The invention discloses a ship block butt joint collaborative assembly rack car with swing angle compliance. The assembly rack car comprises a two-degree-of-freedom collaborative assembly rack car and a swing angle compliance mechanism movably arranged on the two-degree-of-freedom collaborative assembly rack car in a three-dimensional mode, wherein the swing angle compliance mechanism comprises a fixed platform, a movable platform and three auxiliary branches, and two ends of the three auxiliary branches are rotationally connected with the movable platform and the fixed platform correspondingly; one end of the movable platform is rotationally connected with the fixed platform, and two-rotation and one-movement three-degree-of-freedom movement is achieved. The assembly rack car is advantaged in that operation precision is high, the automation degree is high, the movement range is large, each rack car has the compliance, parts can be assembled, and the adaptive assembly environment is wide, each rack car in the device has the posture compliance, different rack car arrays can be planned according to the shape and the size of a ship section, and all the rack cars are cooperatively controlled so that the assembly of ship sections with different shapes and sizes is realized.
一种具有摆角顺应性的船舶总段对接协同装配架车,包括:二自由度协同装配架车以及三维活动设置于其上的摆角顺应机构,该摆角顺应机构包括:定平台、动平台和三个辅助分支,三个辅助分支的两端分别与动平台和定平台转动连接,动平台一端与定平台转动连接并实现两转一移三自由度的运动。本发明具有操作精度高,自动化程度高,运动范围大,每台架车都具有顺应能力、可装配部件及可适应装配环境广等优点,本发明中的架车单独每个架车均具有姿态顺应能力,可以根据船段的形状与尺寸规划不同的架车阵列,并协同控制所有架车,从而实现不同形状与尺寸船段的装配。
Ship block butt joint collaborative assembly rack car with swing angle compliance
具有摆角顺应性的船舶总段对接协同装配架车
2021-05-11
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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