An adaptive adsorption trajectory support system

Abstract

The application discloses a self-adaptive adsorption track support system, which comprises a support frame, a sucking disc and a guide rail. The support frame is a U-shaped support frame with an opening downwardly arranged. The sucking disc is detachably connected to the inside of the support frame. The lower end surface of the sucking disc after adsorption is flush with the lower end opening of the support frame. The upper surface of the support frame is detachably connected with the guide rail. The support frame and the guide rail are provided with a plurality of sections. The lower end opening of the support frame can be in contact with the support surface. The application is a bottom guide rail adsorption support device which can adapt to three-dimensional irregular curved surfaces and disperse the working stress of the upper execution mechanism. The device is used for the fixation of the guide rail adsorption support on the three-dimensional irregular narrow space curved surface in the composite material processing under the special manufacturing environment. The support with the edge adaptive curvature is designed to adapt to the multi-dimensional irregular curved surface, so that the left and right overturning moments of the upper operation platform can be effectively inhibited. The negative pressure adsorption of the sucking disc can realize the safe support of the guide rail without damaging the support surface.

Description

Technical Field

[0001] This invention relates to the technical field of mechanical guideways, and in particular to an adaptive adsorption trajectory support system. Background Technology

[0002] In certain specialized manufacturing environments, particularly for operations on irregular three-dimensional curved surfaces, robots or actuators need to enter confined, irregular three-dimensional spaces to perform their tasks. Currently, most methods involve manual entry or semi-active magnetic adsorption trajectory guidance of the actuator. In environments where high precision is not required, trackless mobile platforms are used to enter confined spaces. To ensure high precision while guiding the actuator into the confined space, a multi-track guidance method is necessary.

[0003] Currently, most existing bottom trajectory support devices are linear planar trajectories, with fewer three-dimensional curved surface trajectories, and they lack the adaptability to multi-dimensional curved surfaces and sufficient support strength. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive adsorption trajectory support system to solve the problems existing in the prior art, so that the trajectory support system has the adaptability of multi-dimensional curved surfaces and sufficient support strength.

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

[0006] This invention provides an adaptive adsorption trajectory support system, including a support frame, a suction cup, and a guide rail. The support frame is a U-shaped support frame with its opening facing downwards. The suction cup is detachably connected to the inside of the support frame. The lower end face of the suction cup after adsorption is flush with the lower port of the support frame. The guide rail is detachably connected to the upper surface of the support frame. Both the support frame and the guide rail are provided with several segments, which are detachably connected end to end in sequence. The lower ports of several segments of the support frame can contact the support surface.

[0007] Preferably, a wedge-shaped bracket is provided between the bottom surface of the guide rail and the support frame, and the top surface of the guide rail and / or the top surface of the support frame is provided with a curvature that meets the design process requirements.

[0008] Preferably, the number of support frames and guide rails are the same and they are arranged in a one-to-one correspondence.

[0009] Preferably, a suction cup frame is detachably connected inside the support frame, and the suction cup is bolted to the suction cup frame.

[0010] Preferably, the suction cup frame is a U-shaped frame, and the suction cup frame is connected to the side of the support frame by bolts.

[0011] Preferably, the lower end face of the suction cup holder is flush with the lower end face of the support frame and matches the curvature of the support surface, and the top surface of the suction cup holder matches the curvature of the support surface.

[0012] Preferably, the suction cup holder and the support frame are provided with at least one U-shaped opening on their respective sides.

[0013] Preferably, the top surface of the support frame is provided with a hollowed-out design and X-shaped reinforcing ribs.

[0014] Preferably, each of the support frames has two rows of suction cups inside, and the suction cups are staggered and connected to form two sets of suction cups, with each set of suction cups connected to a negative pressure adsorption mechanism.

[0015] Preferably, the negative pressure adsorption mechanism includes a vacuum generator, a vacuum release valve, and a pressure gauge. The vacuum generator is connected to a group of suction cups via two pipelines, and each pipeline is equipped with a vacuum release valve and a pressure gauge.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] This invention is a bottom guide rail adsorption support device that can adapt to three-dimensional irregular curved surfaces and disperse the working stress of the upper actuator. It is used for the fixation of guide rails on three-dimensional irregular narrow curved surfaces during composite material processing in special manufacturing environments. The support is designed with an edge-adaptive curvature to adapt to multi-dimensional irregular curved surfaces, which can effectively suppress the left and right tilting moment of the upper working platform. The negative pressure adsorption of the suction cup can achieve safe support of the guide rail without damaging the support surface. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the adaptive adsorption trajectory support system in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the support frame structure in an embodiment of the present invention. Figure 1 ;

[0021] Figure 3 This is a schematic diagram of the support frame structure in an embodiment of the present invention. Figure 2 ;

[0022] Figure 4 This is a schematic diagram of the suction cup holder in an embodiment of the present invention. Figure 1 ;

[0023] Figure 5 This is a schematic diagram of the suction cup holder in an embodiment of the present invention. Figure 2 ;

[0024] Figure 6 This is a schematic diagram of the installation of the adaptive adsorption trajectory support system in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the gas path system in an embodiment of the present invention;

[0026] Among them: 1-support frame, 2-suction cup frame, 3-guide rail, 4-suction cup, 5-support surface, 6-bolt hole, 7-connecting plate, 8-support leg, 9-hollowing out, 10-reinforcing rib, 11-wedge bracket, 12-vacuum generator, 13-vacuum release valve, 14-pressure gauge. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] The purpose of this invention is to provide an adaptive adsorption trajectory support system to solve the problems existing in the prior art, so that the trajectory support system has the adaptability of multi-dimensional curved surfaces and sufficient support strength.

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figures 1 to 7 As shown: This embodiment provides an adaptive adsorption trajectory support system, including a support frame 1, a suction cup 4, and a guide rail 3. The support frame 1 is a U-shaped support frame with its opening facing downwards. The suction cup 4 is detachably connected to the inside of the support frame 1. The lower end face of the suction cup 4 after adsorption is flush with the lower end face of the support frame 1. The guide rail 3 is detachably connected to the upper surface of the support frame 1. Both the support frame 1 and the guide rail 3 are provided with several segments, which are detachably connected end to end. The lower ends of several segments of the support frame 1 can contact the support surface 5. It is designed with edge adaptive support to adapt to multi-dimensional irregular curved surfaces. The side plates of adjacent support frames 1 are fixedly connected by connecting plates 7 and bolts.

[0031] In a preferred embodiment, a wedge-shaped bracket 11 is provided between the bottom surface of the guide rail 3 and the support frame 1. When there is an error in the curvature of the top surface of the support frame 1, the wedge-shaped bracket 11 can be used to support the guide rail 3. The top surface of the guide rail 3 and / or the top surface of the support frame 1 are provided with curvatures that meet the design process requirements. The guide rail 3 and the support frame 1 must be fully adaptable to irregular curved surfaces. The number of support frames 1 and guide rails 3 are the same and they are arranged in a one-to-one correspondence. If the support frame 1 has processing errors and cannot completely coincide with the support surface 5, wedge-shaped triangular irons can be added at the guide rail 3 and support frame 1 to ensure uniform force distribution at the bottom support during assembly.

[0032] In a preferred embodiment, a suction cup frame 2 is detachably connected inside the support frame 1. The suction cup 4 is bolted to the suction cup frame 2. Bolt holes 6 for mounting the suction cup 4 are provided on the top surface of the suction cup frame 2, facilitating disassembly, assembly, maintenance, and replacement of the suction cup 4. The suction cup 4 is preferably a 100mm heavy-duty single-layer suction cup. The suction cup frame 2 is a U-shaped frame, and the suction cup frame 2 is bolted to the side of the support frame 1, facilitating disassembly, assembly, maintenance, and replacement. The lower end face of the suction cup holder 2 is flush with that of the support frame 1 and matches the curvature of the support surface 5. The top surface of the suction cup holder 2 also matches the curvature of the support surface 5. The top surface of the suction cup holder 2 is used to connect the suction cup 4, facilitating contact between the suction cup 4 and the support surface 5 and improving the connection strength. The shape of the bottom surface of the legs 8 of the support frame 1 and the curvature of the upper surface of the suction cup holder 2 can be designed by analyzing the curvature of the support surface 5, achieving adaptability to surfaces with different curvatures. Simultaneously, negative pressure adsorption is used, adapting to all metal surfaces. When the machining accuracy ensures that the lower end faces of the suction cup holder 2 and the support frame 1 are completely overlapped with the support surface 5, this rigid contact ensures the stability and reliability of the supporting force above and prevents the support frame 1 from tipping over. At least one U-shaped opening is provided on the side of the suction cup holder 2 and the support frame 1, forming at least two legs 8. The curvature adaptation area is smaller, making it easier to machine a shape that adapts to the curvature of the support surface 5. The top surface of the support frame 1 is provided with a hollow 9 and a reinforcing rib 10. In this embodiment, an X-shaped reinforcing rib is preferred, which reduces weight without sacrificing strength.

[0033] In a preferred embodiment, each support frame 1 has two rows of suction cups 4 inside. The suction cups 4 are staggered and connected to form two sets of suction cups. Each set of suction cups is connected to a negative pressure adsorption mechanism. The negative pressure adsorption mechanism is divided into two independent air paths. The redundant design realizes air path protection, which can fix and disperse the working stress of the upper actuator. The staggered arrangement of the two sets of air paths can avoid overturning. In this embodiment, the suction cups 4 are designed at equal positions on the suction cup frame 2. The suction cups 4 provide adsorption pull force. The two sides of the support frame 1 and the suction cup frame 2 are the support fulcrum, thereby forming a torque to withstand the overturning torque of the upper guide rail 3 working platform on both sides, which can effectively prevent the guide rail 3 from overturning. The negative pressure adsorption mechanism includes a vacuum generator 12, a vacuum release valve 13, and a pressure gauge 14. The vacuum generator 12 is connected to a set of suction cups 4 through two pipelines, and each pipeline is equipped with a vacuum release valve 13 and a pressure gauge 14. The vacuum generator 12 is a high-efficiency, clean, economical, and small vacuum component that uses a positive pressure air source to generate negative pressure. This makes it very easy and convenient to obtain negative pressure in places where compressed air is available, or in a pneumatic system where both positive and negative pressure are required simultaneously. The vacuum generator 12 can also be a vacuum pump. When the air source is connected, the airflow passes through the vacuum generator 12, causing the suction cups 4 on the support surface 5 to generate negative pressure, thereby generating suction. At the same time, operating the vacuum release valve 13 can easily unload the suction cups 4. The overall air circuit design has two redundant mechanisms. Each set of suction cups 4 is equipped with a vacuum release valve 13, which are independent of each other and do not interfere with each other. If one set of suction cups 4 and air circuit leaks or the negative pressure disappears, the other air circuit will still work, and the support platform will remain stable and will not tip over.

[0034] The adaptive adsorption trajectory support system of this embodiment is used for the adsorption support and fixation of guide rail 3 on a three-dimensional irregular narrow space surface in composite material processing (non-magnetic adsorption) under special manufacturing environments. It solves the problem of fixing robot guide rail 3 in narrow and irregular curved surfaces. The support is designed with edge adaptive curvature to adapt to multi-dimensional irregular curved surfaces, which can effectively suppress the left and right tilting moment of the upper working platform. The vacuum negative pressure suction cup adsorption method in the middle achieves contact with the bottom curved surface, realizing safe support of guide rail 3 without damaging the support surface 5. It is also suitable for various bottom materials. It can accurately send the actuator into the narrow space through the guide rail and can ensure positioning accuracy and repeatability.

[0035] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An adaptive adsorption trajectory support system, characterized by: The utility model provides a support frame, sucking disc and guide rail, the support frame is U type support frame and sets up with the opening downward, the sucking disc can be detachably connected in the support frame, the lower end surface after the sucking disc adsorption is flush with the lower end port of support frame, the upper surface of support frame can detachably connect with the guide rail, the support frame and the guide rail all are provided with a plurality of sections and detachably connected in order, and the lower end port of a plurality of sections support frame can contact with the support surface, every support frame is provided with two columns sucking disc in the inside, and the sucking disc staggered intercommunication forms two groups of sucking disc, and every group of sucking disc is connected with a negative pressure adsorption mechanism respectively, the bottom surface of guide rail and the support frame are provided with the wedge support, the top surface of guide rail and / or the top surface of support frame is provided with curvature, the support frame is detachably connected with the sucking disc frame in, the sucking disc frame is flush with the lower end surface of support frame and matches with the curvature of support surface, and the top surface of sucking disc frame matches with the curvature of support surface.

2. The adaptive adsorption trajectory support system of claim 1, wherein: The support frame and the guide rail are the same in number and one-to-one corresponding.

3. The adaptive adsorption trajectory support system of claim 1, wherein: The sucking disc is connected to the sucking disc frame by bolts.

4. The adaptive adsorption trajectory support system of claim 1, wherein: The sucking disc frame is a U-shaped frame, and the side surface of the sucking disc frame is connected to the side surface of the support frame by bolts.

5. The adaptive adsorption trajectory support system of claim 1, wherein: The side surface of the sucking disc frame and the side surface of the support frame correspond to at least one U-shaped opening.

6. The adaptive adsorption trajectory support system of claim 1, wherein: The top surface of the support frame is provided with a hollow and X-shaped reinforcing rib.

7. The adaptive adsorption trajectory support system of claim 1, wherein: The negative pressure adsorption mechanism includes a vacuum generator, a vacuum release valve and a pressure gauge, the vacuum generator is communicated with a group of sucking discs through two pipelines respectively, and the vacuum release valve and the pressure gauge are arranged on each pipeline.

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