阅读说明：本技术 一种用于重载复杂结构件的自动翻转对接装置 (Automatic overturning and butting device for heavy-load complex structural part ) 是由 岳义 刘国兴 韦宝琛 崔国华 李亚晶 陶渊 于 2021-07-13 设计创作，主要内容包括：本发明属于运动控制的技术领域,公开了一种用于重载复杂结构件的自动翻转对接装置,其特征在于：包括RGV小车,在所述RGV小车上设置有框式平台,所述框式平台的前端通过第一连杆驱动机构与RGV小车相连,其后端通过第二连杆驱动机构与RGV小车相连,所述第一连杆驱动机构和第二连杆驱动机构配合运动,共同带动框式平台做从水平至竖直或者从竖直至水平的自动翻转运动,所述框式平台用于装载重载复杂结构件。采用本发明的自动翻转对接装置,在进行重载复杂结构件装配时,无需多人力配合翻转,提高了工作效率。(The invention belongs to the technical field of motion control, and discloses an automatic overturning and butting device for a heavy-load complex structural part, which is characterized in that: the frame type platform loading device comprises an RGV (reduced graphics volume) trolley, wherein a frame type platform is arranged on the RGV trolley, the front end of the frame type platform is connected with the RGV trolley through a first connecting rod driving mechanism, the rear end of the frame type platform is connected with the RGV trolley through a second connecting rod driving mechanism, the first connecting rod driving mechanism and the second connecting rod driving mechanism are in matched motion, the frame type platform is driven to do automatic overturning motion from the horizontal to the vertical or from the vertical to the horizontal, and the frame type platform is used for loading heavy-load complex structural components. By adopting the automatic overturning and butting device, when a heavy-load complex structural member is assembled, a plurality of people do not need to overturn in a force-fit manner, and the working efficiency is improved.)

1. The utility model provides an automatic butt joint device that overturns for heavily loaded complicated structure which characterized in that: the frame type platform loading device comprises an RGV (reduced graphics volume) trolley, wherein a frame type platform is arranged on the RGV trolley, the front end of the frame type platform is connected with the RGV trolley through a first connecting rod driving mechanism, the rear end of the frame type platform is connected with the RGV trolley through a second connecting rod driving mechanism, the first connecting rod driving mechanism and the second connecting rod driving mechanism are in matched motion, the frame type platform is driven to do automatic overturning motion from a horizontal posture to a vertical posture or from the vertical posture to the horizontal posture, and the frame type platform is used for loading heavy-load complex structural parts.

2. The automatic overturning and docking device for heavy-duty complex structural members according to claim 1, characterized in that: the first connecting rod driving mechanism comprises a first ball screw arranged along the vertical direction, the first screw of the first ball screw is connected with the first driving mechanism, a first sliding block of the first ball screw is rotationally connected with the front end of the frame type platform through a double-three-link mechanism, and the first driving mechanism is used for driving the first screw of the first ball screw to rotate and further driving the double-three-link mechanism connected with the first sliding block to be linked, so that one side surface of the front end of the frame type platform is driven to automatically turn over from a horizontal posture to a vertical posture or from the vertical posture to the horizontal posture;

the second connecting rod driving mechanism comprises two second ball screws which are arranged on the RGV trolley in a horizontal direction in parallel, the second ball screws of the second ball screws are connected with the second driving mechanism, a second sliding block of the second ball screws is connected with the rear end of the frame type platform in a rotating mode through a rotating pair, the middle of the rear end of the frame type platform is connected with the RGV trolley in a rotating mode through two parallel supporting connecting rods, the second driving mechanism is used for driving the second ball screws of the second ball screws to rotate, and then the rear end of the frame type platform connected with the second sliding block is driven to move back and forth along the second ball screws, so that one side face of the rear end of the frame type platform is driven to automatically overturn from a horizontal posture to a vertical posture or from a vertical posture to a horizontal posture.

3. The automatic overturning and docking device for heavy-duty complex structural members according to claim 2, characterized in that: the double-three-link mechanism comprises a first connecting rod, one end of the first connecting rod is rotatably connected with a first sliding block, the other end of the first connecting rod is rotatably connected with a horizontal connecting rod, two ends of the horizontal connecting rod are respectively connected with two parallel second connecting rods, one end of each second connecting rod is rotatably connected with an RGV (red-green-blue) trolley, the other end of each second connecting rod is rotatably connected with one end of a third connecting rod, the two third connecting rods are also arranged in parallel, and the other end of each third connecting rod is rotatably connected with the front end of the frame-type platform;

when one side surface of the front end of the frame type platform automatically turns over from horizontal to vertical, the third connecting rod rotates towards the second connecting rod along the anticlockwise direction to approach; and when one side surface of the front end of the frame type platform automatically turns from vertical to horizontal, the third connecting rod rotates to the second connecting rod in a clockwise direction and is far away.

4. The automatic overturning and docking device for heavy-duty complex structural members according to claim 3, characterized in that: and when one side surface of the front end of the frame type platform is in the horizontal direction, the second connecting rod and the third connecting rod extend to be collinear.

5. The automatic overturning and docking device for heavy-duty complex structural members according to claim 2, characterized in that: the two second sliding blocks are of an integrated structure and span the two second screw rods.

6. The automatic overturning and docking device for heavy-duty complex structural members according to claim 2, characterized in that: the top surface of the RGV is provided with an L-shaped support, the first ball screw is vertically arranged on the vertical surface of the L-shaped support, and the second ball screw is horizontally arranged on the horizontal surface of the L-shaped support.

7. The automatic overturning and docking device for heavy-duty complex structural members according to claim 1, characterized in that: the frame type platform is of a cuboid structure and comprises an opening through which the heavy-load complex structural part passes.

Technical Field

The invention relates to the technical field of motion control, in particular to an automatic overturning and butting device for a heavy-load complex structural part.

Background

The turning device is widely used in engineering application, and particularly, for the installation, movement and the like of large-scale equipment components or assemblies, the equipment needs to be turned over in a large range, the turning from a vertical posture to a horizontal posture or the turning from the horizontal posture to the vertical posture is realized, for example, heavy-load large-scale complex structural parts in aerospace, in the assembly process, the engine needs to be placed in a horizontal posture to be in butt joint assembly with the rocket barrel section which is placed horizontally, but because the engine is large in size and large in mass, the engine is mainly turned over manually at present, the whole process of the overturning process needs the coordination of traveling crane, visual observation and command, has the problems of low overturning efficiency, climbing operation and the like, therefore, in order to ensure the safety of the operator and to keep the stability of the large-scale equipment member or assembly during the overturning process, and to improve the working efficiency, an overturning device with good stability and strong bearing capacity is required to replace manual operation.

Disclosure of Invention

The invention provides an automatic overturning and butting device for a heavy-load complex structural member, which solves the problems of low overturning efficiency, ascending operation and the like of the existing heavy-load complex structural member which is mainly assembled by manual overturning.

The invention can be realized by the following technical scheme:

the utility model provides an automatic upset interfacing apparatus for heavily loaded complicated structure, includes the RGV dolly be provided with the frame platform on the RGV dolly, the front end of frame platform links to each other with the RGV dolly through first connecting rod actuating mechanism, and its rear end links to each other with the RGV dolly through second connecting rod actuating mechanism, first connecting rod actuating mechanism and second connecting rod actuating mechanism coordinated motion drive the frame platform jointly and do from horizontal gesture to vertical gesture or from vertical gesture to the automatic upset motion of horizontal gesture, the frame platform is used for loading heavily loaded complicated structure.

As is well known, a link mechanism is one of mechanical components, and is a common transmission mechanism, which is a mechanism formed by connecting a plurality of (more than two) components with definite relative motion by using a low pair (a revolute pair or a moving pair), wherein the low pair is in surface contact and is wear-resistant; and the contact surfaces of the revolute pair and the sliding pair are cylindrical surfaces and flat surfaces, so that the manufacturing is simple and convenient, and higher manufacturing precision is easy to obtain. Therefore, the automatic overturning and butting device is constructed by means of the connecting rod mechanism, the frame type platform can be overturned by the simplest and most reliable mechanical structure, and the automatic overturning and butting device is high in practicability and convenient to popularize.

In order to improve the motion stability of the frame type platform, the first connecting rod driving mechanism and the second connecting rod driving mechanism both adopt a bilateral symmetry type structure and are symmetrically arranged on the frame type platform, wherein the first connecting rod driving mechanism comprises a first ball screw arranged along the vertical direction, the first screw of the first ball screw is connected with the first driving mechanism, the first slide block is rotationally connected with the front end of the frame type platform through a double three-link mechanism, the first driving mechanism can adopt a motor and gear type driving mechanism and is used for driving a first screw rod of a first ball screw rod to rotate, thereby converting the rotation of the first screw rod into the linear motion of the first slide block and driving the double three-link mechanism connected with the first slide block to be linked, thereby driving one side surface of the front end of the frame type platform to automatically turn over from a horizontal posture to a vertical posture or from the vertical posture to the horizontal posture;

the second connecting rod driving mechanism comprises two second ball screws which are arranged on the RGV trolley in a horizontal direction in parallel, the second ball screws of the second ball screws are connected with the second driving mechanism, a second sliding block of the second ball screws is connected with the rear end of the frame type platform in a rotating mode through a rotating pair, the middle of the rear end of the frame type platform is connected with the RGV trolley in a rotating mode through two parallel supporting connecting rods, the second driving mechanism can also adopt a motor and gear type driving mechanism and is used for driving the second ball screws of the second ball screws to rotate, and then the rear end of the frame type platform connected with the second sliding block is driven to move back and forth along the second ball screws, so that one side face of the rear end of the frame type platform is driven to automatically overturn from a horizontal posture to a vertical posture or from a vertical posture to a horizontal posture. Like this, when first slider along first lead screw upward movement, extension motion is to two three link mechanism, second slider forward motion along the second lead screw this moment, promote frame platform from the automatic upset motion of vertical gesture to horizontal gesture, and when first slider along first lead screw downstream, two three link mechanism are the shrink motion, second slider backward motion along the second lead screw this moment promotes frame platform from the automatic upset motion of vertical gesture to horizontal gesture, can be in order to adopt this kind of redundant drive mode, improve the bearing capacity of system.

Specifically, the double three-link mechanism comprises a first link, one end of the first link is rotatably connected with the first slider, the other end of the first link is rotatably connected with a horizontal link, two ends of the horizontal link are respectively connected with two parallel second links, a connection point of the horizontal link can be arranged in the middle of each second link, the driving capability of the subsequent second link and the subsequent second link is improved, one end of each second link is rotatably connected with the RGV trolley, the other end of each second link is rotatably connected with one end of each third link, the two third links are also arranged in parallel, and the other end of each third link is rotatably connected with the front end of the frame-type platform; thus, when one side surface of the front end of the frame type platform automatically turns over from a horizontal posture to a vertical posture, the third connecting rod rotates towards the second connecting rod along the anticlockwise direction to approach; and during the automatic turnover movement of one side surface of the front end of the frame type platform from the vertical posture to the horizontal posture, the third connecting rod rotates to the second connecting rod in the clockwise direction and is far away.

In order to improve the reliability of the use of the system, when the geometric parameters of the connecting rod mechanism are designed, when one side surface of the front end of the frame type platform is in the horizontal direction, the second connecting rod and the third connecting rod extend to be collinear, and at the moment, the mechanism is positioned at a dead point position, has high reliable bearing capacity on external load, and is suitable for the overturning operation of a heavy-load target object; similarly, when one side surface of the front end of the frame type platform is in the vertical direction, the second sliding block is fixed in position, and the frame type platform is kept stable through the restraint of the supporting connecting rod.

In order to improve the motion synchronism of the second driving mechanism, the two second sliding blocks are of an integrated structure and span the two second screw rods.

Furthermore, an L-shaped support is arranged on the top surface of the RGV, the first ball screw is vertically arranged on the vertical surface of the L-shaped support, and the second ball screw is horizontally arranged on the horizontal surface of the L-shaped support.

Further, frame platform is the cuboid structure, includes the opening that supplies heavy-duty complicated structure to pass through, reduces whole weight.

The beneficial technical effects of the invention are as follows:

by RGV dolly, many link mechanism, frame platform and actuating system constitute, realize the function that the movable frame platform overturns on a large scale under the drive of motor and many link mechanism's transmission and restraint, combine the removal of RGV dolly, can realize the upset butt joint operation of target object, and simultaneously, many link mechanism in the device is total one degree of freedom, and the level has been used and vertical dual drive mode, the redundant design of drive can increase the bearing capacity and the stability of mechanism by a wide margin, and when frame platform overturns to horizontal gesture, the mechanism is in the dead point position, the very big mechanism of having simplified of such design, stability has been increased, working space has been reduced to a certain extent, space utilization has been improved, and simultaneously, when carrying out heavy load complex structure spare assembly, need not many power cooperation upset, and work efficiency is improved.

Drawings

FIG. 1 is a first general structural diagram of the present invention;

FIG. 2 is a second schematic diagram of the overall structure of the present invention;

FIG. 3 is an isometric view of the general structure of the present invention;

FIG. 4 is a schematic diagram of a variation of the boxed platform of the present invention;

the device comprises a 1-RGV trolley, a 2-frame type platform, a 3-track, a 4-first connecting rod, a 5-second connecting rod, a 6-third connecting rod, a 7-first sliding block, an 8-horizontal connecting rod, a 9-first screw rod, a 10-second sliding block, an 11-support connecting rod and a 12-second screw rod.

Detailed Description

The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.

As shown in figures 1-4, the invention provides an automatic overturning and butting device for heavy-load complex structural parts, which comprises an RGV trolley 1, a multi-link driving mechanism and a frame type platform 2. The RGV trolley 1 can move along the track 3 by means of the moving wheels, and is convenient for butt joint installation with components needing to be assembled after a heavy-load complex structural part is turned over; the large-scale complicated structure of heavy load is fixed on frame platform 2 at the upset in-process, and this frame platform 2 can set up to the cuboid shape, including an opening that supplies the large-scale complicated structure of heavy load to pass through, and the remaining face can set up to frame rack structure, and the convenience is to the fixed of structural component.

The multi-connecting-rod driving mechanism takes an RGV trolley 1 as a frame, and realizes the connection of a frame type platform 2 and the RGV trolley 1 through a first connecting-rod driving mechanism and a second connecting-rod driving mechanism, wherein the first connecting-rod driving mechanism is of a double-three-connecting-rod structure and is arranged at the front end of the frame type platform 2 in a bilateral symmetry manner and comprises the RGV trolley 1, a first connecting rod 4, a second connecting rod 5 and a third connecting rod 6, two ends of the first connecting rod 4 are respectively connected with a first sliding block 7 and a horizontal connecting rod 8 through revolute pairs, the first sliding block 7 is connected with a first lead screw 9 through a moving pair, can move up and down along the first lead screw 9 and is a driving kinematic pair, two ends of the third connecting rod 6 are respectively connected with the second connecting rod 5 and the frame type platform 2 through revolute pairs, and the connection point can be arranged at the front end of the bottom surface of the frame type platform 2;

the second connecting rod driving mechanism comprises an RGV trolley 1, a second sliding block 10, a frame type platform 2 and two supporting connecting rods 11, the second sliding block 10 is respectively connected with the frame type platform 2 and a second screw rod 12 through a rotating pair and a moving pair, the moving pair is also a driving moving pair, a connecting point with the frame type platform 2 can be arranged at the rear end of the bottom surface, and two ends of the supporting connecting rods 11 are respectively connected with the RGV trolley 1 and the frame type platform 2 through the rotating pair;

in order to fix the first ball screw and the second ball screw conveniently, an L-shaped bracket may be disposed on the RGV car 1, a vertical surface of the L-shaped bracket is used for fixing the first ball screw, a horizontal surface of the L-shaped bracket is parallel to a plane where the rail 3 is located, and is used for fixing the second ball screw, and meanwhile, an opening direction of the frame-type platform 2 also faces an extending direction of the rail 3.

When the second slider 10 moves forwards, the first slider 7 moves upwards, the frame type platform 2 can be turned over from a vertical posture to a horizontal posture in a large range under the transmission and constraint of the first connecting rod driving mechanism and the second connecting rod driving mechanism, when the frame type platform 2 is turned over to the horizontal posture, the second connecting rod 5 and the third connecting rod 6 are collinear, the mechanism is located at a dead point position, the stability of a working state in the horizontal position is guaranteed, the phenomenon that a heavy-load large-scale complex structural part loses the level when equipment is interfered by the outside is avoided, and the reliability in the butt joint process is guaranteed; when the second slide block 10 moves backwards, the first slide block 7 moves downwards, dead point positions in the first connecting rod driving mechanism are broken under the transmission and constraint of the first connecting rod driving mechanism and the second connecting rod driving mechanism, the frame type platform 2 can be turned from a horizontal posture to a vertical posture, and then the automatic turning and butt joint operation of heavy-load large-scale complex structural parts can be realized by matching with the movement of the RGV trolley 1 along the track 3.

The back-and-forth movement of the overturning and butting device is realized by the RGV trolley 1, the back-and-forth movement is realized by rolling the moving wheels on the track 3, and the overturning and butting process of the heavy-load large-scale complex structural part is realized by matching with the overturning operation of the multi-connecting-rod driving mechanism.

Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are merely examples and that many variations or modifications may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is therefore defined by the appended claims.