Self-adaptive alignment mechanism and alignment method for large-load parts

Abstract

This invention relates to the field of precision mechanical positioning technology, and discloses an adaptive alignment mechanism and method for heavy-load parts. The mechanism includes three support columns arranged in a triangular pattern and three spherical positioning elements pre-installed on the part. Each support column has a groove with a pair of inclined positioning surfaces at its upper end, the grooves being radially arranged along the concentric circle of the support column. The spherical positioning elements cooperate with the support columns, relying on the part's own weight to form unique point contacts with the two positioning surfaces of the grooves, creating a six-point positioning structure to uniquely define the part's spatial pose. This method, applied to the above mechanism, achieves unpowered adaptive alignment of the part through pre-positioning, lifting to release constraints, sliding under its own weight, six-point pose determination, and state reciprocating switching steps. This invention eliminates the need for bolt locking structures and external drives, simplifying the part assembly and disassembly process, and solving the problems of cumbersome alignment and insufficient repeatability accuracy of traditional mechanisms, thus adapting to the high-frequency state switching requirements of heavy-load parts.

Description

Technical Field

[0001] This invention relates to the field of positioning technology for heavy-load parts, and specifically to an adaptive alignment mechanism and alignment method for heavy-load parts. Background Technology

[0002] In fields such as precision machinery and heavy equipment manufacturing, heavy-load parts often need to switch frequently between non-tooling and tooling states. The alignment accuracy of the parts directly determines the processing quality and production efficiency of subsequent assembly, inspection and other processes. Therefore, there are extremely high requirements for the ease of operation, alignment accuracy and load-bearing stability of the positioning mechanism.

[0003] Currently, the mainstream approach in the industry for positioning heavy-load components is to use a sliding block stacking, multi-axis series attitude-fixing structure. This structure uses bolts, clamps, and other locking components to fix the component to the working end of the mechanism for positioning. However, this approach has significant drawbacks: firstly, the tightening and loosening process of bolts and clamps is cumbersome, resulting in extremely low efficiency in component state switching operations; secondly, after repeated disassembly and assembly, the locking structure and positioning components are prone to wear and misalignment, leading to insufficient repeatability and inability to achieve rapid and accurate positioning after component state switching.

[0004] In summary, existing high-load component alignment mechanisms generally suffer from core defects such as cumbersome disassembly and assembly operations and insufficient repeatability positioning accuracy, making them unsuitable for the efficient and accurate alignment requirements of high-load components under frequent state switching. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive alignment mechanism and alignment method for heavy load parts, so as to solve the problems of cumbersome disassembly and assembly and insufficient repeatability positioning accuracy of existing mechanisms.

[0006] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution:

[0007] This invention provides an adaptive alignment mechanism for heavy-load parts, comprising: three support columns arranged in a triangular layout with spacing between them; a radial groove formed at the upper end of each support column; a pair of inclined positioning surfaces formed on both sides of the groove; and a spherical positioning component pre-installed on the part to be positioned, with each of the three spherical positioning components corresponding to one of the three support columns. The positioning surfaces of the three grooves extend in different directions, ensuring that the part has a unique, naturally stationary posture when the spherical positioning component is placed in the groove. Each spherical positioning component extends into the groove corresponding to a support column, forming unique point contact with the two positioning surfaces of the groove based on the part's own weight. The three spherical positioning components, together with the six positioning surfaces, form a six-point positioning structure to uniquely define the spatial orientation of the part.

[0008] According to one embodiment of the present invention, the three support columns are evenly distributed circumferentially around a common geometric center at 120°, and the extension direction of the slide groove is set along the angle bisector of the line connecting two adjacent support columns; the two positioning surfaces of the slide groove are upward and outward inclined, and the two positioning surfaces have the same inclination angle, thus forming a V-shaped groove structure.

[0009] According to one embodiment of the present invention, the common plane of the three support columns is arranged horizontally, so that the part remains in a horizontal position after positioning.

[0010] According to one embodiment of the present invention, the spherical positioning component and the part are fixedly connected, rotatably connected, or rollingly connected; the relative position of the center of the spherical positioning component and the preset installation reference of the part is fixed.

[0011] According to one embodiment of the present invention, one of the three spherical positioning members is installed at the bottom of the part near the front end of the part, and the other two are installed at the bottom of the part near the rear end of the part. The common plane of the three support columns is inclined, which allows the part to tend to slide towards its front end.

[0012] According to one embodiment of the present invention, a pre-positioning structure is further included, the pre-positioning structure comprising a fixing plate and a limiting block; the fixing plate is disposed above the support columns for pre-supporting the part, and the fixing plate has a clearance opening for avoiding the spherical positioning member; the limiting block is mounted on the fixing plate and has a pre-positioning abutment surface for abutting the part and restricting the part from sliding towards the front end; the part is capable of disengaging from the pre-positioning abutment surface along the Z-axis direction; the three support columns are capable of rising and falling relative to the fixing plate in the Z-axis direction to separate the part from the pre-positioning abutment surface; a support strip is also provided at the contact point between the fixing plate and the part.

[0013] According to one embodiment of the present invention, it further includes a rolling bearing, which is rotatably mounted on the part about its own axis, and the outer ring of the rolling bearing is in contact with the predetermined positioning abutment surface.

[0014] According to one embodiment of the present invention, a lifting control structure is further included for controlling the simultaneous lifting and lowering of the three support columns along the Z-axis. The lifting control structure includes a guide rod, a lifting part, and a servo electric cylinder. One end of the guide rod is fixedly connected to the fixed plate, and its axis is set along the Z-axis direction. The lifting part is slidably engaged with the guide rod, and the three support columns are mounted on the lifting part. The servo electric cylinder is fixedly connected to an external support structure and connected to the lifting part to provide power for the lifting and lowering of the lifting part. A fixing block is mounted on the fixed plate, and a hemispherical groove is formed on the fixing block. A hemispherical adjusting member is mounted on the top of the guide rod. The hemispherical adjusting member is embedded in the groove to form a spherical pair fit. Adjustment gaps are reserved in the mounting through hole of the hemispherical adjusting member and the through hole at the bottom of the groove. The guide rod passes through the through hole at the bottom of the groove.

[0015] According to one embodiment of the present invention, the lifting part includes a mounting plate located at its top, and the support column is height-adjustably mounted on the mounting plate; the mounting plate is provided with mounting holes, the support column is clearance-fitted with the mounting holes, a base is fixedly mounted at the bottom of the support column, the base is fastened to the mounting plate, a gap exists between the base and the bottom surface of the mounting plate, and a compensation shim is detachably provided in the gap, the compensation shim being used to finely adjust the height of the slide groove.

[0016] The present invention also provides an adaptive alignment method for heavy-load parts, applied to the aforementioned adaptive alignment mechanism for heavy-load parts, comprising the following steps:

[0017] S1. Pre-positioning: Place the part in the preset position of the fixed plate so that the part abuts against the pre-positioning contact surface of the limiting block. At this time, the spherical positioning part near the front end of the bottom of the part is aligned with the two positioning surfaces of the corresponding support column in the Z-axis direction. The two spherical positioning parts near the rear end of the bottom of the part are aligned with only one positioning surface of the corresponding support column away from the front end of the part in the Z-axis direction.

[0018] S2, Lifting and Releasing Constraints: Drive the support column to rise along the Z-axis, causing the parts to rise synchronously, so that the parts are completely separated from the pre-positioned contact surface.

[0019] S3. Weight-based sliding: Relying on the weight of the part and the inclined setting of the three support columns, the part slides down along the inclined direction, and the spherical positioning part slides radially along the groove of the support column and fits the positioning surface.

[0020] S4, Six-point orientation fixation: Continue to maintain the sliding state of the part until all three spherical positioning parts form a stable and unique contact point with a pair of positioning surfaces of the corresponding support column, thereby realizing the spatial six-degree-of-freedom limitation of the part.

[0021] S5. State reciprocating switching: Drive the support column to descend along the Z-axis, causing the part to abut against the fixed plate or the support bar above it, releasing the six degrees of freedom limit of the part and removing the part; when the part switches between non-tooling state and tooling state, repeat steps S1-S4.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] This invention forms a six-point positioning structure through the unique contact point between the spherical positioning component and the positioning surface, which can uniquely define the spatial pose of the part. It can achieve self-adaptive positioning without power by relying on the weight of the part itself, without the need for a bolt locking structure, which greatly simplifies the part disassembly and assembly and positioning operation process, and ensures high repeatability positioning accuracy after multiple state switching of the part. In addition, the triangular layout of the support structure can evenly distribute the large load, avoid stress concentration, and effectively improve the positioning stability under heavy load conditions. Attached Figure Description

[0024] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0025] Figure 1 This is a three-dimensional schematic diagram of the assembly of the present invention.

[0026] Figure 2 This is a three-dimensional schematic diagram of the three sets of support column spherical positioning components of the present invention.

[0027] Figure 3 This is a three-dimensional schematic diagram of a part pre-installed with a spherical positioning component and a rolling bearing according to the present invention.

[0028] Figure 4 This is a three-dimensional schematic diagram of the cooperation between a single pair of support columns and a spherical positioning element according to the present invention.

[0029] Figure 5 This is a schematic diagram of the cooperation between the limiting block and the rolling bearing of the present invention.

[0030] Figure 6 This is a three-dimensional schematic diagram of the fixing plate of the present invention.

[0031] Figure 7 This is a three-dimensional schematic diagram of the guide rod mounting structure of the present invention.

[0032] Figure 8 This is a three-dimensional schematic diagram of the height of the three support columns of the present invention after the height is finely adjusted by the compensation shims.

[0033] Figure 9 This is a side view schematic diagram of the cooperation between a single pair of support columns and a spherical positioning member according to the present invention.

[0034] The labels in the diagram represent the following:

[0035] 100. Parts; 1. Support column; 110. Slide groove; 111. Positioning surface; 11. Base; 12. Compensating shim; 2. Spherical positioning component; 3. Fixing plate; 31. Clearance opening; 32. Support bar; 4. Limiting block; 41. Pre-positioning contact surface; 5. Rolling bearing; 6. Guide rod; 61. Fixing block; 62. Hemispherical adjusting component; 7. Servo electric cylinder; 8. Mounting plate. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] like Figures 1-9 As shown, the present invention provides an adaptive alignment mechanism for a heavy-load component, comprising:

[0038] Support column 1, three support columns 1 are arranged at intervals to form a triangular layout (to support the weight of a large load part 100, forming a stable support foundation).

[0039] The upper end of the support column 1 is provided with a radial groove 110 (for providing sliding guidance and positioning reference for the spherical positioning component 2).

[0040] The two sides of the slide groove 110 form a pair of inclined positioning surfaces 111 (used to form point contact with the spherical positioning element 2 to achieve positioning constraint).

[0041] When the slide 110 is set up, the sphere has only one contact point with each of the two positioning surfaces 111 when the sphere is placed in it (to ensure that the sliding direction of the spherical positioning component 2 points to the common center).

[0042] Spherical positioning component 2, three spherical positioning components 2 are pre-installed on the part 100 to be positioned (for cooperating with the support column 1 to transfer the load and positioning constraint of the part 100).

[0043] Three spherical positioning parts 2 are set one-to-one with three support columns 1 (to ensure the positional correspondence of each set of mating structures).

[0044] The spherical positioning component 2 can extend into the groove 110 of the corresponding support column 1, and rely on the weight of the component 100 to form a unique point contact with the two positioning surfaces 111 of the groove 110 respectively (to achieve non-powered bonding through its own weight and ensure the uniqueness of the contact).

[0045] The three grooves 110 have different surface extension directions of their positioning surfaces 111, so that when the spherical positioning member 2 is placed in the groove 110, the part 100 has a unique posture under natural stillness (to achieve complete constraint of the six degrees of freedom of the part 100 in space and ensure unique posture).

[0046] Complete the pre-installation of support column 1 and spherical positioning component 2, and fix spherical positioning component 2 to the preset installation position at the bottom of the part 100 to be positioned; hoist part 100 above the three support columns 1, so that the spherical positioning component 2 is aligned with the corresponding slide groove 110 of the support column 1; slowly lower part 100, and rely on the weight of part 100 to make spherical positioning component 2 slide along slide groove 110 until it forms stable point contact with both positioning surfaces 111; confirm that all three sets of spherical positioning components 2 are in place, and complete the alignment and positioning of part 100; when disassembling part 100, simply hoist part 100 upwards to detach spherical positioning component 2 from slide groove 110.

[0047] This solution uses a triangular support column 1 and a spherical positioning component 2 to form a six-point positioning structure, which solves the core problems of cumbersome disassembly and assembly and poor repeatability positioning accuracy of traditional heavy-load positioning mechanisms. No additional locking structure or external power is required; automatic alignment can be achieved solely by the weight of part 100, greatly simplifying the operation process. The six-point positioning structure uniquely limits the six degrees of freedom of part 100 in space, ensuring the positioning consistency of part 100 after multiple disassembly and assembly, and adapting to the frequent switching conditions of heavy-load part 100.

[0048] The aforementioned basic solution has effectively solved the core problems of unpowered adaptive alignment and pose limitation of the heavy load part 100. However, in actual implementation, there are still problems of alignment accuracy deviation caused by uneven force on the support column 1 and asynchronous sliding of the spherical positioning part 2. In order to solve this problem, the layout of the support column 1 and the structure of the slide groove 110 are specifically optimized.

[0049] Three support columns 1 are evenly distributed around a common geometric center at a 120° circumference (to ensure that the load of part 100 is evenly distributed to the three support columns 1 and to avoid eccentric deformation).

[0050] The extension direction of the slide groove 110 is set along the angle bisector of the line connecting two adjacent support columns 1 (to ensure that the sliding direction of the spherical positioning component 2 is uniformly directed to the common geometric center).

[0051] The two positioning surfaces 111 of the slide groove 110 are inclined upward and outward (to provide guidance for the centripetal sliding of the spherical positioning member 2 and ensure the stability of the fit).

[0052] The two positioning surfaces 111 have the same inclination angle, which together form a V-groove structure (to ensure that the contact points between the two positioning surfaces 111 and the sphere are symmetrical and the force is balanced).

[0053] According to the requirement of uniform circumferential distribution at 120°, complete the installation and positioning of the three support columns 1, ensuring that the extension direction of the slide groove 110 coincides with the angle bisector; hoist the pre-installed spherical positioning component 2 component 100 above the support column 1, and lower the component 100 so that the spherical positioning component 2 enters the slide groove 110 of the V-shaped groove structure; relying on the self-weight of the component 100, the three spherical positioning components 2 slide synchronously along the slide groove 110 towards the common geometric center; until each spherical positioning component 2 forms symmetrical point contact with the two positioning surfaces 111 of the V-shaped groove, and complete the synchronous alignment; after confirming that all contact points are stable, the positioning of component 100 is completed.

[0054] This optimized solution uses a 120° evenly distributed support column 1 layout to evenly distribute the large load, avoiding structural deformation and reduced positioning accuracy caused by uneven loading of a single support column 1; the symmetrical V-groove structure and the sliding groove 110 design in the angle bisector direction ensure the synchronous sliding of the three spherical positioning parts 2, improving the consistency and accuracy of alignment; based on the core advantages of the aforementioned basic solution, the load-bearing stability and alignment accuracy of the mechanism are further improved.

[0055] The aforementioned basic solution has effectively solved the core problem of unpowered adaptive alignment of the heavy load component 100. However, in actual implementation, there is still a problem that the posture of component 100 after positioning does not meet the requirements of horizontal assembly. In order to solve this problem, the installation posture of the support column 1 is specifically optimized.

[0056] As one implementation of the common plane angle, the common plane of the three support columns 1 is set horizontally.

[0057] To ensure that part 100 remains in a horizontal position after positioning (to meet the requirements of horizontal assembly and inspection of part 100).

[0058] The installation reference surfaces of the three support columns 1 are calibrated using a level to ensure that the common plane of the three support columns 1 is horizontal. After the support columns 1 are fixedly installed, the part 100 of the pre-installed spherical positioning component 2 is hoisted above the support column 1. The part 100 is lowered, and the spherical positioning component 2 is made to fit with the positioning surface 111 of the slide groove 110 by its own weight. The position of the part 100 is checked by a level to confirm that the part 100 is horizontal, and the positioning operation is completed.

[0059] This optimized solution ensures the horizontal orientation of part 100 after positioning by using horizontally set support columns 1 with a common plane, making it suitable for working conditions such as precision assembly and optical inspection that have strict requirements for the levelness of part 100. Based on the aforementioned basic solution, the applicable scenarios of the mechanism are expanded, ensuring the compliance of the positioning orientation of part 100.

[0060] The aforementioned basic solution has effectively solved the core problem of unpowered adaptive alignment of the heavy load component 100. However, in actual implementation, there are still problems such as high frictional resistance between the spherical positioning component 2 and the positioning surface 111, slippage jamming, and rapid wear after long-term use. In order to solve this problem, the connection method between the spherical positioning component 2 and the component 100 is specifically optimized.

[0061] The spherical positioning component 2 is fixedly connected to the part 100, rotatably connected, or rollingly connected (to adapt to different working conditions, reduce sliding friction resistance, and reduce wear).

[0062] The relative position of the center of the spherical positioning component 2 and the preset mounting reference of the part 100 is fixed (to ensure the consistency of the positioning reference and avoid the connection method from affecting the positioning accuracy).

[0063] Based on the load size, disassembly and assembly frequency, and working conditions of part 100, the connection method between the spherical positioning component 2 and part 100 is selected; according to the preset installation benchmark, the spherical positioning component 2 is installed at the bottom of part 100 to ensure the accuracy of the relative position of the ball center; the installed part 100 is hoisted above the support column 1, and part 100 is lowered so that the spherical positioning component 2 enters the slide groove 110; relying on the weight of part 100, the spherical positioning component 2 slides along the slide groove 110, and the frictional resistance is reduced by the rotatable / rolling structure to smoothly complete the fitting and positioning; after long-term use, only the worn spherical positioning component 2 needs to be replaced to complete the maintenance.

[0064] This optimized solution adapts to different working conditions by offering multiple optional connection methods. It can effectively reduce the frictional resistance between the spherical positioning component 2 and the positioning surface 111, avoid slippage and jamming, and improve the smoothness of alignment. At the same time, it ensures that the position of the ball center relative to the installation reference is fixed and will not affect the positioning accuracy due to changes in the connection method. Based on the aforementioned basic solution, it further improves the operational reliability and service life of the mechanism.

[0065] The aforementioned basic solution has effectively solved the core problem of unpowered adaptive alignment of the heavy load component 100. However, in actual implementation, there are still problems such as insufficient sliding force of the component 100 due to its own weight and the inability of the spherical positioning component 2 to fully fit the positioning surface 111, resulting in misalignment. To solve this problem, the installation layout of the spherical positioning component 2 and the installation posture of the support column 1 are specifically optimized.

[0066] One of the three spherical positioning parts 2 is installed at the bottom of part 100 near the front end of part 100 (to serve as a front-end guide reference for the sliding of part 100, ensuring the stability of the sliding direction).

[0067] The other two are installed at the bottom of part 100 near the rear end of part 100 (to form a stable support with the front ball positioning part 2 and ensure that the sliding posture of part 100 is balanced).

[0068] The common plane of the three support columns 1 is inclined, which allows the part 100 to tend to slide towards its front end (to decompose the sliding force through its own weight, providing a continuous driving force for unpowered alignment).

[0069] With a front-one-back-two arrangement, three spherical positioning components 2 are pre-installed at preset positions on the bottom of part 100; the common plane of the three support columns 1 is installed and fixed at a preset tilt angle (as another implementation of the common plane angle) to ensure that part 100 can slide towards the front end; part 100 is hoisted above the support column 1, and part 100 is lowered so that the spherical positioning components 2 enter the corresponding slide groove 110; relying on the sliding force of part 100 decomposed along the inclined surface by its own weight, part 100 slides towards the front end, causing the spherical positioning components 2 to adhere to the positioning surface 111 along the slide groove 110; until all three spherical positioning components 2 form stable contact with the corresponding positioning surface 111, the alignment is completed.

[0070] This optimized solution uses a layout of one spherical positioning component 2 in front and two in back, along with an inclined support column 1 plane, to decompose the weight of part 100 into a continuous sliding force, thus solving the problems of insufficient sliding force and incomplete alignment when there is no power. The layout of one in front and two in back ensures the stability of part 100's posture during the sliding process and avoids swaying and jamming. Based on the aforementioned basic solution, it further improves the success rate and smoothness of alignment without power.

[0071] The aforementioned optimization scheme has effectively solved the problem of insufficient power for the unpowered alignment and sliding of the heavy load part 100. However, in actual implementation, there are still problems such as large impact on the support column 1 and the spherical positioning part 2 when the part 100 is lowered, and inconsistent initial posture leading to poor repeatability positioning accuracy. To solve this problem, a pre-positioning structure is added for targeted optimization design.

[0072] This embodiment also includes a pre-positioning structure, which includes a fixing plate 3 and a limiting block 4.

[0073] The fixing plate 3 is positioned above the support column 1 to pre-support the part 100 (to provide initial placement support for the part 100 and buffer the impact of its lowering).

[0074] The fixed plate 3 has a clearance opening 31 to avoid the ball positioning member 2 (to prevent the ball positioning member 2 from interfering with the movement of the fixed plate 3).

[0075] The limiting block 4 is installed on the fixed plate 3 and has a pre-positioning abutment surface 41 for abutting against the part 100 and restricting the part 100 from sliding towards the front end (used to limit the initial pre-positioning posture of the part 100 and ensure the consistency of the initial position).

[0076] Part 100 can disengage from the pre-positioning contact surface 41 along the Z-axis direction (to ensure that part 100 can be released from the pre-positioning constraint and freely slide and align after being lifted).

[0077] The three support columns 1 can be raised and lowered relative to the fixed plate 3 in the Z-axis direction to separate the part 100 from the prepositioning contact surface 41 (for smoothly switching the support system of the part 100 through the lifting action and releasing the prepositioning constraint).

[0078] A support strip 32 is also provided at the contact point between the fixing plate 3 and the part 100 (to reduce the contact area between the part 100 and the fixing plate 3 and reduce friction loss during picking and placing).

[0079] After completing the installation and fixing of the fixing plate 3, the limiting block 4, and the support bar 32, ensure that the pre-positioning contact surface 41 of the limiting block 4 is in the preset position; hoist the part 100 with the pre-installed spherical positioning component 2 above the fixing plate 3, and slowly lower it onto the support bar 32, so that the part 100 abuts against the pre-positioning contact surface 41, completing the pre-positioning; drive the support column 1 to lift upward along the Z-axis, driving the part 100 to rise synchronously, so that the part 100 is completely separated from the pre-positioning contact surface 41 and the support bar 32; after the part 100 is freed from the pre-positioning constraint, it slides along the inclined direction by its own weight, completing the automatic alignment; after the positioning is completed, drive the support column 1 to descend, and put the part 100 back onto the support bar 32 of the fixing plate 3, completing the state switch.

[0080] This optimization scheme provides stable initial placement support for part 100 by adding a pre-positioning structure, effectively buffering the impact when the heavy-load part 100 is lowered and avoiding collision damage to the core positioning components; the pre-positioning contact surface 41 of the limit block 4 ensures that the initial posture of part 100 is consistent each time it is placed, fundamentally improving the repeatability accuracy; the design of the support bar 32 reduces frictional loss during the picking and placing of part 100. Based on the aforementioned scheme, the operational safety, positioning consistency and service life of the mechanism are further improved.

[0081] The aforementioned optimization scheme has effectively solved the problem of consistency of the initial prepositioning posture of part 100. However, in actual implementation, there are still problems such as high frictional loss between part 100 and prepositioning contact surface 41, and easy scratching during lifting and lowering, which can cause damage to part 100 or contact surface. To solve this problem, a rolling bearing 5 is added for targeted optimization design.

[0082] This embodiment also includes a rolling bearing 5 (used to replace the direct contact between part 100 and the prepositioned contact surface 41, reducing frictional loss).

[0083] The rolling bearing 5 is mounted on part 100 and rotates around its own axis (to convert sliding friction into rolling friction, thereby further reducing frictional resistance).

[0084] The outer ring of the rolling bearing 5 makes line contact with the pre-positioning contact surface 41 (to ensure the limiting effect while reducing the contact area and reducing wear).

[0085] The rolling bearing 5 is pre-installed in the preset mounting position on the side of the part 100 to ensure that the bearing can rotate freely around its own axis; the part 100 is hoisted to the preset position of the fixing plate 3 so that the outer ring of the rolling bearing 5 abuts against the preset positioning contact surface 41 of the limiting block 4 to complete the preset positioning; the drive support column 1 lifts the part 100, and the rolling bearing 5 rises synchronously with the part 100 and smoothly separates from the preset positioning contact surface 41; after the part 100 is aligned, the drive support column 1 descends, and the rolling bearing 5 descends with the part 100 and smoothly contacts the preset positioning contact surface 41 again to complete the state switch.

[0086] This optimized solution replaces the direct surface contact between part 100 and the abutment surface with the line contact between the rolling bearing 5 and the pre-positioning abutment surface 41, significantly reducing contact friction loss and avoiding scratch damage between the surface of part 100 and the pre-positioning abutment surface 41. The rotational characteristics of the rolling bearing 5 convert sliding friction into rolling friction, making the lifting and pre-positioning process of part 100 smoother, while ensuring the long-term flatness of the pre-positioning abutment surface 41. Based on the aforementioned solution, the long-term positioning stability of the mechanism and the service life of the components are further improved.

[0087] The aforementioned optimization scheme has effectively solved the problems related to the pre-positioning and state switching of part 100. However, in actual implementation, there are still problems such as asynchronous lifting of support column 1 and poor coaxiality of guide for large span mechanism, which cause lifting jamming. To solve this problem, a lifting control structure is added for targeted optimization design.

[0088] This embodiment also includes a lifting control structure for controlling the simultaneous lifting and lowering of the three support columns 1 along the Z-axis. The lifting control structure includes a guide rod 6, a lifting part, and a servo electric cylinder 7.

[0089] One end of the guide rod 6 is fixedly connected to the fixed plate 3, and its axis is set along the Z-axis direction (to provide linear guidance for the lifting movement of the lifting part and avoid swaying).

[0090] The lifting unit slides with the guide rod 6, and three support columns 1 are installed on the lifting unit (to drive the three support columns 1 to achieve synchronous lifting and ensuring consistent lifting).

[0091] The servo electric cylinder 7 is fixedly connected to the external support structure and to the lifting unit to provide power for the lifting of the lifting unit (to achieve precise control of the lifting stroke and provide stable lifting driving force).

[0092] A fixing block 61 is mounted on the fixing plate 3 (used to provide an installation reference for adjusting the attitude of the guide rod 6).

[0093] The fixed block 61 has a hemispherical groove (for cooperating with the hemispherical adjusting member 62 to form a spherical pair, providing a multi-degree-of-freedom adjustment space).

[0094] A hemispherical adjustment element 62 is installed on the top of the guide rod 6 (used to adaptively adjust the installation posture of the guide rod 6 and eliminate coaxiality error).

[0095] The hemispherical adjustment component 62 is embedded in the groove to form a spherical pair (used to achieve multi-degree-of-freedom adaptive adjustment of the installation posture of the guide rod 6).

[0096] The mounting through holes of the hemispherical adjusting component 62 and the fixing block 61, as well as the through holes at the bottom of the groove, are all reserved with adjustment gaps (to provide sufficient room for the attitude adjustment of the guide rod 6).

[0097] The guide rod 6 passes through the through hole at the bottom of the groove (to achieve a fixed connection between the guide rod 6 and the fixing plate 3, ensuring the stability of the guide reference).

[0098] Complete the pre-assembly of the fixing block 61, hemispherical adjusting component 62, and guide rod 6. Fix the guide rod 6 to the fixing plate 3, but do not tighten the fasteners of the hemispherical adjusting component 62 yet. Slide the lifting part with the guide rod 6 to complete the connection between the servo cylinder 7, the lifting part, and the external support structure. Drive the lifting part to perform multiple reciprocating lifting movements through the servo cylinder 7, so that the guide rod 6 automatically aligns under sliding constraints to achieve optimal coaxiality. Tighten the fasteners of the hemispherical adjusting component 62 and the fixing block 61 to complete the debugging of the guide structure. During normal use, drive the lifting part through the servo cylinder 7 to drive the support column 1 to lift synchronously, completing the state switching of part 100.

[0099] This optimized solution achieves synchronous and precise lifting of the three support columns 1 through a lifting control structure, ensuring the stability of the lifting and lowering process of part 100 and avoiding the swaying of part 100 caused by asynchronous lifting. The self-aligning design of the guide rod 6 and the spherical pair effectively eliminates the lifting jamming problem caused by the poor coaxiality of the guide in the large span mechanism, and greatly relaxes the processing tolerance requirements of the components. On the basis of the aforementioned solution, the operational reliability and debugging convenience of the mechanism are further improved.

[0100] The aforementioned optimization scheme has effectively solved the core problem of synchronous lifting of the support column 1. However, in actual implementation, there are still problems such as inconsistent height of the slide 110, off-center load of part 100, and decreased alignment accuracy caused by processing and installation errors of the support column 1. In order to solve this problem, the connection structure between the lifting part and the support column 1 is specifically optimized.

[0101] The lifting unit includes a mounting plate 8 located on its top (used to provide a uniform installation reference for the three support columns 1 to ensure relative position accuracy).

[0102] The support column 1 is mounted on the mounting plate 8 with adjustable height (to enable fine adjustment of the height of a single support column 1 and compensate for processing and installation errors).

[0103] Mounting plate 8 is provided with mounting holes (to provide a positioning reference for the installation of support column 1 and to reserve adjustment space).

[0104] The support column 1 is clearance-fitted with the mounting hole (to provide sufficient radial movement space for height adjustment of the support column 1).

[0105] A base 11 is fixedly installed at the bottom of the support column 1 (to achieve a tight connection between the support column 1 and the mounting plate 8, and to provide a mounting surface for height adjustment).

[0106] The base 11 is fastened to the mounting plate 8 (to ensure the installation stability after the support column 1 is adjusted).

[0107] There is a gap between the base 11 and the bottom surface of the mounting plate 8 (to provide space for the installation of the compensation shim 12 and to enable height adjustment).

[0108] A compensation shim 12 is detachably installed in the gap (for precisely adjusting the height of the support column 1 by increasing or decreasing the number or changing the thickness).

[0109] The compensation shim 12 is used to fine adjust the height of the slide 110 (to ensure that the slides 110 of the three support columns 1 are on the same reference plane and the force is balanced).

[0110] Insert the three support columns 1 into the corresponding mounting holes of the mounting plate 8, and pre-connect the base 11 at the bottom of the support column 1 to the bottom surface of the mounting plate 8 with bolts; use a level to check the height of the sliding groove 110 of the three support columns 1 to determine the required thickness of the compensation shims 12 for each support column 1; add compensation shims 12 of the corresponding thickness in the gap between the base 11 and the bottom surface of the mounting plate 8, and adjust the three sliding grooves 110 to be on the same reference plane; tighten the connecting bolts between the base 11 and the mounting plate 8 to complete the height adjustment and fixation of the support column 1; after long-term use, the height deviation caused by wear can be compensated by replacing the compensation shims 12.

[0111] This optimized solution, through a clearance-fit installation structure and a removable compensation shim 12, achieves micron-level precise micro-adjustment of the height of a single support column 1, effectively compensating for the processing and installation errors of the support column 1 and the mounting plate 8, and ensuring that the three slides 110 are on the same reference plane; it avoids the problems of uneven load on the part 100, uneven force on the spherical positioning part 2, and decreased alignment accuracy caused by inconsistent heights of the slides 110. Based on the aforementioned solution, it further improves the positioning accuracy, load uniformity, and long-term stability of the mechanism.

[0112] The present invention also provides an adaptive alignment method for a heavy-load component, applied to an adaptive alignment mechanism for a heavy-load component 100 described above, comprising the following steps:

[0113] S1. Pre-positioning: Place part 100 in the preset position of the fixing plate 3, so that part 100 abuts against the pre-positioning contact surface 41 of the limiting block 4. At this time, the spherical positioning part 2 near the front end of the bottom of part 100 is aligned with the two positioning surfaces 111 of the corresponding support column 1 in the Z-axis direction. The two spherical positioning parts 2 near the rear end of the bottom of part 100 are aligned with only one positioning surface 111 of the corresponding support column 1 away from the front end of part 100 in the Z-axis direction (to complete the pre-positioning of the initial posture of part 100 and establish the initial trend for subsequent sliding alignment).

[0114] S2, Lifting and Releasing Constraints: Drive the support column 1 to rise along the Z-axis, causing part 100 to rise synchronously, so that part 100 is completely separated from the prepositioned contact surface 41 (used to smoothly switch the support system of part 100 and release the sliding constraint of the preposition on part 100).

[0115] S3. Weight-based sliding: Relying on the weight of the part 100 and the inclined setting of the three support columns 1 in the same plane, the part 100 slides down in the inclined direction, and the spherical positioning part 2 slides radially along the groove 110 of the support column 1 and fits the positioning surface 111 (used to achieve automatic sliding and positioning without power by the driving force of the weight decomposed).

[0116] S4, Six-point orientation fixation: Continue to maintain the sliding state of part 100 until all three spherical positioning parts 2 form a stable and unique contact point with a pair of positioning surfaces 111 of the corresponding support column 1, thereby realizing the spatial six-degree-of-freedom limitation of part 100 (used to complete the unique and precise limitation of the orientation of part 100 through the six-point positioning structure).

[0117] S5, State reciprocating switching: Drive the support column 1 to descend along the Z-axis, causing part 100 to abut against the fixed plate 3 or the support bar 32 above it, releasing the six degrees of freedom limit of part 100 and removing part 100; when part 100 switches between non-tooling state and tooling state, repeat steps S1-S4 (to realize the rapid reciprocating switching of part 100 between tooling and non-tooling states, and to ensure repeatability positioning accuracy).

[0118] After completing the installation, debugging, and precision calibration of the alignment mechanism, the spherical positioning component 2 and the rolling bearing 5 are pre-installed at the corresponding positions on the part 100 to be positioned; in step S1, the part 100 is placed on the support bar 32 of the fixed plate 3 using a hoisting device, so that the rolling bearing 5 abuts against the pre-positioning contact surface 41, completing the pre-positioning; in step S2, the servo electric cylinder 7 is activated to drive the support column 1 to rise synchronously, causing the part 100 to detach from the fixed plate 3 and the pre-positioning contact surface 41, completely releasing the pre-positioning constraint; in step S3, the part 100, relying on its own weight, moves along the inclined surface The front end slides, causing the spherical positioning component 2 to slide radially along the slide groove 110, gradually fitting the positioning surface 111; Execute step S4, and once all three spherical positioning components 2 have formed stable point contact with the corresponding two positioning surfaces 111, the six degrees of freedom of part 100 is limited and precisely aligned, and subsequent tooling operations can be carried out; After the tooling operation is completed, execute step S5, drive the support column 1 to descend, put part 100 back into the fixed plate 3, release the positioning constraint, and remove part 100, completing a single state switch; When part 100 is tooled again, the above steps can be repeated.

[0119] This method is highly compatible with the aforementioned adaptive alignment mechanism. Through a complete process of pre-positioning, lifting and lifting constraints, self-weight sliding, six-point attitude determination, and state switching, it achieves automatic alignment of the heavy-load part 100 without power, eliminating the need for manual fine-tuning and making the operation simple and efficient. The strict initial attitude pre-positioning and self-weight sliding logic ensures consistent alignment accuracy of part 100 after each state switch, solving the problems of poor repetitive positioning accuracy and cumbersome operation in traditional methods. The clear timing of the entire process allows it to be directly adapted to the operational needs of automated production lines, significantly improving the efficiency and stability of tooling operations for the heavy-load part 100.

[0120] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. An adaptive alignment mechanism for heavy load parts, characterized by, include: Support column (1), three support columns (1) are arranged at intervals to form a triangular layout. The upper end of the support column (1) is provided with a sliding groove (110) along the radial direction. A pair of inclined positioning surfaces (111) are formed on both sides of the sliding groove (110). When the sliding groove (110) is set to be a ball, the ball has only one contact point with each of the two positioning surfaces (111). Three spherical positioning components (2) are pre-installed on the part (100) to be positioned, and the three spherical positioning components (2) correspond one-to-one with the three support columns (1). The positioning surfaces (111) of the three slides (110) have different extension directions, so that when the spherical positioning component (2) is placed in the slide (110), the part (100) has a unique posture under natural stillness.

2. The adaptive alignment mechanism for a heavy-load component according to claim 1, characterized in that, The three support columns (1) are evenly distributed around the common geometric center at 120° circumference. The extension direction of the slide (110) is set along the angle bisector of the line connecting two adjacent support columns (1). The two positioning surfaces (111) of the slide (110) are inclined upward and outward, and the two positioning surfaces (111) have the same inclination angle, which cooperate to form a V-shaped groove structure.

3. The adaptive alignment mechanism for a heavy-load component according to claim 1, characterized in that, The common plane of the three support columns (1) is set horizontally so that the part (100) remains horizontal after it is positioned.

4. The adaptive alignment mechanism for a heavy-load component according to claim 1, characterized in that, The spherical positioning component (2) and the part (100) are connected by a fixed connection, a rotatable connection or a rolling connection; the relative position of the center of the spherical positioning component (2) and the preset installation reference of the part (100) is fixed.

5. The adaptive alignment mechanism for a heavy-load component according to claim 1, characterized in that, One of the three spherical positioning elements (2) is installed at the bottom of the part (100) near the front end of the part (100), and the other two are installed at the bottom of the part (100) near the rear end of the part (100). The common plane of the three support columns (1) is inclined, which allows the part (100) to slide towards its front end.

6. The adaptive alignment mechanism for a heavy-load component according to claim 5, characterized in that, It also includes a pre-positioning structure, which includes a fixing plate (3) and a limiting block (4). The fixing plate (3) is disposed above the support column (1) to pre-support the part (100), and the fixing plate (3) has a clearance opening (31) to avoid the spherical positioning part (2). The limiting block (4) is installed on the fixing plate (3) and has a pre-positioning abutment surface (41) for abutting the part (100) and restricting the part (100) from sliding towards the front end; the part (100) can disengage from the pre-positioning abutment surface (41) along the Z-axis direction. The three support columns (1) are able to move up and down relative to the fixed plate (3) in the Z-axis direction to separate the part (100) from the prepositioned contact surface (41); a support strip (32) is also provided at the contact point between the fixed plate (3) and the part (100).

7. The adaptive alignment mechanism for a heavy-load component according to claim 6, characterized in that, It also includes a rolling bearing (5), which is rotatably mounted on the part (100) around its own axis, and the outer ring of the rolling bearing (5) is in line contact with the pre-positioned contact surface (41).

8. The adaptive alignment mechanism for a heavy-load component according to claim 6, characterized in that, It also includes a lifting control structure for controlling the three support columns (1) to rise and fall simultaneously along the Z-axis, the lifting control structure including a guide rod (6), a lifting part and a servo electric cylinder (7). One end of the guide rod (6) is fixedly connected to the fixing plate (3), and the axis is set along the Z-axis direction; The lifting part is slidably engaged with the guide rod (6), and the three support columns (1) are installed on the lifting part; The servo electric cylinder (7) is fixedly connected to the external support structure and connected to the lifting part to provide power for the lifting of the lifting part; A fixing block (61) is installed on the fixing plate (3). A hemispherical groove is provided on the fixing block (61). A hemispherical adjusting component (62) is installed on the top of the guide rod (6). The hemispherical adjusting component (62) is embedded in the groove to form a spherical pair. The mounting through hole of the hemispherical adjusting component (62) and the fixing block (61) and the through hole at the bottom of the groove are reserved with adjustment gaps. The guide rod (6) passes through the through hole at the bottom of the groove.

9. The adaptive alignment mechanism for a heavy-load component according to claim 8, characterized in that, The lifting unit includes a mounting plate (8) located at its top, and the support column (1) is height-adjustably mounted on the mounting plate (8); the mounting plate (8) is provided with mounting holes, the support column (1) is clearance-fitted with the mounting holes, a base (11) is fixedly mounted on the bottom of the support column (1), the base (11) is fastened to the mounting plate (8), there is a gap between the base (11) and the bottom surface of the mounting plate (8), a compensation shim (12) is detachably provided in the gap, and the compensation shim (12) is used to finely adjust the height of the slide groove (110).

10. An adaptive alignment method for heavy-load components, characterized in that, The adaptive alignment mechanism for a high-load component as described in claim 6 includes the following steps: S1, Pre-positioning: Place part (100) in the preset position of fixed plate (3) so that part (100) abuts against the pre-positioning contact surface (41) of limit block (4). At this time, the ball positioning part (2) near the front end of the bottom of part (100) is aligned with the two positioning surfaces (111) of the corresponding support column (1) in the Z-axis direction. The two ball positioning parts (2) near the rear end of the bottom of part (100) are aligned with only one positioning surface (111) of the corresponding support column (1) away from the front end of part (100) in the Z-axis direction. S2, Lifting and releasing constraints: Drive the support column (1) to rise along the Z-axis, causing the part (100) to rise synchronously, so that the part (100) is completely separated from the pre-positioned contact surface (41); S3, self-weight sliding: relying on the self-weight of part (100) and the inclined setting of the three support columns (1) in the same plane, part (100) slides down in the inclined direction, and the spherical positioning part (2) slides radially along the groove (110) of the support column (1) and fits the positioning surface (111). S4, Six-point position fixation: Continue to maintain the sliding state of part (100) until the three spherical positioning parts (2) form a stable and unique contact point with a pair of positioning surfaces (111) of the corresponding support column (1), thereby realizing the spatial six-degree-of-freedom limit of part (100); S5, State switching: Drive the support column (1) to descend along the Z-axis, causing the part (100) to come into contact with the fixed plate (3) or the support bar (32) above it, releasing the six degrees of freedom limit of the part (100) and removing the part (100); when the part (100) switches between non-tooling state and tooling state, repeat steps S1-S4.

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