Butt joint method for six-degree-of-freedom full-flexible rigidity butt joint assembly device

Abstract

The invention provides a butt joint method for a six-degree-of-freedom full-flexible rigidity butt joint assembly device, and belongs to the technical field of mechanical flexible assembly. The problems that in the butt joint installation process of mechanical parts, full-degree-of-freedom flexible assembly cannot be achieved, so that the assembly precision is poor, and the assembly stress is high are solved. The method comprises the following steps that firstly, the output force of a zero-rigidity vertical supporting mechanism in a butt-joint assembly device is adjusted to be maximum, a product is placed on a product bracket, three gravity center adjusting mechanisms in the butt-joint assembly device are adjusted according to data of four pressure sensors below the product bracket, the numerical values of the four pressure sensors are made to be the same, and then the output force of the zero-rigidity vertical supporting mechanism in the butt-joint assembly device is adjusted to be maximum; the output force of the zero-rigidity vertical supporting mechanism is adjusted to be the same as the actual supporting force, at the moment, the product bracket is in a complete suspension state, and at the moment, the six-degree-of-freedom full-flexible-rigidity butt-joint assembly device is operated through a handrail on the product bracket, so that the posture and the position of a product can be adjusted at will. The device is mainly used for mechanical assembly.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical flexible assembly, and in particular relates to a docking method for a six-degree-of-freedom full-flexibility rigidity docking assembly device. Background Art

[0002] Currently in the field of mechanical assembly, products are usually supported by rigid devices or partially flexible devices during assembly. However, during docking and installation, if there is a deviation in the position or posture of the product, it is easy to cause greater installation stress, and may even damage the matching structure, reduce the matching accuracy, and thus affect the normal performance and reliability of the product. In addition, the posture and position of the current product are mainly adjusted by rigid mechanisms, which have poor flexibility and are also prone to generate greater assembly stress during the adjustment process, which has an adverse effect on the assembly process. Summary of the invention

[0003] In view of this, the present invention aims to propose a docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device to solve the problem that full-degree-of-freedom flexible assembly cannot be achieved during the docking and installation of mechanical parts, resulting in poor assembly accuracy and high assembly stress.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device, comprising the following steps:

[0006] Step 1: First, adjust the output force of the zero-rigidity vertical support mechanism in the docking assembly device to the maximum;

[0007] Step 2: Place the product on the product bracket, and adjust the three center of gravity adjustment mechanisms in the docking assembly device according to the data of the four pressure sensors below, so that the values ​​of the four pressure sensors are the same;

[0008] Step 3: Adjust the output force of the zero-rigidity vertical support mechanism to be the same as the actual support force. At this time, the product bracket is in a completely suspended state;

[0009] Step 4: At this point, the posture and position of the product can be adjusted arbitrarily by operating the six-degree-of-freedom fully flexible and rigid docking assembly device through the armrest on the product bracket.

[0010] Furthermore, the docking assembly device also includes an air-floating support plate and four planar air-floating support components, the four planar air-floating support components are installed on the air-floating support plate, a manual lifting mechanism is installed above the planar air-floating support components, a zero-rigidity vertical support mechanism is installed on the manual lifting mechanism, and the zero-rigidity vertical support mechanism is connected to the bottom of the product bracket.

[0011] Furthermore, the pressure sensor is installed at the connection between the zero-rigidity vertical support mechanism and the product bracket.

[0012] Furthermore, three center of gravity adjustment mechanisms are respectively installed on the top, side and bottom and are arranged orthogonally to each other.

[0013] Furthermore, the center of gravity adjustment mechanism includes a rotating wheel, a screw and a counterweight block, the rotating wheel is connected to the screw, the screw is threadedly connected to the counterweight block, and the screw is connected to the product bracket through a mounting seat.

[0014] Furthermore, the planar air-floating support component includes a thrust air-floating bearing and a planar air-floating support seat, and thrust air-floating bearings are installed at the four corners of the bottom of the planar air-floating support seat. The thrust air-floating bearing is connected to the air-floating support plate, and the manual lifting mechanism is connected to the top of the air-floating support plate.

[0015] Furthermore, the zero-stiffness vertical support mechanism includes a positive-stiffness spring, a transverse support spring, a knife cam, a knife cam rotating shaft and a vertical motion rod, the positive-stiffness spring is installed in the zero-stiffness vertical support frame, transverse support springs are provided on both sides of the zero-stiffness vertical support frame, the inner end of the transverse support spring is in contact with the knife cam, the knife cam is connected to the knife cam rotating shaft, the knife cam rotating shaft is connected to the positive-stiffness spring, the vertical motion rod is installed on the top of the zero-stiffness vertical support frame, and the vertical motion rod is connected to the product bracket.

[0016] Furthermore, the bottom of the positive stiffness spring is connected to the preload adjustment nut.

[0017] Furthermore, the air floating support plate is a rigid plane.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention adjusts the center of gravity of the product bracket and the product as a whole through a center of gravity adjustment mechanism, so that the center of gravity is located at the center of the four support points. Furthermore, by adjusting the pre-compression amount of the positive stiffness spring in the zero-stiffness vertical support mechanism so that its supporting force matches the weight of the product, zero-stiffness free movement in three degrees of freedom in the plumb direction, pitch direction, and roll direction can be achieved. The free movement in the two horizontal directions and the yaw direction is achieved by relying on the zero friction between the air-floating support plate and the planar air-floating support seat, thereby achieving zero-stiffness movement of the product in six degrees of freedom, ensuring that no assembly stress is generated during the docking installation process of the product, thereby improving the assembly quality and reliability.

[0020] 2. The present invention can realize full-freedom flexible assembly, thereby improving assembly accuracy and reducing assembly stress. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 It is a structural schematic diagram of the docking assembly device of the present invention;

[0023] Figure 2 It is a front view of the docking assembly device of the present invention;

[0024] Figure 3 It is a schematic diagram of the installation of the rigid vertical support mechanism and the planar air-floating support component.

[0025] In the figure:

[0026] 1-air floating support plate, 2-product bracket, 3-center of gravity adjustment mechanism, 4-plane air floating support component, 5-manual lifting mechanism, 6-zero stiffness vertical support mechanism, 7-pressure sensor, 8-armrest, 3-1: rotating wheel, 3-2: screw, 3-3: counterweight, 4-1: thrust air floating bearing, 4-2: plane air floating support seat, 6-1: positive stiffness spring, 6-2: lateral support spring, 6-3: knife cam, 6-4: knife cam rotating shaft, 6-5: preload adjustment nut, 6-6: vertical motion rod. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0028] Specific implementation 1: See Figure 1-3 The present embodiment is described as a docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device, which comprises the following steps:

[0029] Step 1: First, adjust the output force of the zero-rigidity vertical support mechanism 6 in the docking assembly device to the maximum;

[0030] Step 2: Place the product on the product bracket 2, and adjust the three center of gravity adjustment mechanisms 3 in the docking assembly device according to the data of the four pressure sensors 7 below, so that the values ​​of the four pressure sensors 7 are the same;

[0031] Step 3: Adjust the output force of the zero-rigidity vertical support mechanism 6 to be the same as the actual support force, at which time the product bracket 2 is in a completely suspended state;

[0032] Step 4: At this time, the posture and position of the product can be adjusted arbitrarily by operating the six-degree-of-freedom fully flexible and rigid docking assembly device through the armrest 8 on the product bracket 2.

[0033] The docking assembly device also includes an air-floating support plate 1 and four planar air-floating support components 4, the four planar air-floating support components 4 are installed on the air-floating support plate 1, a manual lifting mechanism 5 is installed above the planar air-floating support component 4, a zero-rigidity vertical support mechanism 6 is installed on the manual lifting mechanism 5, the zero-rigidity vertical support mechanism 6 is connected to the bottom of the product bracket 2, and the pressure sensor 7 is installed at the connection between the zero-rigidity vertical support mechanism 6 and the product bracket 2.

[0034] First, adjust the output force of the zero-rigidity vertical support mechanism 6 in the docking assembly device to the maximum, place the product on the product bracket 2, determine the position of the center of gravity in the horizontal plane according to the data of the four pressure sensors 7 below, adjust the two center of gravity adjustment mechanisms 3 in the horizontal direction, so that the four pressure sensors 7 are vertically the same. At this time, the projection of the center of gravity in the horizontal direction coincides with the center of the four support points. Further, adjust the two manual lifting mechanisms 5 on one side at the same time, adjust the height of the corresponding support points, and tilt the product bracket 2. When the center of gravity is not in the plane formed by the four support points, the values ​​of the four pressure sensors 7 will be different. At this time, by adjusting the center of gravity adjustment mechanism 3 in the vertical direction, the four pressure sensors 7 have the same values, and the center of gravity is completely adjusted to the center of gravity of the four support points. Readjust the manual lifting mechanism 5 to make the heights of the four support points the same. According to the pressure sensor data at this time, adjust the output force of the zero-rigidity vertical support mechanism 6 to be the same as the actual support force. At this time, the product bracket 2 is in a completely suspended state. At this time, when the product is subjected to a vertical downward force Since the stiffness of the four support points is 0, it can move freely downward. When the product is subjected to torque in the rolling and pitching directions, since the center of gravity coincides with the center of the four support points, when the rolling and pitching postures change, the support force borne by the four support points remains unchanged, and is still the same as the output force of the zero-rigidity vertical support mechanism 6, so it can roll and pitch freely. When the product is subjected to forces and moments in the horizontal plane, since there is a layer of air film between the four planar air-floating support components 4 and the air-floating support plate 1, there is no constraint on the relative movement between the two, thereby realizing free movement of three degrees of freedom in the horizontal direction. In this state, the six-degree-of-freedom fully flexible zero-rigidity docking assembly device can be manually operated through the handrail 8 to realize free adjustment of the product posture position. When docking and assembling, the assembly stress will form a reaction force on the product. Since the six degrees of freedom directions of the product are in a zero-rigidity state, the product will automatically adjust its position and posture after being subjected to force, and the flexible adaptive assembly needs are greatly reduced. The assembly stress and adjustment difficulty are improved, and the assembly quality and reliability are improved.

[0035] Specific implementation method 2: See Figure 1-3 To illustrate this embodiment, three center of gravity adjustment mechanisms 3 are respectively installed on the top, side and bottom and are arranged orthogonally to each other, which can realize the adjustment of the overall center of gravity of the product bracket 2 and the items it supports. Through the center of gravity adjustment mechanism 3, the center of gravity is adjusted to coincide with the center of the four supporting points.

[0036] Specific implementation method 3: See Figure 1-3 To illustrate this embodiment, the center of gravity adjustment mechanism 3 includes a rotating wheel 3-1, a screw 3-2 and a counterweight 3-3. The rotating wheel 3-1 is connected to the screw 3-2, and the screw 3-2 is threadedly connected to the counterweight 3-3. The screw 3-2 is connected to the product bracket 2 through a mounting seat. The rotating wheel 3-1 drives the screw 3-2 to rotate, and then drives the counterweight 3-3 to move, thereby realizing the movement of the center of gravity.

[0037] Specific implementation method 4: See Figure 1-3 To illustrate this embodiment, the planar air-floating support component 4 includes a thrust air-floating bearing 4-1 and a planar air-floating support seat 4-2. Thrust air-floating bearings 4-1 are installed at the four corners of the bottom of the planar air-floating support seat 4-2. The thrust air-floating bearings 4-1 are connected to the air-floating support plate 1. The manual lifting mechanism 5 is connected to the top of the air-floating support plate 1. The planar air-floating support seat 4-2 is placed on the air-floating support plate 1. Four planar thrust air-floating bearings 4-1 are installed at the bottom of the planar air-floating support seat 4-2. After ventilation, a high-rigidity air film is formed with the air-floating support plate 1, which can achieve frictionless free movement in the horizontal plane. The air-floating support plate 1 is a rigid plane.

[0038] Furthermore, a manual lifting mechanism 5 is fixedly installed on the plane air-floating support seat 4-2. The manual lifting mechanism 5 is a self-locking mechanism, and the up and down height adjustment can be achieved through a hand wheel. A zero-rigidity vertical support mechanism 6 is fixedly installed on the manual lifting mechanism 5. The zero-rigidity vertical support mechanism 6 supports the product bracket 2 through the pressure sensor 7. Four zero-rigidity vertical support mechanisms 6 are set to support the four corners of the product bracket 2 respectively. The pressure sensor 7 and the supported product bracket 2 are in point contact, and only the supporting force is transmitted, and no torque is transmitted.

[0039] Specific implementation 5: See Figure 1-3To illustrate this embodiment, the zero-stiffness vertical support mechanism 6 includes a positive-stiffness spring 6-1, a transverse support spring 6-2, a knife cam 6-3, a knife cam rotating shaft 6-4 and a vertical motion rod 6-6, the positive-stiffness spring 6-1 is installed in a zero-stiffness vertical support frame, and transverse support springs 6-2 are provided on both sides of the zero-stiffness vertical support frame, the inner end of the transverse support spring 6-2 is in contact with the knife cam 6-3, the knife cam 6-3 is connected to the knife cam rotating shaft 6-4, the knife cam rotating shaft 6-4 is connected to the positive-stiffness spring 6-1, the vertical motion rod 6-6 is installed on the top of the zero-stiffness vertical support frame, the vertical motion rod 6-6 is connected to the product bracket 2, and the bottom of the positive-stiffness spring 6-1 is connected to the preload adjustment nut 6-5.

[0040] The lateral support spring 6-2 is arranged horizontally symmetrically and cooperates with the knife-type cam 6-3 to form negative stiffness in the vertical direction. By designing the surface equation of the knife-type cam 6-3, the negative stiffness can be offset by the stiffness of the positive stiffness spring 6-1 to form zero stiffness in the vertical direction. At this time, the supporting force of the zero-stiffness vertical support mechanism 6 is determined by the preload amount of the positive stiffness spring 6-1, and is independent of the vertical position. It is a constant force, and its value can be adjusted by rotating the positive stiffness spring preload adjustment nut 6-5.

[0041] The specific embodiments of the present invention disclosed above are only used to help explain the present invention. The specific embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device, characterized in that: It includes the following steps: Step 1: First, adjust the output force of the zero-rigidity vertical support mechanism (6) in the docking assembly device to the maximum; Step 2: Place the product on the product bracket (2), and adjust the three center of gravity adjustment mechanisms (3) in the docking assembly device according to the data of the four pressure sensors (7) below, so that the values ​​of the four pressure sensors (7) are the same; Step 3: Adjust the output force of the zero-rigidity vertical support mechanism (6) to be the same as the actual support force, at which time the product bracket (2) is in a completely suspended state; Step 4: At this time, the posture and position of the product can be adjusted arbitrarily by operating the six-degree-of-freedom fully flexible and rigid docking assembly device through the armrest (8) on the product bracket (2).

2. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 1, characterized in that: The docking assembly device also includes an air-floating support plate (1) and four planar air-floating support components (4), wherein the four planar air-floating support components (4) are mounted on the air-floating support plate (1), a manual lifting mechanism (5) is mounted above the planar air-floating support components (4), a zero-rigidity vertical support mechanism (6) is mounted on the manual lifting mechanism (5), and the zero-rigidity vertical support mechanism (6) is connected to the bottom of the product bracket (2).

3. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 2, characterized in that: The pressure sensor (7) is installed at the connection between the zero-rigidity vertical support mechanism (6) and the product bracket (2).

4. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 2, characterized in that: The three center of gravity adjustment mechanisms (3) are respectively installed on the top, the side and the bottom and are arranged orthogonally to each other.

5. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 4, characterized in that: The center of gravity adjustment mechanism (3) comprises a rotating wheel (3-1), a lead screw (3-2) and a counterweight (3-3); the rotating wheel (3-1) is connected to the lead screw (3-2); the lead screw (3-2) is threadedly connected to the counterweight (3-3); and the lead screw (3-2) is connected to the product bracket (2) via a mounting seat.

6. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 2, characterized in that: The planar air-floating support component (4) comprises a thrust air-floating bearing (4-1) and a planar air-floating support seat (4-2); thrust air-floating bearings (4-1) are installed at the four corners of the bottom of the planar air-floating support seat (4-2); the thrust air-floating bearings (4-1) are connected to the air-floating support plate (1); and the manual lifting mechanism (5) is connected to the top of the air-floating support plate (1).

7. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 2, characterized in that: The zero-stiffness vertical support mechanism (6) comprises a positive-stiffness spring (6-1), a transverse support spring (6-2), a knife cam (6-3), a knife cam rotating shaft (6-4) and a vertical motion rod (6-6); the positive-stiffness spring (6-1) is installed in the zero-stiffness vertical support frame; transverse support springs (6-2) are arranged on both sides of the zero-stiffness vertical support frame; the inner end of the transverse support spring (6-2) contacts the knife cam (6-3); the knife cam (6-3) is connected to the knife cam rotating shaft (6-4); the knife cam rotating shaft (6-4) is connected to the positive-stiffness spring (6-1); the vertical motion rod (6-6) is installed on the top of the zero-stiffness vertical support frame; and the vertical motion rod (6-6) is connected to the product bracket (2).

8. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 7, characterized in that: The bottom of the positive stiffness spring (6-1) is connected to the preload adjustment nut (6-5).

9. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 2, characterized in that: The air-floating support plate (1) is a rigid plane.

10. A docking method for a six-degree-of-freedom fully flexible and rigid docking assembly device according to claim 3, characterized in that: The pressure sensor (7) is in point contact with the product supporting bracket (2).

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