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CN-122009510-A - Transfer posture adjustment equipment, control system and use method

CN122009510ACN 122009510 ACN122009510 ACN 122009510ACN-122009510-A

Abstract

The invention relates to the technical field of logistics equipment, in particular to transfer gesture adjusting equipment, a control system and a using method, wherein a static platform is arranged on a mobile carrier, one end of a second supporting rod of a supporting leg is coaxially inserted into a first supporting rod, a first driving piece is used for driving the first supporting rod and the second supporting rod to axially move, six first supporting rods are arranged around a first straight line, the first straight line is perpendicular to the static platform, the first supporting rod is hinged with the static platform in a spherical mode, a movable platform and the static platform are arranged at intervals in a first direction, the first straight line extends along the first direction, the other end of the second supporting rod is arranged around a second straight line, the second straight line is perpendicular to the movable platform, the other end of the second supporting rod is hinged with a movable platform ball, and a force control sensor is used for acquiring acting force between each supporting leg and the movable platform. Therefore, the transfer gesture adjusting device can realize rapid movement and arrangement of parts and high-precision gesture adjustment.

Inventors

  • ZHANG SHUAI
  • Zhou Yiliu
  • Dong Zhengjian
  • XIA MINGYU
  • CHENG LAN

Assignees

  • 上海飞机制造有限公司

Dates

Publication Date
20260512
Application Date
20260130

Claims (10)

  1. 1. A transfer posture adjustment device, characterized by comprising: a mobile carrier (1), wherein the mobile carrier (1) has running and parking functions; The six-degree-of-freedom parallel mechanism (2) comprises a static platform (21), a movable platform (22) and six groups of supporting legs (23), wherein the static platform (21) is installed on the movable carrier (1), the supporting legs (23) comprise a first driving piece (231), a first supporting rod (232) and a second supporting rod (233), one end of the second supporting rod (233) is coaxially inserted into the first supporting rod (232), the first driving piece (231) is used for driving the first supporting rod (232) and the second supporting rod (233) to move along the axial direction, six first supporting rods (232) are distributed around a first straight line, the first straight line is perpendicular to the static platform (21), the first supporting rod (232) is in ball hinge joint with the static platform (21), the movable platform (22) is arranged at intervals in a first direction, one end of the second supporting rod (233) is coaxially inserted into the first supporting rod (232), the other end of the second supporting rod (233) is distributed around a second straight line, and the second straight line is perpendicular to the movable platform (22) and the movable platform (233) is in ball hinge joint; Force control sensor (3), be provided with the multiunit, every landing leg (23) configuration has at least one set of force control sensor (3), force control sensor (3) install in second branch (233) with move between platform (22), force control sensor (3) are used for acquireing every landing leg (23) with move effort between platform (22).
  2. 2. The transfer posture adjustment device according to claim 1, wherein the movable platform (22) is provided with a second positioning hole (221), the static platform (21) is provided with a first positioning hole (211), and the first positioning hole (211) and the second positioning hole (221) are both used for installing a tracking device of a laser tracker.
  3. 3. The transfer posture adjustment apparatus according to claim 1, wherein the mobile carrier (1) includes a vehicle body (11) and wheels (12), the wheels (12) are provided in plurality, the wheels (12) are rotatably mounted at the bottom of the vehicle body (11), and at least one wheel (12) is mounted on each of the front left, rear left, front right and rear right of the vehicle body (11).
  4. 4. A transfer and posture adjustment device according to claim 3, characterized in that the wheels (12) are mecanum wheels.
  5. 5. A transfer and gesture adjustment device according to claim 3, characterized in that the mobile carrier (1) further comprises a supporting component (13), the supporting component (13) comprises a second driving piece and a plurality of supporting rods, the second driving piece is used for driving the supporting rods to slide relative to the vehicle body (11) so as to switch a first position and a second position, when the supporting rods are positioned at the first position, the supporting rods are arranged at intervals with the ground, when the supporting rods are positioned at the second position, the supporting rods are abutted with the ground, and the wheels (12) are lifted off the ground.
  6. 6. The control system is suitable for the transfer gesture adjustment device according to any one of claims 1 to 5, and is characterized by comprising a connection module, a forward-solution operation module and an inverse-solution operation module which are in communication connection with the connection module, wherein the connection module is in communication connection with the first driving piece (231), the inverse-solution operation module obtains expected gesture signals from the connection module, calculates the required elongation of each supporting leg (23) and commands the corresponding first driving piece (231) to execute through the connection module, the forward-solution operation module obtains the corresponding elongation of the supporting leg (23) through the connection module, calculates the actual gesture signals of the movable platform (22) and feeds back the actual gesture signals to the connection module, and the connection module can compare the expected gesture signals with the actual gesture signals.
  7. 7. The control system of claim 6, further comprising a heartbeat module communicatively connected to the connection module, the heartbeat module configured to generate a timing pulse, the connection module configured to transmit the timing pulse to the forward solution operation module and the inverse solution operation module, the timer of the forward solution operation module configured to acquire the timing pulse and return to zero, and if the timer reaches a preset value, trigger an alarm, and if the timer reaches the preset value, trigger an alarm.
  8. 8. The control system of claim 6, further comprising: the gravity calculating module calculates a gravity compensation value according to the actual pose; The force value compensation module is in communication connection with the gravity resolving module and the force control sensor (3), and calculates an external force value according to the gravity compensation value and the actual measurement value of the force control sensor (3); the force control module is in communication connection with the force value compensation module, calculates the velocity and angular velocity vectors in the Cartesian coordinate system of the movable platform (22) according to the external force value, and pushes out the velocity value of the first driving piece (231), and the velocity value is transmitted to the first driving piece (231).
  9. 9. The control system of claim 6, further comprising a recording module for recording the operational data.
  10. 10. A method of use, adapted to the control system of any one of claims 6-9, comprising: S1, establishing a motion coordinate system of the six-degree-of-freedom parallel mechanism (2); S2, recording a measurement datum point theory, and calibrating a coordinate system of a part target placement position and a motion coordinate system of the six-degree-of-freedom parallel mechanism (2) to obtain a conversion relation of the two coordinate systems; s3, the inverse solution operation module obtains expected pose signals and calculates the theoretical motion trail of the supporting leg (23); s4, the supporting legs (23) execute respective theoretical motion tracks; s5, the positive solution operation module acquires the actual motion trail of the supporting leg (23) and calculates the actual pose signal; S6, comparing the expected pose signal with the actual pose signal; If the two are consistent, the current pose is locked, and the process is ended; Otherwise, providing an adjusting pose signal for the inverse solution operation module, reckoning the theoretical motion trail again, and returning to the step S4.

Description

Transfer posture adjustment equipment, control system and use method Technical Field The invention relates to the technical field of logistics equipment, in particular to transfer posture adjustment equipment, a control system and a use method. Background In an aircraft component assembly scene, the assembly component has the characteristics of large size, large mass, high assembly precision requirement and the like, and the parallel mechanism has the characteristics of good dynamic property, high rigidity, strong bearing capacity and the like, so that the parallel mechanism is widely applied to the aircraft component gesture-adjusting and docking requirement scene. Conventionally, as in the patent CN202311016393.0 and the patent CN201510928666.8, the gesture adjusting docking mechanism described in the patent has the problems of large occupied working space, large load of disassembly and assembly and recovery, long time consumption and the like. Therefore, a transfer posture adjustment device, a control system and a use method are needed to solve the above problems. Disclosure of Invention The invention aims to provide a transfer gesture adjusting device, a control system and a using method, so as to realize rapid movement and arrangement of parts and high-precision gesture adjustment. In one aspect, the present invention provides a transfer posture adjustment apparatus, comprising: a mobile carrier having traveling and parking functions; The six-degree-of-freedom parallel mechanism comprises a static platform, a movable platform and six groups of supporting legs, wherein the static platform is arranged on the movable carrier, the supporting legs comprise a first driving piece, a first supporting rod and a second supporting rod, one end of the second supporting rod is coaxially inserted into the first supporting rod, the first driving piece is used for driving the first supporting rod and the second supporting rod to axially move, the six first supporting rods are arranged around a first straight line, the first straight line is perpendicular to the static platform, the first supporting rod is hinged with the static platform ball, the movable platform and the static platform are arranged at intervals in a first direction, the first straight line extends along the first direction, the other end of the second supporting rod is arranged around a second straight line, the second straight line is perpendicular to the movable platform, and the other end of the second supporting rod is hinged with the movable platform ball; The force control sensors are arranged in a plurality of groups, each supporting leg is provided with at least one group of force control sensors, the force control sensors are arranged between the second supporting rods and the movable platform, and the force control sensors are used for acquiring acting force between each supporting leg and the movable platform. As a preferable scheme of the transferring and posture adjusting device, the movable platform is provided with a second positioning hole, the static platform is provided with a first positioning hole, and the first positioning hole and the second positioning hole are both used for installing a tracking device of a laser tracker. As a preferable mode of the transfer posture adjusting apparatus, the movable carrier includes a vehicle body and wheels, the wheels are provided in plural, the wheels are rotatably mounted on a bottom of the vehicle body, and at least one of the wheels is mounted on a left front, a left rear, a right front and a right rear of the vehicle body, respectively. As a preferable mode of the transfer posture adjusting device, the wheels are Mecanum wheels. As a preferable mode of the transfer posture adjustment apparatus, the moving carrier further includes a supporting assembly, the supporting assembly includes a second driving member and a plurality of supporting rods, the second driving member is configured to drive the plurality of supporting rods to slide relative to the vehicle body to switch between a first position and a second position, the supporting rods are spaced from the ground when the supporting rods are in the first position, and the supporting rods are abutted to the ground when the supporting rods are in the second position, and the wheels are lifted from the ground. The transfer posture adjustment device provided by the invention has at least the following beneficial effects: the moving and gesture adjusting device comprises a moving carrier, wherein the moving carrier is provided with a running and parking function, the six-degree-of-freedom parallel mechanism comprises a static platform, a moving platform and six groups of supporting legs, the static platform is arranged on the moving carrier, the supporting legs comprise a first driving piece, a first supporting rod and a second supporting rod, one end of the second supporting rod is coaxially inserted into the first supporting rod, the first