to the free control position and the locking control position respectively, and one locking station in the middle corresponds to the escape prevention control position; and when the locking handle (14) is located in the locking station corresponding to the free control position, the locking pin (16) is matched with the free control position of the control slot; when the locking handle is located in the locking station corresponding to the escape prevention control position, the locking pin (16) is matched with the escape prevention control position of the control slot; and when the locking handle is located in the locking station corresponding to the locking control position, the locking pin (16) is matched with the locking control position of the control slot.

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