Heavy-load suspension omni-directional flexible alignment platform

Abstract

The invention discloses a heavy-load suspension omni-directional flexible alignment platform which is provided with a first slewing bearing structure, and a linear sliding rail structure is arranged on the first slewing bearing structure. A second slewing bearing structure is further arranged, the sliding blocks are arranged at the bottom of the second slewing bearing structure and connected with the corresponding linear sliding rails in a sliding mode, and a rail walking driving mechanism is further arranged on one side of the bottom of the second slewing bearing structure. A lifting through hole is formed in the central position of the second slewing bearing structure; guide wheels are respectively arranged in the front, back, left and right directions of the hole edge of the lifting through hole; a customized flexible platform is arranged right above the second slewing bearing structure; a guide rod is arranged at the center of the bottom surface of the customized flexible platform; the four directions of the bottom of the customized flexible platform are each provided with an air cushion carrying vehicle, and each air cushion carrying vehicle is correspondingly provided with a universal rolling wheel. According to the alignment platform, multi-degree-of-freedom accurate control of butt-joint alignment can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of high-end manufacturing equipment, and in particular to a heavy-load suspended omnidirectional flexible alignment platform. Background Art

[0002] With the surge in demand for high-precision, large-load, and omnidirectional flexible operations in high-end manufacturing and smart logistics, traditional wheeled / rail transport platforms face multiple bottlenecks in scenarios such as precision assembly and heavy equipment transportation: on the one hand, rigid contact movement is prone to vibration offset and ground wear, making it difficult to meet positioning accuracy requirements; on the other hand, the fixed path mode cannot adapt to the multi-dimensional posture adjustment requirements under complex working conditions, resulting in frequent manual intervention and low operating efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a heavy-load suspended omnidirectional flexible alignment platform for the above situation, which can achieve precise control of docking and alignment in multiple degrees of freedom.

[0004] The specific scheme of the present invention is: a heavy-load suspended omnidirectional flexible alignment platform, which has a first slewing support structure, on which a linear slide rail structure is provided, and the linear slide rail structure includes two parallel linear slide rails and a plurality of sliders; a second slewing support structure is also provided, and the slider is arranged at the bottom of the second slewing support structure and is slidably connected to the corresponding linear slide rails, and a track travel drive mechanism is also provided on one side of the bottom of the second slewing support structure, and the track travel drive mechanism drives the second slewing support structure to move along the linear slide rail as a whole; a lifting through hole is provided at the center position of the second slewing support structure, and the lifting through hole is located at the edge of the hole Guide wheels are respectively arranged in the front, back, left and right directions; a customized flexible platform is arranged directly above the second slewing bearing structure, and a guide rod is arranged at the center of the bottom surface of the customized flexible platform, the guide rod is inserted downward into the lifting through hole and is limited by rotation in its radial plane, and the guide rod is in rolling contact with the guide wheel; an air cushion transporter is respectively arranged in the four directions at the bottom of the customized flexible platform, and the four air cushion transporters run synchronously, and each air cushion transporter is equipped with a universal roller; a hydraulic outrigger cylinder is also arranged on the customized flexible platform corresponding to each air cushion transporter, and the four hydraulic outrigger cylinders are lifted and lowered synchronously.

[0005] Furthermore, the guide rod in the present invention is made of hollow square steel tube, the lifting through hole is consistent with the cross-sectional shape of the hollow square steel tube, and the guide wheel rolls along the outer wall of the hollow square steel tube in four directions of front, back, left and right.

[0006] Furthermore, in the present invention, the first slewing support structure and the second slewing support structure have the same structure, and each includes a slewing base and a supporting gear plate arranged on the slewing base, and the supporting gear plate is driven to rotate by a gear motor.

[0007] Furthermore, annular rolling grooves are provided at corresponding positions on the upper surface of the slewing base and the lower surface of the supporting gear plate in the present invention, and rollers are arranged in the annular rolling grooves.

[0008] Furthermore, the track travel drive mechanism in the present invention includes a spur rack travel track and a travel motor, a travel gear is mounted on the output shaft of the travel motor, and the travel gear is meshed and connected with the spur rack travel track; the spur rack travel track is arranged on the first rotary support structure and parallel to the linear slide rail, and the travel motor is arranged on the bottom surface of the second rotary support structure.

[0009] Furthermore, the telescopic rod of the hydraulic outrigger oil cylinder of the present invention is arranged downward, and a support leg disc is installed at the lower end of the telescopic rod of the hydraulic outrigger oil cylinder.

[0010] Furthermore, the guide wheel in the present invention is made of wear-resistant silicone material, and the guide wheel limits the rotation of the guide rod in four directions: front, back, left, and right.

[0011] From a technical perspective, the present invention has overcome core problems such as multi-degree-of-freedom precise control of large-mass carriers in suspended states, omnidirectional vector power coupling solution, and dynamic load disturbance compensation. At the same time, it has broken through the integrated optimization barriers of high-rigidity lightweight structural design, multi-sensor fusion positioning, and low-latency real-time control systems. The application of the platform of the present invention will cover multiple scenarios such as new energy battery module assembly lines, engineering machinery, military assembly workshops, and cargo container handling, achieving ±0.05mm-level omnidirectional precision attitude adjustment of hundreds of tons of loads in a narrow space, significantly improving the level of intelligence in the field of major equipment manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the main viewing direction structure of the present invention; Figure 2 It is a schematic diagram of the structure of the present invention in a top view; Figure 3 It is a schematic diagram of the displacement and rotation angle of the present invention when in use.

[0013] In the figure: 1—hydraulic outrigger cylinder, 2—customized flexible platform, 3—slewing base, 4—support gear plate, 5—guide rod, 6—guide wheel, 7—first slewing support structure, 8—roller, 9—travel motor, 10—spur rack travel track, 11—second slewing support structure, 12—slider, 13—linear slide rail, 14—air cushion transporter, 15—support foot disc, 16—universal roller. DETAILED DESCRIPTION

[0014] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. It is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the invented product is usually placed when used, which are only for the convenience of describing the present invention or simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0015] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0016] See also Figure 1 , Figure 2The present invention is a heavy-load suspended omnidirectional flexible alignment platform, which has a first slewing support structure 7, on which a linear slide structure is provided, and the linear slide structure includes two parallel linear slides 13 and a plurality of sliders 12; a second slewing support structure 11 is also provided, and the slider is arranged at the bottom of the second slewing support structure and is slidably connected to the corresponding linear slides, and a track travel drive mechanism is also provided on one side of the bottom of the second slewing support structure, and the track travel drive mechanism drives the second slewing support structure to move along the linear slide as a whole; a lifting through hole is provided at the center position of the second slewing support structure, and guide wheels 6 are respectively provided in the front, back, left and right directions at the edge of the hole of the lifting through hole; a customized flexible platform 2 is provided directly above the second slewing support structure, and a guide rod 5 is provided at the center of the bottom surface of the customized flexible platform, and the guide rod is inserted downward into the lifting through hole and is driven by it The guide rod is limited in rotation within the radial plane, and the guide wheel is in rolling contact with the guide wheel; further, the guide rod described in the present invention is made of hollow tube square steel, the lifting through hole is consistent with the cross-sectional shape of the hollow tube square steel, and the guide wheel rolls along the outer wall of the hollow tube square steel in the four directions of front, back, left and right; further, the guide wheel described in the present invention is made of wear-resistant silicone material, and the guide wheel implements rotation limitation on the guide rod in the four directions of front, back, left and right; an air cushion transporter 14 is provided in each of the four directions at the bottom of the customized flexible platform, and the four air cushion transporters run synchronously, and each air cushion transporter is equipped with a universal roller 16; a hydraulic outrigger cylinder 1 is also provided on the customized flexible platform corresponding to each air cushion transporter, and the four hydraulic outrigger cylinders are lifted and lowered synchronously; further, the telescopic rod of the hydraulic outrigger cylinder described in the present invention is arranged downward, and the lower end of the telescopic rod of the hydraulic outrigger cylinder is provided with a support foot disc 15.

[0017] Furthermore, the first slewing support structure and the second slewing support structure in the present invention have the same structure, and each includes a slewing base 3 and a supporting gear plate 4 arranged on the slewing base, and the supporting gear plate is driven to rotate by a gear motor. Furthermore, an annular rolling groove is also arranged at corresponding positions on the upper surface of the slewing base and the bottom surface of the supporting gear plate in the present invention, and a roller 8 is arranged in the annular rolling groove. Furthermore, the track travel drive mechanism in the present invention includes a spur rack travel track 10 and a travel motor 9, and a travel gear is installed on the output shaft of the travel motor, and the travel gear is meshed and connected with the spur rack travel track; the spur rack travel track is arranged on the first slewing support structure and arranged in parallel with the linear slide rail, and the travel motor is arranged on the bottom surface of the second slewing support structure.

[0018] The customized flexible platform in this embodiment can be customized according to customer needs, such as tooling, fixtures, and conveying platforms, with a maximum load of 100 tons. The four-point synchronous hydraulic outrigger cylinders, similar to the outrigger cylinders of mobile cranes, are used to support the customized flexible platform after it is placed. The four-point synchronous air cushion transporter has universal rollers, through which the flexible platform can achieve suspension action.

[0019] For principle introduction, see the attached Figure 3 : The flexible platform is suspended by the air cushion transporter that operates synchronously at four points, greatly reducing the moving friction coefficient; the entire platform is rotated around the origin of the coordinate system at any angle (0-360°) through the first slewing support structure, and the entire platform is moved a distance L1 through the linear slide rail; the customized flexible platform is rotated at any angle β (0-360°) at the newly arrived point B through the second slewing support structure; after the coordinate value and rotation angle of the platform in the XY plane are determined as above, the platform can be placed on the ground and fixed through the hydraulic outrigger cylinders that operate synchronously at four points.

[0020] The air cushion transporter in the present invention can be an existing product.

[0021] When the present invention is in use, the entire platform of the present invention is first transported to the required location, the air cushion transport vehicle is started for support, and then the first slewing support structure is started. Due to the support of the air cushion transport vehicle, the friction coefficient of the rotation operation is very small, and the entire platform above rotates a certain angle, which is much more convenient and labor-saving (although the tonnage carried on it is very large). After the first angle rotation is adjusted, the travel motor is started again, on which a travel gear is installed. The travel gear is meshed and connected with the spur rack travel track, thereby driving the second slewing support structure as a whole to translate along the linear slide rail for a distance L1 to reach the new alignment point B, and then the second slewing support structure is started again. Through the limit of the lifting through hole above, the guide rod can be driven to rotate together with the customized flexible platform to a new angle, so as to realize the precise alignment and docking of the customized flexible platform with the external related parts; since the first slewing support structure and the second slewing support structure are both driven by gear discs, the alignment angle can be precisely controlled, and the precise posture adjustment operation of 0.5mm can be achieved, and the alignment accuracy is guaranteed.

[0022] In the present invention, the gear motor for driving the rotation in the first slewing support structure and the second slewing support structure is not shown in the drawings, and its structure belongs to the prior art and can be installed at a desired position on the ground, or the relevant power mechanism can be fixed together with the slewing base for installation.

[0023] The customized flexible platform in the present invention is a non-standard heavy-load positioning platform. The coarse precision can be used for loading and unloading, alignment, and the high precision can be used for processing, non-standard assembly, measurement, etc.

[0024] From a technical perspective, the present invention has overcome core problems such as multi-degree-of-freedom precise control of large-mass carriers in suspended states, omnidirectional vector power coupling solution, and dynamic load disturbance compensation. At the same time, it has broken through the integrated optimization barriers of high-rigidity lightweight structural design, multi-sensor fusion positioning, and low-latency real-time control systems. The application of the platform of the present invention will cover multiple scenarios such as new energy battery module assembly lines, engineering machinery, military assembly workshops, and cargo container handling, achieving ±0.05mm-level omnidirectional precision attitude adjustment of hundreds of tons of loads in a narrow space, significantly improving the level of intelligence in the field of major equipment manufacturing.

Claims

1. A heavy-load suspended omnidirectional flexible alignment platform, characterized by: The invention has a first rotary support structure, on which a linear slide rail structure is arranged, and the linear slide rail structure includes two parallel linear slide rails and a plurality of sliders; a second rotary support structure is also arranged, and the slider is arranged at the bottom of the second rotary support structure and is slidably connected to the corresponding linear slide rails; a track travel driving mechanism is also arranged on one side of the bottom of the second rotary support structure, and the track travel driving mechanism drives the second rotary support structure to move along the linear slide rail as a whole; a lifting through hole is arranged at the center of the second rotary support structure, and the edge of the hole at the lifting through hole is respectively arranged in the front, back, left, and right directions. A guide wheel is provided; a customized flexible platform is provided directly above the second slewing bearing structure, a guide rod is provided at the center of the bottom surface of the customized flexible platform, the guide rod is inserted downward into the lifting through hole and is limited by rotation in its radial plane, and the guide rod is in rolling contact with the guide wheel; an air cushion transporter is provided in each of the four directions at the bottom of the customized flexible platform, the four air cushion transporters run synchronously, and each air cushion transporter is equipped with a universal roller; a hydraulic outrigger cylinder is also provided on the customized flexible platform corresponding to each air cushion transporter, and the four hydraulic outrigger cylinders are lifted and lowered synchronously.

2. A heavy-load suspended omnidirectional flexible alignment platform according to claim 1, characterized in that: The guide rod is made of hollow square steel tube, the lifting through hole is consistent with the cross-sectional shape of the hollow square steel tube, and the guide wheel rolls along the outer wall of the hollow square steel tube in four directions of front, back, left, and right.

3. The heavy-load suspended omnidirectional flexible alignment platform according to claim 1 is characterized by: The first slewing support structure and the second slewing support structure have the same structure, and each of them comprises a slewing base and a supporting gear plate arranged on the slewing base, and the supporting gear plate is driven to rotate by a gear motor.

4. The heavy-load suspended omnidirectional flexible alignment platform according to claim 3 is characterized by: Annular rolling grooves are also arranged at corresponding positions on the upper surface of the slewing base and the bottom surface of the supporting gear plate, and rollers are arranged in the annular rolling grooves.

5. The heavy-load suspended omnidirectional flexible alignment platform according to claim 1 is characterized by: The track travel drive mechanism includes a spur rack travel track and a travel motor, a travel gear is mounted on the output shaft of the travel motor, and the travel gear is meshed and connected with the spur rack travel track; the spur rack travel track is arranged on the first rotary support structure and parallel to the linear slide rail, and the travel motor is arranged on the bottom surface of the second rotary support structure.

6. The heavy-load suspended omnidirectional flexible alignment platform according to claim 1, characterized in that: The telescopic rod of the hydraulic outrigger oil cylinder is arranged downwards, and a supporting foot disc is arranged at the lower end of the telescopic rod of the hydraulic outrigger oil cylinder.

7. The heavy-load suspended omnidirectional flexible alignment platform according to claim 1, characterized in that: The guide wheel is made of wear-resistant silicone material, and the guide wheel limits the rotation of the guide rod in four directions: front, back, left, and right.

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