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Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture

A technology of autonomous movement and workpiece surface, applied in metal processing and other directions, can solve problems such as large volume and complex structure, and achieve the effect of good flexibility, simplified overall structure, and large displacement compensation ability.

Active Publication Date: 2014-11-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to design a simple structure, light weight autonomous moving mechanism that can walk and adjust the posture on the surface of the workpiece in view of the problems of complex structure and large volume in the existing walking and posture adjustment mechanism

Method used

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  • Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture
  • Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture
  • Autonomous mobile mechanism capable of walking on surface of work piece and adjusting gesture

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0031] Such as Figure 3-10 shown.

[0032] An autonomous mobile mechanism capable of walking and adjusting posture on the surface of a workpiece, which includes an outer frame structure 1, an inner frame structure 2, outer frame lifting legs 3 and inner frame lifting legs 4, such as figure 2 As shown, there are two outer frame structures 1, which are symmetrically installed on the opposite sides of the inner frame structure 2, and each outer frame structure is connected with two outer frame lifting legs 3 to support the four legs of the outer frame structure 1. Among the outer frame lifting legs, one lifting leg can be designed as a non-adjustable structure, that is to say, at least three outer frame lifting legs 3 must be able to be adjusted. The lifting principle and structure of the outer frame long lowering leg 3 can be compared with the exis...

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Abstract

An autonomous mobile mechanism capable of walking on the surface of a work piece and adjusting gesture comprises an outer frame structure (1) and an inner frame structure (2), an outer frame lifting leg (3) is connected with the outer frame structure (1), an inner frame lifting leg (4) is connected with the inner frame structure (2), two opposite sides of the outer frame structure (1) and the inner frame structure (2) are connected, when the outer frame structure (1) is fixed, the inner frame structure (2) can move relative to the outer frame structure (1), when the inner frame structure (2) is fixed, the outer frame structure (1) can move relative to the inner frame structure (2), and therefore the autonomous mobile mechanism is capable of moving and locating on the surface of the work piece. The autonomous mobile mechanism capable of walking and adjusting gesture on the surface of the work piece is characterized in that the outer frame lifting leg (3) and the inner frame lifting leg (4) are respectively connected with corresponding double eccentric displacement passive compensation mechanisms (5), output shafts (5-14) of the double eccentric displacement passive compensation mechanisms (5) are connected with a vacuum suction cup (6) which is sucked on the surface of the work piece, and locating and passive gesture adjusting of the autonomous mobile mechanism capable of walking and adjusting gesture on the surface of the work piece under the joint effects of the double eccentric displacement passive compensation mechanisms (5) and the vacuum suction cup (6). The autonomous mobile mechanism capable of walking on the surface of the work piece and adjusting gesture is simple in structure and light in weight.

Description

technical field [0001] The invention relates to a mechanical processing equipment, in particular to an autonomous machine for moving, positioning and attitude adjustment on the surface of the aircraft skin during the assembly process of the aircraft, which can walk and adjust the attitude on the surface of the complex workpiece to facilitate drilling and riveting operations. The mobile mechanism can be used as a carrying platform for hole making, fastener installation system, and even riveting in aircraft fuselage assembly. Specifically, it is a simple structure, and the supporting legs do not need a ball joint structure, which can walk on the surface of the workpiece and adjust its posture. Autonomous mobile mechanism. Background technique [0002] As we all know, the main connection method used in aircraft structure is mechanical connection. There are about 1.5 million to 2 million rivets and bolts on a large aircraft. In order to meet the high life requirements of modern...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q9/00B23Q9/02
Inventor 陈文亮王珉丁力平张得礼郝小忠鲍益东曾长侯玉昭王谢苗
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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