Active and passive six-degree-of-freedom assembling mechanism based on constant-force hydraulic pressure and air floatation

Abstract

The invention provides an active and passive six-degree-of-freedom assembling mechanism based on constant-force hydraulic pressure and air floatation. The active and passive six-degree-of-freedom assembling mechanism comprises a visual detection system, a posture adjusting mechanism, a translation mechanism and a servo hydraulic cylinder. The posture adjusting mechanism is connected with the output end of the servo hydraulic cylinder through a translation mechanism, and a visual detection system is arranged on the top of the posture adjusting mechanism. The servo hydraulic cylinder is used for providing a degree of freedom in the vertical direction for the assembly body; the translation mechanism is used for providing two translation degrees of freedom on a plane; and the posture adjusting mechanism is used for providing three rotational degrees of freedom. According to the invention, the operating force required in the moving process of the component can be reduced, and the multi-degree-of-freedom high-precision pose adjustment of the large component can be realized.

Description

Technical Field

[0001] The invention belongs to the field of assembly mechanisms, and in particular relates to an active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation. Background Art

[0002] Adjusting the multi-degree-of-freedom posture of large components to meet assembly conditions is a key technology in the equipment development and production process. Due to the large weight and size of large components, manual operation is extremely difficult. It is difficult for operators to stably maintain their relative position and contact force with the target body, and there is a high risk of collision during installation. The six-degree-of-freedom assembly mechanism based on constant force hydraulics and air flotation mechanisms proposed in the present invention can effectively reduce the operating force required during the movement of components, and can achieve multi-degree-of-freedom high-precision posture adjustment of large components; the original heavy-load assembly method uses a purely mechanical method for assembly, relying on manual jog position control of electromechanical equipment to complete the assembly process. Since the force / torque generated by the electromechanical equipment for assembly is large, if an error occurs in the jog control, it will cause overload, thereby causing damage to the assembly or electromechanical equipment. In addition, the frequent assembly of large components requires the cooperation of multiple people for a long time, resulting in a large waste of time and human resources. Summary of the invention

[0003] In view of this, the present invention aims to propose an active and passive six-degree-of-freedom assembly mechanism based on constant force hydraulics and air flotation, which can reduce the operating force required during the movement of components and realize multi-degree-of-freedom high-precision posture adjustment of large components.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows: An active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation, comprising a visual detection system, an attitude adjustment mechanism, a translation mechanism and a servo hydraulic cylinder; The posture adjustment mechanism is connected to the output end of the servo hydraulic cylinder through a translation mechanism, and a visual detection system is provided on the top of the posture adjustment mechanism; The servo hydraulic cylinder is used to provide vertical freedom for the assembly; The translation mechanism is used to provide two translational degrees of freedom on a plane; The posture adjustment mechanism is used to provide three rotational degrees of freedom.

[0005] Furthermore, the posture adjustment mechanism includes a spherical air flotation component, an electric cylinder and a motion platform. The spherical air flotation assembly includes an air flotation ball and an air flotation seat; the air flotation seat is installed on the planar air flotation assembly of the translation mechanism. The motion platform is installed on the air floating seat through the air floating ball, and the motion platform is also connected to the plane air floating assembly through a plurality of electric cylinders, and the two ends of the electric cylinders are respectively hinged to the motion platform and the plane air floating assembly.

[0006] Furthermore, an air film is formed between the air floating seat and the air floating ball; the electric cylinder is connected to a controller, and the electric cylinder can drive the motion platform.

[0007] Furthermore, the translation mechanism comprises a planar air floating component, an upper base and an elastic element, and the circumferential outer surface of the planar air floating component is connected to the circumferential inner surface of the upper base through a plurality of evenly distributed elastic elements.

[0008] Furthermore, the number of the elastic elements is 4.

[0009] Furthermore, the bottom of the planar air flotation component is provided with micropores, and the top of the planar air flotation component is provided with an air inlet nozzle, and high-pressure air passes through the air inlet nozzle and then sprays out from the micropores, so that an air film is formed between the planar air flotation component and the upper base to achieve gas lubrication; The elastic element is used to prevent collision between the planar air floating component and the upper base.

[0010] Furthermore, the visual inspection system is connected to a controller and is used to determine the distance and position relationship between the assembly body and the assembly target.

[0011] Furthermore, the number of the electric cylinders is 4, the number of the electric cylinders corresponds to the number of the elastic elements, and the installation positions of the electric cylinders correspond to the installation positions of the elastic elements.

[0012] Compared with the prior art, the active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation described in the present invention has the following advantages: (1) The active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulics and air flotation described in the present invention can meet the needs of single-person rapid assembly by using a combination of active and passive operation methods, and realizes the six-degree-of-freedom movement of the assembly through the constant-force hydraulic system, the translation mechanism and the posture adjustment mechanism.

[0013] (2) The present invention discloses an active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulics and air flotation. The bottom constant-force hydraulic system can provide a vertical degree of freedom for the system while providing a constant force to offset the gravity of the system, thereby reducing the difficulty of vertical assembly operations.

[0014] (3) The present invention discloses an active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulics and air flotation, wherein the translation mechanism is used to provide the system with two translational degrees of freedom, wherein the planar air flotation device can reduce or even eliminate the translational friction force, thereby improving the assembly operability in the horizontal direction.

[0015] (4) The present invention describes an active and passive six-degree-of-freedom assembly mechanism based on constant force hydraulics and air flotation, wherein the posture adjustment mechanism is used to provide the system with three rotational degrees of freedom, wherein the spherical air flotation component can reduce the friction in the directions of the three rotational degrees of freedom, and the electric cylinder is used to provide driving force for the three rotational degrees of freedom; since the center of mass of the assembly and the center of the sphere do not coincide with each other, gravity torque will be introduced, which makes manual operation difficult, and therefore electric cylinder control is adopted.

[0016] (5) The active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation described in the present invention can introduce a visual feedback system to grasp the assembly status in real time and improve the assembly accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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: Figure 1 It is a three-dimensional schematic diagram of an active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation according to an embodiment of the present invention; Figure 2 A side view of an active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the working of the planar air flotation assembly according to an embodiment of the present invention; Description of reference numerals: 1. Visual inspection system; 2. Posture adjustment mechanism; 21. Spherical air flotation assembly; 211. Air flotation ball; 212. Air flotation seat; 22. Electric cylinder; 23. Motion platform; 3. Translation mechanism; 31. Planar air flotation assembly; 32. Upper base; 33. Elastic element; 34. Micropore; 35. Air film; 36. Air inlet nozzle; 4. Servo hydraulic cylinder. DETAILED DESCRIPTION

[0018] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected 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 by specific circumstances.

[0021] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0022] An active and passive six-degree-of-freedom assembly mechanism based on constant force hydraulics and air flotation, such as Figure 1 Figure 2 As shown, it includes a visual detection system 1, a posture adjustment mechanism 2, a translation mechanism 3 and a servo hydraulic cylinder 4; The posture adjustment mechanism 2 is connected to the output end of the servo hydraulic cylinder 4 through the translation mechanism 3, and a visual detection system 1 is provided on the top of the posture adjustment mechanism 2; The servo hydraulic cylinder 4 is used to provide the assembly with vertical freedom; it can output a constant pressure to offset the gravity of the assembly and the system connected to it, and improve the operability of the system's vertical movement. During operation, the control system controls the output of the required pressure to offset the gravity of the upper system, and at this time, the assembly can be easily moved manually to move in the vertical direction.

[0023] The translation mechanism 3 is used to provide two translation degrees of freedom on the plane; The posture adjustment mechanism 2 is used to provide three rotational degrees of freedom.

[0024] Preferably, the posture adjustment mechanism 2 includes a spherical air floating component 21, an electric cylinder 22 and a motion platform 23. The spherical air flotation component 21 includes an air flotation ball 211 and an air flotation seat 212; the air flotation seat 212 is installed on the planar air flotation component 31 of the translation mechanism 3. The motion platform 23 is installed on the air floating seat 212 through the air floating ball 211. The motion platform 23 is also connected to the planar air floating assembly 31 through a plurality of electric cylinders 22. The two ends of the electric cylinders 22 are respectively hinged to the motion platform 23 and the planar air floating assembly 31.

[0025] Preferably, an air film is formed between the air floating seat 212 and the air floating ball 211 to achieve gas lubrication; while providing support for the assembly, the friction of movement is reduced, thereby reducing the difficulty of adjusting its posture; The electric cylinder 22 is connected to a controller, and the electric cylinder 22 can drive the motion platform 23 .

[0026] Preferably, the translation mechanism 3 comprises a planar air floating component 31 , an upper base 32 and an elastic element 33 , and the circumferential outer surface of the planar air floating component 31 is connected to the circumferential inner surface of the upper base 32 via a plurality of evenly distributed elastic elements 33 .

[0027] Preferably, the number of the elastic elements 33 is four.

[0028] Preferably, Figure 3 As shown, the bottom of the plane air flotation component 31 is provided with micropores, and the top of the plane air flotation component is provided with an air inlet nozzle. High-pressure air passes through the air inlet nozzle and then sprays out from the micropores 34, so that an air film is formed between the plane air flotation component 31 and the upper base 32 to achieve gas lubrication; the upper base 32 is a groove structure; The elastic element is used to prevent collision between the planar air floating assembly 31 and the upper base 32 .

[0029] Preferably, the visual inspection system 1 is connected to a controller to determine the distance and positional relationship between the assembly and the assembly target; thereby determining whether the assembly action is correct and providing guidance for completing the assembly process accurately and safely.

[0030] Preferably, the number of the electric cylinders 22 is four, the number of the electric cylinders 22 corresponds to the number of the elastic elements 33 , and the installation positions of the electric cylinders 22 correspond to the installation positions of the elastic elements 33 .

[0031] The bottom of this assembly mechanism is a constant force hydraulic mechanism, which provides the entire system with a vertical translational freedom and offsets the gravity of the system, greatly reducing the difficulty of assembly; the upper part is installed with a translational mechanism 3 based on plane air flotation, which is used to carry and reduce translational friction and provide two translational degrees of freedom for the assembly; the uppermost part is a posture adjustment mechanism 2, which is used to provide three rotational degrees of freedom for the assembly; the motion platform 23 is located on the top of the servo hydraulic cylinder 4, which is used to clamp the assembly; the top of the motion platform 23 is equipped with a visual inspection system 1, which is used to detect the movement of the assembly. The present invention can reduce the consumption of manpower in meeting the function of heavy-load component assembly, while increasing detection feedback, improving the accuracy and efficiency of assembly, and has extremely high application value.

[0032] The assembly mechanism can offset the gravity of the assembly and greatly reduce or even eliminate the friction between the internal components of the assembly system, thereby greatly reducing the difficulty of operating the system. The servo hydraulic cylinder 4 and the translation mechanism 3 of the present invention are used to provide the system with three translational degrees of freedom to adjust the position of the assembly, both of which are passive, that is, controlled by manpower; the posture adjustment mechanism 2 is used to provide the system with three rotational degrees of freedom to adjust the posture of the assembly, which is active and does not require manpower control.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation, characterized in that: It includes a visual inspection system, a posture adjustment mechanism, a translation mechanism and a servo hydraulic cylinder; The posture adjustment mechanism is connected to the output end of the servo hydraulic cylinder through a translation mechanism, and a visual detection system is provided on the top of the posture adjustment mechanism; The servo hydraulic cylinder is used to provide vertical freedom for the assembly; The translation mechanism is used to provide two translational degrees of freedom on a plane; The posture adjustment mechanism is used to provide three rotational degrees of freedom; The posture adjustment mechanism includes a spherical air floating component, an electric cylinder and a motion platform. The spherical air flotation assembly includes an air flotation ball and an air flotation seat; the air flotation seat is installed on the planar air flotation assembly of the translation mechanism. The motion platform is installed on the air floating seat through the air floating ball, and the motion platform is also connected to the plane air floating assembly through a plurality of electric cylinders, and the two ends of the electric cylinders are respectively hinged to the motion platform and the plane air floating assembly.

2. The active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation according to claim 1, characterized in that: An air film is formed between the air floating seat and the air floating ball; the electric cylinder is connected to a controller, and the electric cylinder can drive the motion platform.

3. The active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation according to claim 1, characterized in that: The translation mechanism comprises a planar air floating component, an upper base and an elastic element. The circumferential outer surface of the planar air floating component is connected to the circumferential inner surface of the upper base through a plurality of evenly distributed elastic elements.

4. The active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation according to claim 3, characterized in that: The number of the elastic elements is 4.

5. The active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation according to claim 3, characterized in that: The bottom of the plane air flotation component is provided with micropores, and the top of the plane air flotation component is provided with an air inlet nozzle. High-pressure air passes through the air inlet nozzle and then sprays out from the micropores, so that an air film is formed between the plane air flotation component and the upper base to achieve gas lubrication; The elastic element is used to prevent collision between the planar air floating component and the upper base.

6. The active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation according to claim 1, characterized in that: The visual inspection system is connected to the controller and is used to determine the distance and position relationship between the assembly body and the assembly target.

7. The active and passive six-degree-of-freedom assembly mechanism based on constant-force hydraulic pressure and air flotation according to claim 1, characterized in that: The number of the electric cylinders is 4, the number of the electric cylinders corresponds to the number of the elastic elements, and the installation positions of the electric cylinders correspond to the installation positions of the elastic elements.

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