A motion platform for large component installation docking

Abstract

This invention provides a motion platform for the installation and docking of large components. Its three-degree-of-freedom parallel mechanism has a stationary platform with one front branch and two rear branches arranged in a triangular pattern. These three branches are connected to three support points of the moving platform. The front branch is either a PU branch or a HU branch, and both the front branch and its corresponding front support point are located in the X1Z1 plane. The two rear branches and their corresponding two rear support points are symmetrical about the X1Z1 plane. The rear branches include a support link connected to the moving platform and a P-joint or H-joint connected to the stationary platform. One end of the support link is connected to the rear support point of the moving platform via an S-joint, and the other end is connected to the P-joint or H-joint of the rear branch via a U-joint or S-joint. In the front branch, the P-joint or H-joint is connected to the stationary platform, and a U-joint is installed on the P-joint or H-joint. The rotational hinge of this U-joint, which rotates around Y1, is connected to the front support point of the moving platform. This invention features high end-load capacity, small shrinkage volume, and light weight.

Description

Technical Field

[0001] This invention belongs to the field of digital assembly technology and relates to a motion platform for the installation and docking of large components. Background Technology

[0002] In the installation of large components, the size, weight, and complex coordination of the parts present numerous challenges. Traditional manual installation is not only time-consuming and labor-intensive, resulting in poor installation quality, but also poses significant safety hazards. Therefore, the introduction of digital assembly technology has become an inevitable and urgent need.

[0003] One of the key aspects of digital assembly technology lies in the actuator, which commonly falls into two categories: serial robots and parallel mechanisms. In the installation of insulation panels on the inner walls of a ship's cabin, the space on each layer of scaffolding is limited, yet the installation of insulation panels on horizontal, 45-degree inclined, and vertical surfaces must be completed. Simultaneously, the impact of uneven ground on the installation position must be addressed. Therefore, the actuator must be capable of six degrees of freedom of movement in space. In the aforementioned working condition, the well-known six-degree-of-freedom industrial robotic arm has a wide working range but is heavy and bulky, making it unsuitable for movement in confined spaces. In contrast, the traditional six-degree-of-freedom parallel mechanism, while lighter and smaller, has a narrower working range. Summary of the Invention

[0004] The purpose of this invention is to provide a motion platform for the installation and docking of large components. This invention achieves multiple flow modes and shut-off functions within a single valve body, featuring a compact structure and convenient installation.

[0005] Technical Solution. A motion platform for the installation and docking of large components includes a three-degree-of-freedom parallel mechanism; the three-degree-of-freedom parallel mechanism includes a static platform, on which are arranged in a triangular pattern one front branch and two rear branches, the three branches being connected to three support points of the moving platform; the front branch is either a PU branch or a HU branch. A right-handed rectangular coordinate system is established with the horizontal rotation axis of the front branch U as the Y1 axis and the vertical rotation axis as the Z1 axis. Then: the front branch and its corresponding front support point are all located in the X1Z1 plane, 2 Each rear branch and its corresponding two rear support points are symmetrical about the X1Z1 plane; the rear branch includes a support link connected to the moving platform and a P-joint or H-joint connected to the stationary platform; one end of the support link is connected to the rear support point of the moving platform via an S-joint, and the other end of the support link is connected to the P-joint or H-joint of the rear branch via a U-joint or an S-joint; in the front branch, the P-joint or H-joint is connected to the stationary platform, and a U-joint is installed on the P-joint or H-joint, in which the rotational hinge rotating about Y1 is connected to the front support point of the moving platform.

[0006] In the aforementioned motion platform used for the installation and docking of large components, the P or H joint of the front branch and the P or H joint of the rear branch both move along the X1 direction.

[0007] In the aforementioned motion platform for the installation and docking of large components, the three-degree-of-freedom parallel mechanism is used to provide the motion platform to move along the X1 direction, rotate about Y1, and / or rotate about Z1.

[0008] The aforementioned motion platform for installing and docking large components also includes a three-degree-of-freedom serial mechanism. This mechanism includes base A and base B mounted on the motion platform. Base A is hinged to one end of the piston cylinder, and base B is hinged to one end of the telescopic drive assembly A. The other end of the telescopic drive assembly A is hinged to the other end of the piston cylinder. A piston rod is slidably connected inside the piston cylinder. One end of the piston rod extending into the piston cylinder is connected to the telescopic drive assembly B mounted on the piston cylinder, and the other end of the piston rod is connected to a fixed frame. Connecting rods A and B are hinged on the fixed frame, and connecting rods A and B are also hinged together by connecting rod C. Connecting rod A is closer to the piston rod, and connecting rod B is farther from the piston rod. The hinge points of connecting rods A and C are also hinged to one end of the telescopic drive assembly C, and the other end of the telescopic drive assembly C is hinged to the fixed frame. Base C is mounted on connecting rod B.

[0009] In the aforementioned motion platform used for the installation and docking of large components, the base A, piston cylinder, and telescopic drive assembly A are arranged in a triangular configuration.

[0010] In the aforementioned motion platform used for the installation and docking of large components, both the piston cylinder and the piston rod are square, and a self-lubricating plate is provided between the contact surfaces of the piston cylinder and the piston rod.

[0011] In the aforementioned motion platform used for the installation and docking of large components, the entire three-degree-of-freedom serial mechanism is arranged parallel to the Y1Z1 plane.

[0012] In the aforementioned motion platform for installing and docking large components, the three-degree-of-freedom serial mechanism consists of connecting rods A to C, telescopic drive assembly C, and fixed frame forming a five-bar linkage to control the rotation of base C; telescopic drive assembly A is used to drive the piston cylinder to rotate, thereby adjusting the height of base C in the Z1 direction; the extension and retraction of the piston rod is used to adjust the position of base C in the Y1 direction.

[0013] Beneficial Effects: To meet the installation requirements of insulation panels on the inner walls of ship cabins, this invention integrates the advantages of parallel mechanisms and serial robotic arms, designing a six-degree-of-freedom hybrid mechanism. This mechanism can complete the installation of insulation panels in confined spaces. It allows for a wide range of movement in the X1, Y1, and Z1 directions, a large range of rotation around the X1 axis, and small range of rotation (fine-tuning) around the Y1 and Z1 axes. This avoids the problems of excessive size and weight of serial mechanisms and insufficient working space of parallel mechanisms within a given workspace. The mechanism can adapt to uneven ground and complete installation and docking tasks in space. It is a six-degree-of-freedom hybrid mechanism suitable for large working spaces, high end-load, small retractable volume, light weight, and fine-tuning capabilities.

[0014] This invention avoids the problems of excessive size and weight of serial mechanisms and excessively small working space of parallel mechanisms within a certain working space. Specifically: (1) The end of the hybrid mechanism adopts a five-bar linkage, which enables the actuator (base C) to rotate more than 90°. Combined with the linear drive of the telescopic drive component C, the end load capacity (≥200kg) is greatly improved. Compared with the traditional direct drive of the rotary motor, the five-bar linkage optimizes the center of mass distribution and improves the load capacity.

[0015] (2) The telescopic drive assembly B drives the piston rod to move relative to the piston cylinder, increasing the radial stiffness. At the same time, it forms a triangle with the telescopic drive assembly A and the base A, improving the stability support of the entire mechanism.

[0016] (3) The three branches in the three-degree-of-freedom parallel mechanism correspond to the three fulcrums of the moving platform and are distributed in a triangular pattern. The parallel mechanism greatly improves its load-bearing capacity and motion accuracy along the X direction and around the Y and Z axes.

[0017] (4) The length × width × height of the entire hybrid mechanism is 3937mm × 1090mm × 1522mm. The end can withstand a load of at least 200kg. It can be combined with digital measurement technology to realize the digital assembly of large parts in some narrow places, improve assembly efficiency and quality, and liberate labor.

[0018] (5) The configuration of the three-degree-of-freedom series mechanism can form an RPR configuration or an RRR configuration; the structure is simple and the transmission rigidity is good. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of a three-degree-of-freedom parallel mechanism; Figure 3 This is a schematic diagram of a three-degree-of-freedom series mechanism; Figure 4 This is a schematic diagram of the U-pair in a three-degree-of-freedom parallel mechanism. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0022] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0023] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0025] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0027] Example 1. A motion platform for the installation and docking of large components, see [link to example]. Figures 1-4The system includes a three-degree-of-freedom parallel mechanism. The three-degree-of-freedom parallel mechanism includes a static platform 1, on which one front branch 2 and two rear branches 3 are arranged in a triangular pattern. These three branches are connected to three support points on a moving platform 4. The front branch 2 is either a PU branch or a HU branch. A right-handed rectangular coordinate system is established with the horizontal rotation axis of the front branch 2U as the Y1 axis and the vertical rotation axis as the Z1 axis. Then: the front branch 2 and its corresponding front support points are all located in the X1Z1 plane; the two rear branches 3 and their corresponding support points are located in the X1Z1 plane. Both rear support points are symmetrical about the X1Z1 plane; the rear branch 3 includes a support link 31 connected to the moving platform 4, and a P-joint or H-joint connected to the stationary platform 1; one end of the support link 31 is connected to the rear support point of the moving platform 4 via an S-joint, and the other end of the support link 31 is connected to the P-joint or H-joint of the rear branch 3 via a U-joint or an S-joint; in the front branch 2, the P-joint or H-joint is connected to the stationary platform 1, and a U-joint is installed on the P-joint or H-joint, in which the rotational hinge that rotates about Y1 is connected to the front support point of the moving platform 4.

[0028] Among them, P joint is a prismatic joint (1 degree of freedom, linear extension), H joint is a helical joint (1 degree of freedom, rotational + axial feed coupling), U joint is a Hooke joint / universal joint (2 degrees of freedom, orthogonal rotation of two axes), and S joint is a ball joint / spherical joint (3 degrees of freedom, arbitrary rotation in space).

[0029] The PU branch chain consists of a sliding joint P and a Hooke's hinge U; the HU branch chain consists of a helical joint and a Hooke's hinge U. Figure 1 The first branch 2 in the HU branch is the HU branch.

[0030] The P or H sub-sub of the preceding branch 2 and the P or H sub-sub of the following branch 3 can both move along the X1 direction.

[0031] The P or H pairs of the front and rear branches move together in the same direction along the X1 axis, enabling the moving platform 4 to achieve a large-stroke translation along the X1 axis.

[0032] When the P or H sub-joint of the front branch 2 stops, the P or H sub-joints of the two rear branches 3 move in opposite directions along X1, so that the moving platform 4 rotates around the Z1 axis.

[0033] The two rear branches 3P or H move at the same speed, and at a different speed than the P or H of the front branch 2, thus realizing the rotation of the moving platform 4 around the Y1 axis.

[0034] Therefore, the three-degree-of-freedom parallel mechanism can provide the moving platform 4 with a large stroke movement along the X1 direction, a small rotation around Y1, and / or a small rotation around Z1.

[0035] The aforementioned motion platform for installing and docking large components also includes a three-degree-of-freedom series mechanism: comprising two revolute joints and one prismatic joint; specifically, the three-degree-of-freedom series mechanism includes a base A5 and a base B6 mounted on the motion platform 4; base A5 is hinged to one end of the piston cylinder 7, base B6 is hinged to one end of the telescopic drive assembly A8, and the other end of the telescopic drive assembly A8 is hinged to the other end of the piston cylinder 7; a piston rod 9 is slidably connected inside the piston cylinder 7, and the piston rod 9 extends into one end of the piston cylinder 7. One end is connected to the telescopic drive assembly B10 mounted on the piston cylinder 7, and the other end of the piston rod 9 is connected to the fixed frame 11. The fixed frame 11 is hinged to the connecting rod A12 and the connecting rod B13. The connecting rods A and B are also hinged to each other by the connecting rod C14. The connecting rod A12 is close to the piston rod 9, and the connecting rod B13 is away from the piston rod 9. The hinge point of the connecting rods A and C is also hinged to one end of the telescopic drive assembly C15, and the other end of the telescopic drive assembly C15 is hinged to the fixed frame 11. A base C16 is provided on the connecting rod B13.

[0036] The base A5, piston cylinder 7, and telescopic drive assembly A8 are arranged in a triangular pattern.

[0037] Both the piston cylinder 7 and the piston rod 9 are square, and a self-lubricating plate 17 is provided between the contact surfaces of the piston cylinder 7 and the piston rod 9. The self-lubricating plate is connected around the piston rod to reduce friction between the piston and the inner wall of the cylinder during piston movement.

[0038] The entire three-degree-of-freedom series mechanism is arranged parallel to the Y1Z1 plane.

[0039] In the three-degree-of-freedom series mechanism, connecting rods A to C, telescopic drive assembly C, and fixed frame 11 constitute a five-bar linkage, which is used to control the rotation of base C16; telescopic drive assembly A8 is used to drive piston cylinder 7 to rotate, which is used to adjust the height of base C16 in the Z1 direction; the extension and retraction of piston rod 9 is used to adjust the position of base C16 in the Y1 direction.

[0040] The aforementioned three-degree-of-freedom series mechanism can form an RPR configuration or an RRR configuration.

[0041] This embodiment achieves six degrees of freedom movement of the entire mechanism in space by controlling the moving distance of three sets of ball screws (i.e., H pairs) and the telescopic length of three electric cylinders (telescopic drive components A to C). Translation along the Y1 and Z1 axes is achieved by the simultaneous movement of telescopic drive components A and B. If simultaneous Y1 / Z1 translation and rotation around the X-axis are required, the simultaneous movement of telescopic drive components A to C is necessary. Rotation around the Z1 axis is achieved by controlling the opposite movement of the two rear branch H pairs. The rotation around the Y1 axis is achieved by the two rear branch H pairs moving at the same speed, but their speeds are not equal to the speed of the front branch H pairs. Thus, the motion relationships of the six degrees of freedom are coupled together, and by calculating and giving the corresponding input, the entire mechanism can reach any position in the workspace.

[0042] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A motion platform for the installation and docking of large components, characterized in that, The three-degree-of-freedom parallel mechanism includes a static platform (1), on which there is a front branch (2) and two rear branches (3) arranged in a triangular pattern. The three branches are connected to the three support points of the moving platform (4). The front branch (2) is either a PU branch or a HU branch. A right-hand rectangular coordinate system is established with the horizontal rotation axis of the U-axis of the front branch (2) as the Y1 axis and the vertical rotation axis as the Z1 axis. Then, the front branch (2) and its corresponding front support point are all located in the X1Z1 plane, and the two rear branches (3) and their corresponding 2 support points are all located in the X1Z1 plane. Each rear support point is symmetrical about the X1Z1 plane; the rear branch (3) includes a support link (31) connected to the moving platform (4) and a P-joint or H-joint connected to the stationary platform (1); one end of the support link (31) is connected to the rear support point of the moving platform (4) via the S-joint, and the other end of the support link (31) is connected to the P-joint or H-joint of the rear branch (3) via the U-joint or S-joint; in the front branch (2), the P-joint or H-joint is connected to the stationary platform (1), and a U-joint is installed on the P-joint or H-joint, and the rotation hinge of the U-joint that rotates around Y1 is connected to the front support point of the moving platform (4).

2. The motion platform for installing and docking large components according to claim 1, characterized in that, The P or H sub-sub of the preceding branch (2) and the P or H sub-sub of the following branch (3) both move along the X1 direction.

3. The motion platform for installing and docking large components according to claim 1, characterized in that, A three-degree-of-freedom parallel mechanism is used to provide the moving platform (4) to move along the X1 direction, rotate about the Y1 direction, and / or rotate about the Z1 direction.

4. The motion platform for installing and docking large components according to claim 1, characterized in that, It also includes a three-degree-of-freedom series mechanism; the three-degree-of-freedom series mechanism includes a base A (5) and a base B (6) mounted on the moving platform (4); the base A (5) is hinged to one end of the piston cylinder (7), the base B (6) is hinged to one end of the telescopic drive assembly A (8), and the other end of the telescopic drive assembly A (8) is hinged to the other end of the piston cylinder (7); a piston rod (9) is slidably connected inside the piston cylinder (7), and one end of the piston rod (9) extending into the piston cylinder (7) is connected to the telescopic drive assembly B (6) mounted on the piston cylinder (7). 10) Connection: The other end of the piston rod (9) is connected to the fixed frame (11). The fixed frame (11) is hinged with connecting rod A (12) and connecting rod B (13). Connecting rods A and B are also hinged through connecting rod C (14). Connecting rod A (12) is close to the piston rod (9), and connecting rod B (13) is far away from the piston rod (9). The hinge points of connecting rods A and C are also hinged to one end of telescopic drive assembly C (15). The other end of telescopic drive assembly C (15) is hinged to the fixed frame (11). A base C (16) is provided on connecting rod B (13).

5. The motion platform for installing and docking large components according to claim 4, characterized in that, The base A (5), piston cylinder (7), and telescopic drive assembly A (8) are arranged in a triangular configuration.

6. The motion platform for installing and docking large components according to claim 4, characterized in that, Both the piston cylinder (7) and the piston rod (9) are square, and a self-lubricating plate (17) is provided between the contact surfaces of the piston cylinder (7) and the piston rod (9).

7. The motion platform for installing and docking large components according to claim 4, characterized in that, The entire three-degree-of-freedom series mechanism is arranged parallel to the Y1Z1 plane.

8. The motion platform for installing and docking large components according to claim 4, characterized in that, In the three-degree-of-freedom series mechanism, the connecting rods A to C, the telescopic drive assembly C, and the fixed frame (11) constitute a five-bar linkage, which is used to control the rotation of the base C (16); the telescopic drive assembly A (8) is used to drive the piston cylinder (7) to rotate, which is used to adjust the height of the base C (16) in the Z1 direction; the extension and retraction of the piston rod (9) is used to adjust the position of the base C (16) in the Y1 direction.

Images