Flexible device for assembling large parts

Abstract

The invention discloses a compliant device for assembling large parts, which comprises a base, a six-degree-of-freedom compliant unit and a tail end clamping mechanism, the six-degree-of-freedom compliant unit is positioned on the base and connected with the base, the tail end clamping mechanism is positioned at the tail end of a mechanical arm of the six-degree-of-freedom compliant unit, a plurality of shock absorbers are arranged in the six-degree-of-freedom compliant unit, and the shock absorbers are connected with the tail end clamping mechanism. And connection with the side face of the mechanical arm is achieved through the shock absorber, so that the mechanical arm has the six-degree-of-freedom pose adjusting capacity. According to the method, the flexibility and adaptability of large part assembly are improved, accurate assembly in various complex environments is achieved, and the assembly quality is improved.

Description

Technical Field

[0001] The invention relates to the field of large-scale parts assembly, and in particular to a compliant device used for large-scale parts assembly. Background Art

[0002] Large module assembly is one of the important tasks in the field of large equipment construction. Taking the construction of large LNG carriers as an example, a large LNG carrier needs to install nearly 60,000 insulation modules, each of which weighs 70-100kg, measures more than 1000mm×1000mm×200mm, and is installed 200-1500mm above the ground. It is one of the most time-consuming and complex tasks in the construction process. Similarly, taking the construction of large underwater products as an example, hundreds of posture adjustment devices need to be installed during the manufacturing process. Each device weighs 200-500kg, measures more than 600mm×600mm×400mm, and is installed 700-1000mm above the ground. It is one of the most labor-intensive and resource-intensive tasks in the construction process.

[0003] At the same time, the installation of large modules is difficult. Different modules have different installation requirements, including horizontal surface installation, vertical surface installation, inclined surface installation, curved surface installation, etc. The installation is difficult and requires extremely high universality of the installation device.

[0004] At present, the installation of large modules mostly adopts the traditional manual assembly method, manually adjusting the module posture for assembly, which is labor-intensive and has low work efficiency. After searching the prior art, it was found that the existing large module auxiliary assembly devices are mainly for the transportation and lifting of large modules, and usually use rigid structures for assembly, lacking devices with strong functionality and high applicability. For example, the Chinese invention patent "Rotary vertical assembly device for thin-walled cylindrical components" with publication number CN106624549A, the Chinese invention patent "A large module mobile trolley" with publication number CN202323021767.6, and the Chinese invention patent "Multifunctional tooling trailer for testing and debugging of aircraft fuel systems and its use method" with publication number CN117485239A all belong to this type.

[0005] Current installation technology for large modules has the following disadvantages:

[0006] 1. The assembly of large parts lacks flexibility and adaptability, making it difficult to achieve precise assembly.

[0007] 2. When assembling large parts, there is a lack of effective movement and positioning mechanisms, resulting in low assembly efficiency.

[0008] 3. During the loading process, the existing technology has insufficient processing capacity for heavy and large parts, making it difficult to achieve efficient loading.

[0009] In summary, improving the installation efficiency of large modules is one of the key factors in achieving efficient construction of large equipment, and it is also an important weight to improve my country's international competitiveness in various fields. Therefore, it is of great significance to carry out research on efficient installation of large modules, develop installation equipment, and develop automated and intelligent installation equipment. This patent aims to solve the problem that the assembly of large parts lacks flexibility and adaptability, which makes it difficult to achieve precise assembly. The design of the six-degree-of-freedom compliant unit achieves posture adjustment through multiple shock absorber units, and the end clamping mechanism has the characteristics of overall rigidity and local flexibility to meet the assembly requirements of large parts.

[0010] Therefore, those skilled in the art have devoted themselves to developing a compliant device for large part assembly. Summary of the invention

[0011] To achieve the above object, the present invention provides a compliant device for assembling large parts.

[0012] It includes a base, a six-degree-of-freedom compliance unit and an end clamping mechanism. The six-degree-of-freedom compliance unit is located on the base and connected to the base. The end clamping mechanism is located at the end of the mechanical arm of the six-degree-of-freedom compliance unit.

[0013] The six-DOF compliant unit includes a compliant unit bearing structure, multiple shock absorbers and a robotic arm.

[0014] The flexible unit bearing structure is a semi-enclosed structure, with one side open to the installation position of the parts to be assembled and the other sides closed.

[0015] The flexible unit bearing structure is equipped with multiple shock absorbers, one end of each shock absorber unit is connected to the inner side of the flexible unit bearing mechanism, and the other end is connected to the side of a mechanical arm placed in the center of the flexible unit bearing structure, and the end of the mechanical arm extends out of the flexible unit bearing structure.

[0016] Furthermore, the shock absorber may be a spring and / or an elastic plate.

[0017] Furthermore, the compliance device may also include a two-degree-of-freedom feeding unit.

[0018] The two-degree-of-freedom loading unit comprises a horizontal first guide rail, a first slider, a first base, a vertical assembly frame, a vertical second guide rail and a second slider installed on the base.

[0019] A first slider is arranged on the first guide rail, the first base is connected to the first slider and can move horizontally and linearly along the first guide rail, a vertical assembly rack is installed on the first base, a vertical second guide rail is installed on the vertical assembly rack, a second slider is arranged on the second guide rail, and the six-degree-of-freedom compliance unit is connected to the second slider and can move vertically and linearly along the second guide rail.

[0020] Furthermore, the two-degree-of-freedom loading unit may also include a first ball screw installed on the vertical assembly frame, the first ball screw is connected to the six-freedom compliance unit, the first ball screw is also connected to the first drive motor, and the first drive motor drives the six-freedom compliance unit to move through the first ball screw.

[0021] Furthermore, the two-degree-of-freedom loading unit may also include a second ball screw, which is connected to the first base and is also connected to a second drive motor, and the second drive motor drives the first base to move via the second ball screw.

[0022] Furthermore, a third horizontal guide rail may be arranged on the base, a third slide block may be arranged on the third guide rail, and a second base may be arranged on the third slide block.

[0023] Furthermore, a third ball screw is provided on the base, the third ball screw is connected to the second base, the third ball screw is also connected to a third drive motor, and the third drive motor drives the second base to move via the third ball screw.

[0024] Furthermore, a plurality of casters may be provided at the bottom of the base, and the casters have a locking function.

[0025] Furthermore, the base may also include a movable push rod and a push rod angle adjustment mechanism.

[0026] Furthermore, the end clamping mechanism is provided with a ball screw connected to the first base, and the relative height with the base is adjustable. The end clamping mechanism also includes a pair of rigid jaws or flexible jaws, a driving mechanism, and a shock absorbing unit. The driving mechanism is a stepping motor or a servo motor. The driving mechanism drives the opening and closing of the jaws to perform clamping, placement and other actions.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The problem of lack of flexibility and adaptability in the assembly of large parts and difficulty in achieving precise assembly is solved. The design of the six-degree-of-freedom compliant unit of the present invention achieves posture adjustment through multiple shock absorber units, and the end clamping mechanism has the characteristics of overall rigidity and local flexibility. The shock absorber unit inside the six-degree-of-freedom compliant unit of the present invention is connected to the side of the robot arm through springs and elastic plates of specific stiffness, so as to have the ability to adjust the posture in six degrees of freedom; the physical shape of the end clamping mechanism of the present invention and the design of the drive motor enable it to match and clamp according to the physical characteristics of the assembled parts. The present invention improves the flexibility and adaptability of large parts assembly, achieves precise assembly in a variety of complex environments, and improves the assembly quality.

[0029] 2. In order to solve the problem of low assembly efficiency due to the lack of effective movement and positioning mechanism during the assembly of large parts, the present invention designs a mobile base that integrates linear motion guides and stepper motors to achieve precise movement and positioning of large parts. The present invention achieves precise horizontal movement of the loading unit through the linear motion guides and stepper motors on the base of the device. The design of the mobile power-assisting mechanism and fixed casters of the present invention allows the entire device to be moved in multiple directions on the ground and can be stably locked during assembly. The present invention improves the efficiency and accuracy of large parts assembly, reduces manpower requirements, and reduces labor intensity.

[0030] 3. In view of the problem that the prior art has insufficient processing capacity for heavy and large parts during the loading process, and it is difficult to achieve efficient loading, the present invention designs a two-degree-of-freedom loading unit, including a bottom slider and a vertical assembly rack, which can meet the assembly requirements of large parts. The bottom slider of the present invention moves linearly in the horizontal direction on the device base, and the linear guide rail and stepper motor on the vertical assembly rack are responsible for the vertical movement of the six-degree-of-freedom compliance unit. The present invention realizes the rapid and accurate loading of large parts and improves the automation level of the assembly line.

[0031] Technical advantages of the present invention:

[0032] 1. High degree of automation: The device realizes the automatic assembly of large parts by integrating a mobile base, a two-degree-of-freedom feeding unit, a six-degree-of-freedom compliance unit and an end clamping mechanism, which greatly reduces manual operation and improves production efficiency;

[0033] 2. Accuracy and stability: The use of linear motion guides and stepper motors ensures accurate movement and positioning of parts during assembly, improving assembly accuracy and stability;

[0034] 3. Flexibility and adaptability: The design of the six-degree-of-freedom compliant unit enables the device to adapt to large parts of different shapes and sizes, has good flexibility and adaptability, and is suitable for a variety of assembly environments;

[0035] 4. Easy operation: The mobile power-assist mechanism and caster design of the device make the movement and positioning of the equipment easier and reduce the difficulty of operation.

[0036] Performance indicators of the present invention:

[0037] 1. Load-bearing capacity: The design of the device base and the flexible unit load-bearing structure has a strong load-bearing capacity and can meet the assembly requirements of heavy and large parts;

[0038] 2. Range of motion: The two-degree-of-freedom loading unit and the six-degree-of-freedom compliance unit provide a wide range of spatial motion to meet the needs of different assembly positions;

[0039] 3. Assembly efficiency: Compared with traditional assembly methods, this device can significantly improve assembly efficiency and reduce assembly cycle;

[0040] 4. Environmental adaptability: The diversified design of the end clamping mechanism enables the device to adapt to various assembly environments such as vertical, vertical, inclined, curved, etc.

[0041] Production implementation of the present invention:

[0042] 1. Modular design: This device adopts modular design, which is convenient for production and maintenance, and can be quickly adjusted and replaced according to the assembly requirements of different parts;

[0043] 2. Cost-effectiveness: Although the initial investment is high, in the long run, automated assembly can reduce labor costs, improve production efficiency, and have good cost-effectiveness;

[0044] 3. Industrialization prospects: The present invention is applicable to the fields of shipbuilding, large-scale machinery assembly, building steel structure installation, etc., and has broad market application prospects;

[0045] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of the overall structure of a preferred embodiment of the present invention from another angle;

[0048] Figure 3 A front view of a preferred embodiment of the present invention;

[0049] Figure 4 It is a structural schematic diagram of a base of a preferred embodiment of the present invention;

[0050] Figure 5 It is a structural schematic diagram of a two-degree-of-freedom feeding unit of a preferred embodiment of the present invention;

[0051] Figure 6 It is a structural schematic diagram of a six-degree-of-freedom compliance unit of a preferred embodiment of the present invention;

[0052] Figure 7 A front view of a six-degree-of-freedom compliance unit of a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0054] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0055] like Figure 1 , 2 As shown, a compliant device for large-scale parts assembly includes: a mobile base 1, a two-degree-of-freedom feeding unit 2, a six-degree-of-freedom compliant unit 3, and an end clamping mechanism 4. The device uses the clamping mechanism 4 to grasp large parts, and the movement of the mobile base 1 on the ground realizes the transfer of large parts; at the installation position, the two-degree-of-freedom feeding unit 2 is used to realize the lifting and horizontal short-distance movement of large parts; finally, the compliant unit 3 is used to adjust the posture of the parts to realize precise assembly.

[0056] like Figure 3 , 4 As shown, the mobile base 1 includes a device base 101, a device support foot 102, a device caster 103, a device mobile power mechanism 104, an angle adjustment mechanism 105, a feeding unit linear motion guide rail 106, a feeding unit fixed slider 107, a drive motor 108, a feeding unit motion slider and a ball screw 109. When the device is working, the user controls the mobile power mechanism 104 to adjust the movement direction of the device base; after reaching the specified position, adjust the support foot 102 to lock the position of the device; the feeding unit is installed on the slider 107, and is input by the drive motor 108 to move along the guide rail 106 to adjust the installation position.

[0057] like Figure 5 As shown, the two-degree-of-freedom loading unit 2 includes a motion base 201, a vertical base linear motion ball screw and a slider 202, a vertical base linear motion guide rail 203, a vertical base linear motion drive motor 204, a vertical base base 205, a vertical base gantry 206, a compliance unit vertical motion guide rail 207, a compliance unit vertical motion ball screw and a slider 208, and a compliance unit vertical motion drive motor 209. When the device adjusts the posture of large parts, the vertical base linear motion drive motor 204 is used to drive the vertical base to perform horizontal linear motion along the motion guide rail 203; the compliance unit vertical motion drive motor 209 is used to drive the compliance unit to perform vertical linear motion along the motion guide rail 207.

[0058] like Figure 6 , 7 As shown, the compliance unit includes a clamping plate baffle 301, a unit bearing structure 302, a shock absorber unit mounting platform 303, a motion limiter 304, a shock absorber elastic element 305, and a mechanical arm 306. The unit bearing structure is connected to the feeding unit 2 through the compliance unit vertical motion slider 208; in this example, a total of 8 shock absorbers are installed between the mechanical arm 306 and the unit bearing structure 302, so that the mechanical arm 306 has a six-degree-of-freedom adjustment capability in space; when the end is assembling large parts, the posture of the mechanical arm 306 is manually adjusted to achieve the posture adjustment of the end.

[0059] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A compliant device for large parts assembly, characterized in that: It includes a base, a six-degree-of-freedom compliance unit and an end clamping mechanism. The six-degree-of-freedom compliance unit is located on the base and connected to the base. The end clamping mechanism is located at the end of the mechanical arm of the six-degree-of-freedom compliance unit. The six-DOF compliant unit includes a compliant unit bearing structure, multiple shock absorbers and a robotic arm. The flexible unit bearing structure is a semi-enclosed structure, with one side open to the installation position of the parts to be assembled and the other sides closed. The flexible unit bearing structure is equipped with multiple shock absorbers, one end of each shock absorber unit is connected to the inner side of the flexible unit bearing mechanism, and the other end is connected to the side of a mechanical arm placed in the center of the flexible unit bearing structure, and the end of the mechanical arm extends out of the flexible unit bearing structure.

2. The compliant device for large parts assembly according to claim 1, characterized in that: The shock absorber is a spring and / or an elastic plate.

3. The compliant device for large parts assembly according to claim 1, characterized in that: The compliant device also includes a two-degree-of-freedom feeding unit, The two-degree-of-freedom loading unit comprises a horizontal first guide rail, a first slider, a first base, a vertical assembly frame, a vertical second guide rail and a second slider installed on the base. A first slider is arranged on the first guide rail, the first base is connected to the first slider and can move horizontally and linearly along the first guide rail, a vertical assembly rack is installed on the first base, a vertical second guide rail is installed on the vertical assembly rack, a second slider is arranged on the second guide rail, and the six-degree-of-freedom compliance unit is connected to the second slider and can move vertically and linearly along the second guide rail.

4. The compliant device for large parts assembly according to claim 3, characterized in that: The two-degree-of-freedom feeding unit also includes a first ball screw installed on the vertical assembly frame, the first ball screw is connected to the six-freedom compliance unit, and the first ball screw is also connected to the first drive motor, and the first drive motor drives the six-freedom compliance unit to move through the first ball screw.

5. The compliant device for large parts assembly according to claim 3, characterized in that: The two-degree-of-freedom feeding unit also includes a second ball screw, which is connected to the first base and is also connected to a second drive motor. The second drive motor drives the first base to move through the second ball screw.

6. The compliant device for large parts assembly according to claim 1, characterized in that: A third horizontal guide rail is arranged on the base, a third slide block is arranged on the third guide rail, and a second base is arranged on the third slide block.

7. The compliant device for large parts assembly according to claim 6, characterized in that: A third ball screw is also arranged on the base, the third ball screw is connected to the second base, the third ball screw is also connected to a third drive motor, and the third drive motor drives the second base to move through the third ball screw.

8. The compliant device for large parts assembly according to any one of claims 1 to 7, characterized in that: A plurality of casters are arranged at the bottom of the base, and the casters have a locking function.

9. The compliant device for large parts assembly according to claim 8, characterized in that: The base also includes a movable push rod and a push rod angle adjustment mechanism.

10. The compliant device for large parts assembly according to claim 1, characterized in that: The end clamping mechanism is provided with a ball screw connected to the first base, and the relative height with the base is adjustable. The end clamping mechanism also includes a pair of rigid jaws or flexible jaws, a driving mechanism, and a shock absorbing unit. The driving mechanism is a stepping motor or a servo motor, and the driving mechanism drives the opening and closing of the jaws.

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