Carrying and posture adjusting assembly device with gravity unloading function

Abstract

This invention provides a transport and assembly device with gravity unloading function. Four gravity unloading units are installed on the transport vehicle. Each gravity unloading unit includes a planar air-bearing support mechanism, a support column, a vertical hydraulic cylinder, and a spherical air-bearing support mechanism. These four gravity unloading units support the loading platform. The operator manually drives the loading platform to perform six degrees of freedom of position adjustment, bringing the assembly to the target assembly position. During position adjustment, the planar air-bearing support mechanism provides translational and rotational degrees of freedom around the vertical axis. The four vertical hydraulic cylinders and the spherical air-bearing support mechanism above them provide tilting freedom in any direction and vertical movement freedom, while also providing support force to counteract the gravity of the loading platform and its load. This allows the operator to drive the loading platform to adjust its position with only a small operating force.

Description

Technical Field

[0001] This invention relates to the field of heavy-duty attitude adjustment assembly technology, specifically a vehicle attitude adjustment assembly device with gravity unloading function. Background Technology

[0002] Aerospace technology occupies an important position in international scientific and technological competition. Faced with increasingly complex space missions such as close-range detection of extraterrestrial objects, space offense and defense, and diversified on-orbit services, spacecraft are becoming larger, heavier, and more complex. In order to avoid collisions due to excessive inertia, a lot of time is required for manual marking, and the pace of action during assembly is very slow, which seriously affects the assembly efficiency of large products.

[0003] Most existing solutions focus on unloading the product's weight through compliant control of heavy-duty robotic arms. However, this method of unloading weight through robotic arms is difficult to withstand "ton-level" loads. For large products with heavy loads, the compliant control of robotic arms is limited by control accuracy and feedback speed, and the system is prone to oscillation. Therefore, the method of unloading and adjusting the posture of "ton-level" heavy loads through compliant control of robotic arms is unreliable. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a transport attitude adjustment assembly device with gravity unloading function.

[0005] This invention is achieved through the following technical solution: A transport vehicle with gravity unloading function includes: a transport vehicle and a gravity unloading unit and a cargo platform mounted on the transport vehicle. Four gravity unloading units are arranged in a rectangular pattern on the transport vehicle. The cargo platform is mounted on these four gravity unloading units. Each gravity unloading unit includes a planar air-float support mechanism, a support column, a vertical hydraulic cylinder, and a spherical air-float support mechanism. The planar air-float support mechanism is mounted on the transport vehicle, the support column is fixedly mounted on the planar air-float movable platform of the planar air-float support mechanism, the vertical hydraulic cylinder is fixedly mounted on the top of the support column, the spherical air-float support mechanism is located at the top of the actuating end of the vertical hydraulic cylinder, and the cargo platform is mounted on top of the spherical air-float support mechanism. During posture adjustment, the planar air-float support mechanism provides translational and rotational degrees of freedom around the vertical axis. The combined action of the four vertical hydraulic cylinders and the spherical air-float support mechanism provides the cargo platform with tilting freedom in any direction and vertical movement freedom, while simultaneously providing support force to counteract the gravity of the cargo platform and its load, thus achieving gravity unloading.

[0006] In the above technical solution, the transport vehicle is an AGV.

[0007] In the above technical solution, four mounting bases are set on the transport vehicle. These four mounting bases are arranged in a rectangular array and are used to install the gravity unloading unit.

[0008] In the above technical solution, the planar air flotation support mechanism includes a planar air flotation movable platform and a planar air flotation base, with the planar air flotation movable platform mounted on the planar air flotation base.

[0009] In the above technical solution, a planar air-float arbitrary stop support unit and a planar air-float reset drive unit are provided on the planar air-float support mechanism. The planar air-float arbitrary stop support unit includes a limiting baffle and arbitrary position stop telescopic support rods. The limiting baffle is fixedly installed around the planar air-float movable platform. There are four arbitrary position stop telescopic support rods, which are evenly distributed between the limiting baffle and the planar air-float movable platform. Both ends of the arbitrary position stop telescopic support rods are connected by ball joints. The four arbitrary position stop telescopic support rods can provide a restraining force to the planar air-float movable platform, so that the planar air-float movable platform can be stably stopped in the current position after the external force of the operator is removed. The planar air flotation reset drive unit uses four actuating cylinders, which are evenly distributed around the periphery of the planar air flotation movable platform to drive the planar air flotation movable platform to reset it and return it to its original position.

[0010] In the above technical solution, the spherical air-bearing support mechanism includes an air-bearing base, an air-bearing ball, and a movable support platform. The air-bearing base is installed on the top of the actuating end of the vertical hydraulic cylinder, the air-bearing ball is installed on the air-bearing base, and the movable support platform is fixedly connected to the air-bearing ball. The loading platform is supported by four movable support platforms. When the loading platform is subjected to external force and its tilt angle changes, the extension and retraction lengths of the four vertical hydraulic cylinders change accordingly. At the same time, the tilt angles of the four movable support platforms are adaptively adjusted according to the loading platform.

[0011] In the above technical solution, the loading platform is provided with tooling units for installing the assembly to be assembled.

[0012] In the above technical solution, the tooling unit includes a clamp and two arc-shaped bases. The clamp is located in the middle of the two arc-shaped bases, and the cylindrical assembly is installed between the clamp and the two arc-shaped bases.

[0013] In the above technical solution, rollers are arranged on the clamp and two arc-shaped bases. The rollers are driven by a motor, thereby realizing the adjustment of the axial rotation angle of the cylindrical assembly.

[0014] The specific implementation steps for using this device to transport and assemble large products are as follows: Step 1: With the four vertical hydraulic cylinders in the closed state, the assembly is installed on the loading platform from the ground using a lifting device; Step 2: Transport the assembly to the designated assembly location using a transport vehicle, and then lock the current position of the transport vehicle; Step 3: Simultaneously control the four vertical hydraulic cylinders to lift the loading platform to the set height; Step 4: Put the four vertical hydraulic cylinders into constant force support control mode, and have the operator manually drive the loading platform to adjust its position so that the assembly reaches the target assembly position. Step 5: After assembly, disconnect the assembly from the loading platform; then shut down the four vertical hydraulic cylinders, drive the planar air-floating movable platform to reset, unlock the wheels of the transport vehicle, and return the transport vehicle to its initial position.

[0015] The advantages and beneficial effects of this invention are as follows: This invention incorporates four gravity unloading units on a transport vehicle. Each gravity unloading unit includes a planar air-bearing support mechanism, a support column, a vertical hydraulic cylinder, and a spherical air-bearing support mechanism. These four gravity unloading units support the loading platform. During operation, the assembly to be assembled is mounted on the loading platform, and the platform is driven to perform six-degree-of-freedom (DOF) posture adjustment to achieve the target assembly posture. During posture adjustment, the planar air-bearing support mechanism provides translational and rotational degrees of freedom around the vertical axis. The combined action of the four vertical hydraulic cylinders and the spherical air-bearing support mechanism provides the loading platform with tilting freedom in any direction and vertical movement freedom, while simultaneously providing support force to counteract the gravity of the loading platform and its load, thus achieving gravity unloading. This allows operators to drive the loading platform for posture adjustment with minimal effort, enabling convenient manual posture adjustment of "tonnage-level" load assemblies.

[0016] This invention also includes a planar air-float arbitrary stop support unit and a planar air-float reset drive unit on the planar air-float support mechanism. The planar air-float arbitrary stop support unit includes a limiting baffle and arbitrary position stop telescopic support rods. The limiting baffle is fixedly installed around the planar air-float movable platform. Four arbitrary position stop telescopic support rods are evenly distributed between the limiting baffle and the planar air-float movable platform, and both ends of the arbitrary position stop telescopic support rods are connected by ball joints. The four arbitrary position stop telescopic support rods provide constraint force to the planar air-float movable platform, enabling it to stably stop at its current position after the loss of external force from the operator. The planar air-float reset drive unit uses four actuating cylinders, which are evenly distributed around the planar air-float movable platform to drive it to reset and return it to its original position.

[0017] In addition, a tooling unit for mounting the assembly to be assembled is set on the loading platform. The tooling unit includes a clamp and two arc-shaped bases, on which rollers are arranged. The rollers can be driven by a motor, thereby adjusting the axial rotation angle of the cylindrical assembly. Then, in the assembly scenario of the cylindrical assembly, by adjusting the position and orientation of the loading platform and adjusting the axial rotation angle of the cylindrical assembly, the bolt holes on the flange of the cylindrical assembly are aligned with the bolt holes on the flange of the target assembly. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the transport attitude adjustment assembly device with gravity unloading function of the present invention.

[0020] Figure 2 This is a schematic diagram of the structure of the transport vehicle in this invention.

[0021] Figure 3 This is a schematic diagram of the gravity unloading unit in this invention (the four actuating cylinders are in a retracted state).

[0022] Figure 4 This is a schematic diagram of the gravity unloading unit in this invention (the four actuating cylinders are in a state of synchronous extension to reset the planar air-floating movable platform).

[0023] Figure 5 This is a schematic diagram of the cargo platform in this invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to specific embodiments.

[0025] This invention provides a vehicle attitude adjustment and assembly device with gravity unloading function, see appendix. Figure 1 The device includes: a transport vehicle 1, a gravity unloading unit 2 and a cargo platform 4 mounted on the transport vehicle 1.

[0026] See appendix Figure 2 The transport vehicle 1 is preferably an AGV (Automated Guided Vehicle). Four mounting bases 11 are provided on the transport vehicle 1, and these four mounting bases 11 are arranged in a rectangular array.

[0027] Four gravity unloading units 2 are respectively installed on four mounting bases 11 on the transport vehicle 1; the cargo platform 4 is installed on these four gravity unloading units 2. These four gravity unloading units 2 are used to support the cargo platform 4, providing the cargo platform 4 with four vertical degrees of freedom of movement (degrees of freedom of movement along the Z-axis), while providing a constant force to counteract the gravity of the cargo platform 4 and its load, while providing the cargo platform 4 with tilting degrees of freedom (degrees of freedom of rotation about the X and Y axes), while providing the cargo platform 4 with translational degrees of freedom (degrees of freedom of movement along the X and Y axes), and while providing the cargo platform 4 with a vertical rotational degree of freedom (degrees of freedom of rotation about the Z-axis).

[0028] For details, please see the appendix. Figure 3 The gravity unloading unit 2 includes a planar air-float support mechanism 21, a support column 22, a vertical hydraulic cylinder 23, and a spherical air-float support mechanism 24.

[0029] The planar air-bearing support mechanism 21 is mounted on the mounting base 11 of the carrier vehicle 1, and is used to provide translational degrees of freedom (movement degrees of freedom along the X and Y axes) and rotational degrees of freedom about the vertical axis (rotational degrees of freedom about the Z axis). The planar air-bearing support mechanism 21 includes a planar air-bearing movable platform 211 and a planar air-bearing base 212. The planar air-bearing movable platform 211 is disposed on the planar air-bearing base 212. Preferably, the planar air-bearing movable platform 211 is circular plate-shaped. The bottom of the planar air-bearing movable platform 211 is provided with micro-holes, which can spray compressed air to generate an air film between it and the planar air-bearing base 212, thereby achieving micro-friction or even zero-friction support for the planar air-bearing movable platform 211.

[0030] The support column 22 is fixedly installed on the planar air-floating movable platform 211 of the planar air-floating support mechanism 21, and moves synchronously with it in the plane. The support column 22 provides sufficient support height for the cargo platform 4.

[0031] The vertical hydraulic cylinder 23 is fixedly installed on the top of the support column 22, providing the vertical movement degree of freedom (movement degree of freedom along the Z-axis) for the loading platform 4, while providing a constant force to counteract the gravity of the loading platform 4 and its load.

[0032] The spherical air-float support mechanism 24 is located at the top of the actuating end of the vertical hydraulic cylinder 23. The loading platform 4 is mounted on top of the spherical air-float support mechanism 24. The spherical air-float support mechanism 24 provides the loading platform 4 with tilting freedom in any direction (rotational freedom about the X and Y axes). Under the action of air float, it can achieve micro-friction or even zero-friction support for the loading platform 4. For further details, see the appendix. Figure 3The spherical air-float support mechanism 24 includes an air-float base 241, an air-float ball 242, and a movable support platform 243. The air-float base 241 is installed on the top of the actuating end of the vertical hydraulic cylinder 23. The air-float ball 242 is installed on the air-float base 241. The movable support platform 243 is fixedly connected to the air-float ball 242. Under the action of air buoyancy, the air-float ball 242 can perform micro-friction or even zero-friction tilting motion in any direction on the air-float base 241. The movable support platform 243 moves synchronously with the air-float ball 242. The loading platform 4 is supported by four movable support platforms 243 (that is, the loading platform 4 is supported by four movable support platforms 243 of the gravity unloading unit 2). When the loading platform 4 is subjected to external force by the operator and its tilt angle changes, the extension and retraction length of the four vertical hydraulic cylinders 23 changes accordingly to maintain a constant supporting force. At the same time, the tilt angle of the four movable support platforms 243 is adaptively adjusted with the loading platform 4.

[0033] When the posture of assembly 5 on platform 4 needs to be adjusted, the operator manually drives platform 4 to perform six-degree-of-freedom posture adjustment (including movement along the X, Y, and Z directions, and rotation around the X, Y, and Z directions). Assembly 5 moves synchronously with platform 4 to achieve the desired posture adjustment. During posture adjustment, the planar air-bearing support mechanism 21 provides translational degrees of freedom (movement along the X and Y axes) and rotational degrees of freedom around the vertical axis (rotational degrees of freedom around the Z axis). The combined action of four vertical hydraulic cylinders 23 and their spherical air-bearing support mechanism 24 provides platform 4 with tilting degrees of freedom in any direction (rotational degrees of freedom around the X and Y axes) and vertical movement degrees of freedom (movement along the Z axis). Simultaneously, it provides a stable support force of "tonnage" to counteract the weight of platform 4 and its load (assembly 5), thus achieving gravity unloading. This allows operators to drive the cargo platform 4 to adjust its position with minimal force, enabling easy manual adjustment of the "ton-class" load assembly.

[0034] For further details, please refer to the appendix. Figure 3 and attached Figure 4 The present invention also provides a planar air-float arbitrary stop support unit 25 and a planar air-float reset drive unit 26 on the planar air-float support mechanism 21.

[0035] The planar air-float arbitrary stop support unit 25 is used to provide the planar air-float movable platform 211 of the planar air-float support mechanism 21 with the ability to stop at any position, so that when the operator drives the planar air-float movable platform 211 to move, it can be stably stopped at the required position (that is, by the planar air-float arbitrary stop support unit 25, a certain constraint force is applied to the planar air-float movable platform 211, so that the planar air-float movable platform 211 can be stably stopped at the current position after the external force of the operator is lost). Specifically, the planar air-float arbitrary stop support unit 25 includes a limiting baffle 251 and arbitrary position stop telescopic support rods 252. The limiting baffle 251 is fixedly installed around the planar air-float movable platform 211. There are four arbitrary position stop telescopic support rods 252, which are evenly distributed between the limiting baffle 251 and the planar air-float movable platform 211. Both ends of the arbitrary position stop telescopic support rods 252 are connected by ball joints, so that the arbitrary position stop telescopic support rods 252 can adapt to the movement position of the planar air-float movable platform 211. The four arbitrary position stop telescopic support rods 252 can provide a certain constraint force for the planar air-float movable platform 211, so that the planar air-float movable platform 211 can be stably stopped at the current position after the external force of the operator is removed.

[0036] The planar air-float resetting drive unit 26 is used to drive the planar air-float movable platform 211 to reset, returning it to its original position. Specifically, the planar air-float resetting drive unit 26 employs four actuating cylinders, which are evenly distributed around the periphery of the planar air-float movable platform 211. Preferably, these four actuating cylinders are evenly mounted on the limiting baffle 251, with the actuating ends of the cylinders pointing towards the origin of the planar air-float movable platform 211. When the planar air-float movable platform 211 needs to be reset, these four actuating cylinders extend synchronously, thereby driving the planar air-float movable platform 211 back to its original position (see Appendix). Figure 4 This state refers to the synchronized extension of all four actuators. It should be noted that during position adjustment, the four actuators are in a retracted state. Figure 3 (in a state that does not impede the movement of the planar air-floating platform 211).

[0037] The specific implementation steps for using this device to transport and assemble large products are as follows: Step 1: With the four vertical hydraulic cylinders 23 in the closed state, the assembly 5 is installed onto the loading platform 4 from the ground using a lifting device. Preferably, the center of gravity of the assembly 5 is located on the central axis of the loading platform 4.

[0038] Step 2: Transport assembly 5 to the designated assembly position using transport vehicle 1, and then lock the current position of transport vehicle 1 (i.e., lock the wheels of transport vehicle 1).

[0039] Step 3: Simultaneously control the four vertical hydraulic cylinders 23 to lift the loading platform 4 to the set height.

[0040] Step 4: Put the four vertical hydraulic cylinders 23 into constant force support control mode, and have the operator manually drive the loading platform 4 to adjust its position so that the assembly 5 reaches the target assembly position.

[0041] During posture adjustment, in constant force support control mode, the piston rod positions of the four vertical hydraulic cylinders 23 are not fixed. They automatically adjust the extension and retraction length of the piston rods based on the force applied to the hydraulic cylinders (detected in real-time by force sensors on the cylinders). For example, when the pressure on the hydraulic cylinder exceeds the set constant force support threshold (i.e., during posture adjustment, if the operator drives the platform 4 to tilt, the pressure on the hydraulic cylinder on the downward tilting side of the platform 4 will exceed the set constant force support threshold), the extension and retraction length of the hydraulic cylinder piston rod will decrease; conversely, when the pressure on the hydraulic cylinder is less than the set constant force support threshold (i.e., during posture adjustment, if the operator drives the platform 4 to tilt, the pressure on the hydraulic cylinder on the upward tilting side of the platform 4 will be less than the set constant force support threshold), the extension and retraction length of the hydraulic cylinder piston rod will increase.

[0042] Step 5: After assembly, disconnect assembly 5 from the loading platform 4; then close the four vertical hydraulic cylinders 23, drive the planar air-floating movable platform 211 to reset, unlock the wheels of the transport vehicle 1, and return the transport vehicle 1 to its initial position.

[0043] Furthermore, the loading platform 4 is equipped with tooling units for mounting the assemblies 5 to be assembled. See Appendix. Figure 1 For the cylindrical assembly 5, the tooling unit includes a clamp 41 and two arc-shaped bases 42. The clamp 41 is located in the middle of the two arc-shaped bases 42, and the cylindrical assembly 5 is installed between the clamp 41 and the two arc-shaped bases 42.

[0044] To elaborate further, see the appendix. Figure 5 Rollers 43 are arranged on the clamp 41 and the two arc-shaped bases 42. The rollers 43 can be driven by a motor to adjust the axial rotation angle of the cylindrical assembly 5.

[0045] See appendix Figure 1 An assembly scenario for a cylindrical assembly 5 is presented, wherein flanges are provided at the ends of the assembly 5. During the attitude adjustment process, the position and attitude adjustment of the loading platform 4 and the axial rotation angle of the cylindrical assembly 5 are adjusted to align the bolt holes on the flanges of the cylindrical assembly 5 with the bolt holes on the flanges of the target assembly 7 on the mounting bracket 6.

[0046] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0047] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.

[0048] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A carrying attitude adjusting assembly device with gravity unloading function, characterized in that, include: The transport vehicle and the gravity unloading unit and cargo platform mounted on it; The gravity unloading units consist of four units arranged in a rectangular pattern on the transport vehicle. The cargo platform is mounted on each of these four units. Each gravity unloading unit includes a planar air-float support mechanism, a support column, a vertical hydraulic cylinder, and a spherical air-float support mechanism. The planar air-float support mechanism is mounted on the transport vehicle, the support column is fixedly mounted on the planar air-float movable platform of the planar air-float support mechanism, the vertical hydraulic cylinder is fixedly mounted on the top of the support column, the spherical air-float support mechanism is located at the top of the actuating end of the vertical hydraulic cylinder, and the cargo platform is mounted on top of the spherical air-float support mechanism. During posture adjustment, the planar air-float support mechanism provides translational and rotational degrees of freedom around the vertical axis. The combined action of the four vertical hydraulic cylinders and the spherical air-float support mechanism provides the cargo platform with tilting freedom in any direction and vertical movement freedom, while simultaneously providing support force to counteract the gravity of the cargo platform and its load, thus achieving gravity unloading.

2. The carrier attitude adjustment assembly with gravity unloading function according to claim 1, characterized in that: The transport vehicle is an AGV (Automated Guided Vehicle).

3. The carrier attitude adjustment assembly with gravity unloading function according to claim 1, characterized in that: Four mounting bases are set on the transport vehicle, and these four mounting bases are arranged in a rectangular array for mounting the gravity unloading unit.

4. The carrier attitude adjustment assembly with gravity unloading function according to claim 1, characterized in that: The planar air flotation support mechanism includes a planar air flotation movable platform and a planar air flotation base, with the planar air flotation movable platform mounted on the planar air flotation base.

5. The carrier attitude adjustment assembly with gravity unloading function according to claim 1, characterized in that: The planar air-bearing support mechanism is equipped with a planar air-bearing arbitrary stop support unit and a planar air-bearing reset drive unit. The planar air-float arbitrary stop support unit includes a limiting baffle and arbitrary position stop telescopic support rods. The limiting baffle is fixedly installed around the planar air-float movable platform. There are four arbitrary position stop telescopic support rods, which are evenly distributed between the limiting baffle and the planar air-float movable platform. Both ends of the arbitrary position stop telescopic support rods are connected by ball joints. The four arbitrary position stop telescopic support rods can provide a restraining force to the planar air-float movable platform, so that the planar air-float movable platform can be stably stopped in the current position after the external force of the operator is removed. The planar air flotation reset drive unit uses four actuating cylinders, which are evenly distributed around the periphery of the planar air flotation movable platform to drive the planar air flotation movable platform to reset it and return it to its original position.

6. The carrier attitude adjustment assembly with gravity unloading function according to claim 1, characterized in that: The spherical air-float support mechanism includes an air-float base, an air-float ball, and a movable support platform. The air-float base is installed on the top of the actuating end of the vertical hydraulic cylinder, the air-float ball is installed on the air-float base, and the movable support platform is fixedly connected to the air-float ball; the loading platform is supported by four movable support platforms.

7. The carrier attitude adjustment assembly with gravity unloading function according to claim 1, characterized in that: The platform is equipped with tooling units for installing the assemblies to be assembled.

8. The carrier alignment and assembly device with gravity unloading function according to claim 7, characterized in that: The tooling unit includes a clamp and two arc-shaped bases. The clamp is located in the middle of the two arc-shaped bases, and the cylindrical assembly is installed between the clamp and the two arc-shaped bases.

9. The carrier attitude adjustment assembly with gravity unloading function according to claim 8, characterized in that: Rollers are arranged on the clamp and two arc-shaped bases. The rollers are driven by a motor, thereby adjusting the axial rotation angle of the cylindrical assembly.

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