Six-degree-of-freedom full-flexible rigidity butt joint assembly device

Abstract

The utility model provides a six-degree-of-freedom full-flexible rigidity butt joint assembly device, and belongs to the technical field of mechanical flexible assembly. The problems that in the butt joint installation process of mechanical parts, full-degree-of-freedom flexible assembly cannot be achieved, so that the assembly precision is poor, and the assembly stress is high are solved. The device comprises an air floatation supporting plate, a product bracket, three gravity center adjusting mechanisms, four plane air floatation type supporting components, a manual lifting mechanism and a zero-rigidity vertical supporting mechanism, four pressure sensors are arranged below the product bracket, and the four plane air floatation type supporting components are installed on the air floatation supporting plate. A manual lifting mechanism is installed above the plane air floating type supporting component, a zero-rigidity vertical supporting mechanism is installed on the manual lifting mechanism, the zero-rigidity vertical supporting mechanism is connected with the bottom of the product bracket, and three gravity center adjusting mechanisms are installed on the product bracket. The device is mainly used for assembling mechanical parts.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical flexible assembly, especially relates to a six degree of freedom full flexible rigidity butt joint assembly device. BACKGROUND

[0002] At present in the field of mechanical assembly, the product is usually supported by rigid device or partial flexible device when assembling, however, if the position or attitude of the product exists deviation when butt joint and installation, it is easy to cause large installation stress, even possibly destroys the matching structure, reduces the matching precision, and further affects the normal performance and reliability of the product, in addition, the attitude and position of the product mainly rely on rigid mechanism to adjust at present, and the flexibility is poor, and it is also easy to produce large assembly stress in the adjustment process, which causes the adverse effect to the assembly process. UTILITARY MODEL CONTENTS

[0003] Therefore, the utility model aims at providing a six degree of freedom full flexible rigidity butt joint assembly device to solve the problem that the flexible assembly of full degree of freedom cannot be realized in the butt joint and installation process of mechanical parts, and further causes poor assembly precision and high assembly stress.

[0004] In order to achieve the above object, the utility model adopts the following technical scheme:

[0005] A six degree of freedom full flexible rigidity butt joint assembly device, including air floating support plate, product bracket, three gravity center adjusting mechanisms, four plane air floating type support components, manual lifting mechanism and zero stiffness vertical support mechanism, four pressure sensors are arranged below the product bracket, four plane air floating type support components are installed on the air floating support plate, the manual lifting mechanism is installed above the plane air floating type support component, the zero stiffness vertical support mechanism is installed on the manual lifting mechanism, the zero stiffness vertical support mechanism is connected with the bottom of the product bracket, and the three gravity center adjusting mechanisms are installed on the product bracket.

[0006] Further, a handrail is installed on one side of the product bracket.

[0007] Further, the pressure sensor is installed at the connection position of the zero stiffness vertical support mechanism and the product bracket.

[0008] Further, the three gravity center adjusting mechanisms are installed at the top, the side and the bottom respectively and are arranged orthogonally.

[0009] Further, the gravity center adjusting mechanism includes a rotating wheel, a lead screw and a counterweight, the rotating wheel is connected with the lead screw, the lead screw is threadedly connected with the counterweight, and the lead screw is connected with the product bracket through a mounting seat.

[0010] Further, the face air floating type supporting part comprises a thrust air floating bearing and a plane air floating type supporting base, the thrust air floating bearing is arranged at the four corners of the bottom of the plane air floating type supporting base, the thrust air floating bearing is connected with the air floating supporting plate, and the manual lifting mechanism is connected with the top of the air floating supporting plate.

[0011] Further, the zero stiffness vertical supporting mechanism comprises a positive stiffness spring, a transverse supporting spring, a knife cam, a knife cam rotating shaft and a vertical moving rod, the positive stiffness spring is arranged in the zero stiffness vertical supporting frame, the transverse supporting spring is arranged at the two sides of the zero stiffness vertical supporting frame, the inner end of the transverse supporting spring is in contact with the knife cam, the knife cam is connected with the knife cam rotating shaft, the knife cam rotating shaft is connected with the positive stiffness spring, and the vertical moving rod is arranged at the top of the zero stiffness vertical supporting frame and connected with the product bracket.

[0012] Further, the bottom of the positive stiffness spring is connected with a pre-tightening adjusting nut.

[0013] Further, the pressure sensor is in point contact with the supporting product bracket.

[0014] Further, the air floating supporting plate is a rigid plane.

[0015] Compared with the prior art, the zero stiffness vertical supporting mechanism has the advantages that:

[0016] 1. The gravity adjusting mechanism is arranged to adjust the gravity position of the product bracket and the whole product, so that the gravity is located at the center of the four supporting points, further, the pre-compression amount of the positive stiffness spring in the zero stiffness vertical supporting mechanism is adjusted, so that the supporting force is matched with the product weight, the zero stiffness free movement in the plumb direction, the pitch direction and the roll direction is realized, the free movement in the horizontal direction and the yaw direction is realized by the zero friction between the air floating supporting plate and the plane air floating type supporting base, and then the zero stiffness movement in six degrees of freedom of the product can be realized, the assembly stress of the product during the docking installation process can be avoided, and the assembly quality and reliability are improved.

[0017] 2. The full freedom flexible assembly can be realized, the assembly precision is improved, and the assembly stress is reduced. DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0019] Fig. 1The utility model discloses a six degree of freedom full flexible rigidity butt joint assembly device's structure schematic view.

[0020] Fig. 2 The utility model discloses a six degree of freedom full flexible rigidity butt joint assembly device's front view.

[0021] Fig. 3 It is installation schematic diagram of rigidity vertical support mechanism and plane air floating type support part.

[0022] In the drawing,

[0023] 1-air floating support plate, 2-product bracket, 3-barycenter adjusting mechanism, 4-plane air floating type support part, 5-manual lifting mechanism, 6-zero rigidity vertical support mechanism, 7-pressure sensor, 8-handrail, 3-1: runner, 3-2: screw rod, 3-3: counterweight, 4-1: thrust air floating bearing, 4-2: plane air floating type support seat, 6-1: positive rigidity spring, 6-2: transverse support spring, 6-3: knife cam, 6-4: knife cam rotation shaft, 6-5: pre-tightening adjusting nut, 6-6: vertical movement rod. DETAILED DESCRIPTION

[0024] The technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. It should be explained that the embodiments in the utility model and the features in the embodiments can be combined mutually in the case of no conflict, and the described embodiments are only a part of the embodiments of the utility model, not all the embodiments.

[0025] Specific implementation 1: refer to Figs. 1-3 It is explained that the utility model discloses a six degree of freedom full flexible rigidity butt joint assembly device, and it is characterized in that: including air floating support plate 1, product bracket 2, three barycenter adjusting mechanisms 3, four plane air floating type support parts 4, manual lifting mechanism 5 and zero rigidity vertical support mechanism 6, four pressure sensors 7 are equipped under product bracket 2, four plane air floating type support parts 4 are installed on air floating support plate 1, manual lifting mechanism 5 is installed on the top of plane air floating type support part 4, zero rigidity vertical support mechanism 6 is installed on manual lifting mechanism 5, zero rigidity vertical support mechanism 6 is connected with the bottom of product bracket 2, three barycenter adjusting mechanisms 3 are installed on product bracket 2, and handrail 8 is installed on one side of product bracket 2.

[0026] First, the output force of the zero-stiffness vertical support mechanism 6 in the docking assembly device is adjusted to the maximum, the product is placed on the product bracket 2, and the position of the center of gravity in the horizontal plane is determined according to the data of the four pressure sensors 7 below. The two center-of-gravity adjusting mechanisms 3 in the horizontal direction are adjusted so that the four pressure sensors 7 are the same in the vertical direction. At this time, the projection of the center of gravity in the horizontal direction coincides with the centers of the four support points. Further, the two manual lifting mechanisms 5 on one side are adjusted at the same time to adjust the height of the corresponding support points, so that the product bracket 2 is inclined. When the center of gravity is not in the plane formed by the four support points, the values of the four pressure sensors 7 will be different. At this time, the center-of-gravity adjusting mechanism 3 in the vertical direction is adjusted so that the values of the four pressure sensors 7 are the same, and the center of gravity is completely adjusted to the center of gravity of the four support points. The manual lifting mechanism 5 is adjusted again so that the heights of the four support points are the same. According to the pressure sensor data at this time, the output force of the zero-stiffness vertical support mechanism 6 is adjusted to be the same as the actual support force. At this time, the product bracket 2 is in a completely suspended state. When the product is subjected to a vertical downward force, it can move downward freely because the stiffness of the four support points is zero. When the product is subjected to a roll and pitch torque, the support force borne by the four support points does not change because the center of gravity coincides with the centers of the four support points, so the product can freely roll and pitch. When the product is subjected to a horizontal force and torque, there is no relative motion between the four planar air-float support components 4 and the air-float support plate 1 because there is a layer of air film between them, thereby realizing free movement in three degrees of freedom in the horizontal direction. In this state, the six-degree-of-freedom full-flexibility zero-stiffness docking assembly device can be freely adjusted in position and attitude by a person operating the handrails 8. When docking, the assembly stress will form a reaction force on the product. Since the product has zero stiffness in six degrees of freedom, the product will automatically adjust its position and attitude after being subjected to stress. Flexible adaptive assembly is required, which greatly reduces the assembly stress and adjustment difficulty, and improves the assembly quality and reliability.

[0027] DETAILED DESCRIPTION 2: Refer to Figs. 1-3 This embodiment describes that the three center-of-gravity adjusting mechanisms 3 are installed on the top, side and bottom and are orthogonal to each other, which can realize the adjustment of the overall center of gravity of the product bracket 2 and the object held thereby. The center of gravity is adjusted to coincide with the centers of the four support points by the center-of-gravity adjusting mechanism 3.

[0028] DETAILED DESCRIPTION 3: Refer to Figs. 1-3The center of gravity adjusting mechanism 3 includes a rotating wheel 3-1, a screw rod 3-2, and a counterweight 3-3. The rotating wheel 3-1 is connected with the screw rod 3-2, the screw rod 3-2 is threadedly connected with the counterweight 3-3, the screw rod 3-2 is connected with the product bracket 2 through a mounting seat, the rotating wheel 3-1 drives the screw rod 3-2 to rotate, and then drives the counterweight 3-3 to move, so as to realize the movement of the center of gravity.

[0029] Specific implementation 4: see Figs. 1-3 The plane air floating support part 4 includes a thrust air floating bearing 4-1 and a plane air floating support seat 4-2. The thrust air floating bearing 4-1 is installed at the four corners of the bottom of the plane air floating support seat 4-2. The thrust air floating bearing 4-1 is connected with the air floating support plate 1. The manual lifting mechanism 5 is connected with the top of the air floating support plate 1. The plane air floating support seat 4-2 is placed on the air floating support plate 1. Four plane thrust air floating bearings 4-1 are installed at the bottom of the plane air floating support seat 4-2. After air is introduced, a high-rigidity air film is formed between the plane air floating support seat 4-2 and the air floating support plate 1, so that free movement without friction can be realized in the horizontal plane. The air floating support plate 1 is a rigid plane.

[0030] Further, the manual lifting mechanism 5 is fixedly installed on the plane air floating support seat 4-2. The manual lifting mechanism 5 is a self-locking mechanism, and the height can be adjusted up and down through a hand wheel. The zero-rigidity vertical support mechanism 6 is fixedly installed on the manual lifting mechanism 5. The zero-rigidity vertical support mechanism 6 supports the product bracket 2 through the pressure sensor 7. Four zero-rigidity vertical support mechanisms 6 are arranged to support the four corners of the product bracket 2. The pressure sensor 7 is in point contact with the product bracket 2, and only the supporting force is transmitted, and the torque is not transmitted.

[0031] Specific implementation 5: see Figs. 1-3 The zero-rigidity vertical support mechanism 6 includes a positive-rigidity spring 6-1, a transverse support spring 6-2, a knife cam 6-3, a knife cam rotary shaft 6-4, and a vertical movement rod 6-6. The positive-rigidity spring 6-1 is installed in a zero-rigidity vertical support frame. The two sides of the zero-rigidity vertical support frame are provided with the transverse support spring 6-2. The inner end of the transverse support spring 6-2 is in contact with the knife cam 6-3. The knife cam 6-3 is connected with the knife cam rotary shaft 6-4. The knife cam rotary shaft 6-4 is connected with the positive-rigidity spring 6-1. The vertical movement rod 6-6 is installed at the top of the zero-rigidity vertical support frame. The vertical movement rod 6-6 is connected with the product bracket 2. The bottom of the positive-rigidity spring 6-1 is connected with a pre-tightening adjusting nut 6-5.

[0032] The horizontal supporting spring 6-2 is arranged horizontally symmetrically, and cooperates with the knife cam 6-3, so that negative stiffness can be formed in the vertical direction. By designing the curved surface equation of the knife cam 6-3, the negative stiffness can be counteracted by the stiffness of the positive stiffness spring 6-1, so that zero stiffness is formed in the vertical direction. At this time, the supporting force of the zero stiffness vertical supporting mechanism 6 is determined by the pre-tightening amount of the positive stiffness spring 6-1, and is independent of the vertical position, and is a constant force, and the value can be adjusted by rotating the positive stiffness spring pre-tightening adjusting nut 6-5.

[0033] The specific embodiments of the utility model disclosed above are only used for helping to set forth the utility model. The specific embodiments do not describe all the details, and also do not limit the utility model to the specific embodiments. According to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments, in order to better explain the principle and practical application of the utility model, so that the person skilled in the art can well understand and utilize the utility model.

Claims

1. A six degree of freedom fully compliant stiffness docking assembly, characterized by: The application relates to a product supporting device, which comprises an air floating supporting plate (1), a product bracket (2), three gravity center adjusting mechanisms (3), four plane air floating supporting parts (4), a manual lifting mechanism (5) and a zero-rigidity vertical supporting mechanism (6), four pressure sensors (7) are arranged below the product bracket (2), the four plane air floating supporting parts (4) are arranged on the air floating supporting plate (1), the manual lifting mechanism (5) is arranged above the plane air floating supporting parts (4), the zero-rigidity vertical supporting mechanism (6) is arranged on the manual lifting mechanism (5) and connected with the bottom of the product bracket (2), and the three gravity center adjusting mechanisms (3) are arranged on the product bracket (2).

2. The six degree of freedom full-flexibility stiffness docking assembly device according to claim 1, characterized in that: A handrail (8) is arranged on one side of the product bracket (2).

3. The six degree of freedom full compliant stiffness docking assembly of claim 1, wherein: The pressure sensor (7) is arranged at the connection position of the zero-rigidity vertical supporting mechanism (6) and the product bracket (2).

4. The six degree of freedom full compliant stiffness docking assembly of claim 1, wherein: The three gravity center adjusting mechanisms (3) are arranged on the top, the side and the bottom and are arranged orthogonally.

5. A six degree of freedom full-flexibility stiffness docking assembly device according to claim 4, characterized in that: The gravity center adjusting mechanism (3) comprises a rotating wheel (3-1), a lead screw (3-2) and a counterweight (3-3), the rotating wheel (3-1) is connected with the lead screw (3-2), the lead screw (3-2) is threadedly connected with the counterweight (3-3), and the lead screw (3-2) is connected with the product bracket (2) through a mounting base.

6. The six degree of freedom full-flexibility stiffness docking assembly device according to claim 1, wherein: The plane air floating supporting part (4) comprises a thrust air floating bearing (4-1) and a plane air floating supporting base (4-2), the thrust air floating bearings (4-1) are arranged at the four corners of the bottom of the plane air floating supporting base (4-2), the thrust air floating bearings (4-1) are connected with the air floating supporting plate (1), and the manual lifting mechanism (5) is connected with the top of the air floating supporting plate (1).

7. The six degree of freedom full-flexibility stiffness docking assembly device according to claim 1, characterized in that: The zero-rigidity vertical supporting mechanism (6) comprises a positive-rigidity spring (6-1), a transverse supporting spring (6-2), a knife cam (6-3), a knife cam rotary shaft (6-4) and a vertical motion rod (6-6), the positive-rigidity spring (6-1) is arranged in a zero-rigidity vertical supporting frame, the transverse supporting springs (6-2) are arranged on the two sides of the zero-rigidity vertical supporting frame, the inner ends of the transverse supporting springs (6-2) are in contact with the knife cam (6-3), the knife cam (6-3) is connected with the knife cam rotary shaft (6-4), the knife cam rotary shaft (6-4) is connected with the positive-rigidity spring (6-1), the vertical motion rod (6-6) is arranged on the top of the zero-rigidity vertical supporting frame, and the vertical motion rod (6-6) is connected with the product bracket (2).

8. The six degree of freedom full-flexibility stiffness docking assembly of claim 7, wherein: The bottom of the positive-rigidity spring (6-1) is connected with a pre-tightening adjusting nut (6-5).

9. The six degree of freedom full-flexibility stiffness docking assembly device according to claim 3, characterized in that: The pressure sensor (7) is in point contact with the product bracket (2).

10. The six degree of freedom full compliant stiffness docking assembly of claim 1, wherein: The air floating supporting plate (1) is a rigid plane.

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