CN106671055B - Power-assisted manipulator and control system thereof - Google Patents
Power-assisted manipulator and control system thereof Download PDFInfo
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- CN106671055B CN106671055B CN201611153159.2A CN201611153159A CN106671055B CN 106671055 B CN106671055 B CN 106671055B CN 201611153159 A CN201611153159 A CN 201611153159A CN 106671055 B CN106671055 B CN 106671055B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J1/00—Manipulators positioned in space by hand
- B25J1/12—Manipulators positioned in space by hand having means for attachment to a support stand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/20—Programme controls fluidic
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Abstract
The application provides a helping hand manipulator and control system thereof contains fixed post, rotary joint, rotary post, balance cylinder, parallelogram mechanism, orbit self-balancing machine 6, swing joint, terminal actuating mechanism, anchor clamps, control system. When the force arm at one end of the power-assisted manipulator changes, the force arm at the other end also changes along with the change and keeps a fixed proportional relation, so that no matter the height motion, the left and right motion and the rotation motion of a workpiece, a counter force and a counter force arm are always balanced with the workpiece, the workpiece is always in a floating state, the gravity is overcome, and the power-assisted function is realized. The power-assisted manipulator realizes the floating of an object by combining the force balance self-adaption and the pneumatic principle, carries and assembles the object under the zero gravity, realizes the lifting, plane moving and overturning of the heavy object by the micro force of hands, and has a balanced and smooth motion process.
Description
Technical Field
The application mainly relates to the technical field of mechanical manufacturing, in particular to a power-assisted manipulator and a control system thereof.
Background
In an aircraft assembly plant, in order to complete the combined assembly and flexible docking of the components, the position and the posture of the components are often required to be adjusted. For large-scale precise assembly and butt joint, a flexible assembly system formed by three or more coordinates is often used, the assembly system often has a complex mechanical structure and a control system, the development, use and maintenance costs are very good, and the special type is very strong; for most common assembling and butt joint, manual carrying, adjustment and assembling are often adopted, so that the problems of high working strength, low efficiency and poor assembling quality occur; and for the problem that the assembly of parts can be completed only by matching the factory building crane, the problem that the period of occupying the factory building crane is too long and other production schedules are influenced also exists.
In order to solve the practical problems of high working strength, low efficiency, poor assembling quality and the like in the process of assembling and material handling of airplane parts, a power-assisted machine is needed to help workers to assemble the parts, and the lifting in the process of material handling is carried out.
The application relates to a power-assisted manipulator and a control system thereof,
disclosure of Invention
In order to solve the problems, the application provides a power-assisted manipulator and a control system thereof, the floating of an object is realized by the combined application of force balance self-adaption and a pneumatic principle, the zero-gravity carrying and assembling of the object are realized, the lifting, the plane moving and the overturning of a heavy object are realized by the micro force of a human hand, and the motion process is balanced and smooth.
A power-assisted manipulator comprises a fixed upright post, a rotary joint, a rotary upright post, a balance cylinder, a parallelogram mechanism, a track self-balancing mechanism, a swing joint, a tail end executing mechanism and a clamp, wherein the fixed upright post is fixed on the ground, the rotary upright post is arranged on the upper end surface of the fixed upright post through the rotary joint, and the rotary upright post can do rotary motion around the vertical axis of the rotary joint; the track self-balancing mechanism is arranged on the upper end surface of the rotating stand column, one side of the track self-balancing mechanism is provided with a short arm end of the parallelogram mechanism, the other opposite side of the track self-balancing mechanism is provided with a balancing cylinder, the balancing cylinder applies constant acting force to the parallelogram mechanism, and meanwhile, the track self-balancing mechanism performs self-adaptive adjustment on the acting force arm of the parallelogram mechanism to keep the parallelogram mechanism in a balanced state all the time; the long arm end of the parallelogram mechanism is provided with a swing joint, the lower end face of the swing joint is provided with a rotary joint, the lower end face of the rotary joint is provided with a tail end actuating mechanism, a combination joint formed by the swing joint and the rotary joint can enable the stress of the long arm end of the parallelogram mechanism to be always vertical and downward, the lower end face of the tail end actuating mechanism is provided with a clamp, a workpiece is clamped on the clamp, and the tail end actuating mechanism can drive the clamp clamped with the workpiece to rotate in a 90-degree pitching manner, so that the workpiece can be switched from a horizontal state to a vertical state at will.
The rotary joint comprises a shaft with a flange plate, a shaft sleeve with a flange plate, a bearing, a brake disc with an inner V-shaped groove and an inner cylindrical hole, an outer V-shaped brake shoe, a brake cylinder, an L-shaped flange seat and a shaft lock nut, wherein the bearing is arranged in the inner cylindrical cavity of the shaft sleeve, the shaft penetrates through the inner diameter hole of the bearing to form a pair of revolute pairs with the shaft sleeve, the shaft end of the shaft is locked by the shaft lock nut to prevent the shaft from being separated from the shaft sleeve, the brake disc is sleeved into the outer cylindrical surface of the shaft sleeve through the inner cylindrical hole, a circle of uniformly distributed countersunk head threaded holes are formed between the bottom surface of the V-shaped groove of the brake disc and the inner cylindrical surface, the pretightening force is applied through a screwing screw to realize the fastening connection of the brake disc on the shaft sleeve, the outer V-shaped brake shoe is arranged at the front end of a piston rod of the brake cylinder through threaded fit, and is attached to and separated from the V-shaped groove in the brake disc under pressure along with the extension and retraction of the piston rod, so as to realize the locking and the loosening of the revolute pairs of the rotary joint.
The parallelogram mechanism enables a main rod, an auxiliary rod, a connecting rod and a working rod to form a parallelogram link mechanism through hinge shafts, the main rod comprises three hinge shaft holes with intervals of E and F, wherein an end hinge shaft hole with the size of E is a short arm balance intersection point of the parallelogram mechanism, the auxiliary rod comprises two hinge shaft holes with the interval of F, the connecting rod comprises two hinge shaft holes with the interval of G, the hinge shaft hole connected with the auxiliary rod is a horizontal moving support intersection point of the parallelogram mechanism 5, the working rod comprises three hinge shaft holes with the intervals of G and H, the end hinge shaft hole with the size of H is a long arm balance intersection point of the parallelogram mechanism, and the parallelogram mechanism needs to be provided with the ratio of E to F equal to the ratio of G to H so as to realize the power assisting function.
The track self-balancing mechanism is a cavity structure, a pair of horizontal moving support guide grooves and a pair of vertical moving support guide grooves are arranged on the front end face and the rear end face of the track self-balancing mechanism, the length of the horizontal moving support guide grooves determines the horizontal stroke of a working rod in the parallelogram mechanism, and the length of the vertical moving support guide grooves determines the height stroke of the working rod in the parallelogram mechanism.
The power-assisted mechanism is composed of a parallelogram mechanism and a track self-balancing mechanism, a horizontal moving support intersection point and a short arm balance intersection point in the parallelogram mechanism are respectively connected in a horizontal moving support guide groove and a vertical moving support guide groove of the track self-balancing mechanism through an X-direction hinge shaft and a Y-direction hinge shaft, the ratio of the horizontal position quantity A of the horizontal moving support intersection point to the horizontal position quantity B of the long arm balance intersection point is constantly equal to the ratio of the vertical position quantity C of the short arm balance intersection point to the vertical position quantity D of the long arm balance intersection point, namely, when the long arm balance intersection point is changed no matter the horizontal position quantity or the vertical position quantity, A/B is constantly equal to C/D.
The swing joint comprises a fork-shaped piece with a flange, an ear-shaped piece with a flange and a shaft, the fork-shaped piece and the ear-shaped piece are provided with hinge shaft holes with the same size, the fork-shaped piece and the ear-shaped piece form a fork ear fit, the shaft is inserted into the hinge shaft holes of the fork-shaped piece and the ear-shaped piece to form the swing joint, and under the action of load gravity, no matter how the angle of the fork-shaped piece or the ear-shaped piece changes, the stress direction of the shaft is kept vertically downward.
The utility model provides a control system of helping hand manipulator, contain air supply processing module, the switch module, divide the gas module, control interface and main control system, air supply processing module is modulated into dry constant voltage's gas with the factory building air supply and is passed through switch module's on-off control, give and divide gas module air feed or gas break, divide the gas module to export weak gas and strong gas respectively for the signal input port of each module in the control interface and the power input port of each module in the main control system through the hose, the output port of each module in the control interface exports the signal gas of modulation for the control port of each module in the main control system, the power output end of each module in the main control system is according to the information control output state of control port, thereby realize the control to each executive. The control interface comprises an idle load/load selection module, a brake/release selection module, a forward rotation/stop/reverse rotation selection module, a vacuum/atmosphere selection module and a module mounting plate, wherein the module mounting plate is provided with four equidistant mounting holes arranged in a straight line for mounting the four selection modules, and the control interface is mounted on the front end surface of the tail end execution mechanism so as to be convenient to operate. The control host machine comprises a no-load/load control module, a brake/release control module, a forward rotation/stop/reverse rotation control module, a vacuum/atmosphere selection control block and a control cabinet, wherein the four control modules are respectively provided with a control port, a power input port and a power output port, and the power output port of the no-load/load control module is connected with the balance cylinder 4 through a hose so that the balance intersection point of the long arm is in a floating state to play a power-assisted function; the power output port of the braking/loosening control module is connected with the braking cylinder through a hose, so that the rotary joint is braked or loosened according to the working requirement, and the locking and releasing of each upright post and each movable component are realized; the power output port of the forward/stop/reverse rotation control module is connected with the rotary cylinder through a hose, so that the tail end execution mechanism can perform corresponding forward, stop and reverse rotation movements as required; the power output port of the vacuum/atmosphere control module is connected with a vacuum generator through a hose, and the vacuum generator is connected with a sucker through a hose, so that the sucker can absorb and release workpieces according to working requirements.
The power-assisted manipulator and the control system thereof can enable the workpiece to be in a floating state, just like a balance which is balanced, and the balance can incline towards the direction of a micro force as long as the micro force breaks the balance as long as the weight at two ends of the balance is large, thereby realizing the power-assisted function. Compared with a balance, the balance has the further functions that when the force arm at one end of the power-assisted manipulator changes, the force arm at the other end also changes along with the change and keeps a fixed proportional relation, so that no matter the height motion, the left-right motion and the rotary motion of a workpiece, a counter force and a counter force arm are always balanced with the workpiece, the workpiece is always in a floating state, the gravity is overcome, and the power-assisted function is realized.
The present application is described in further detail below with reference to the accompanying drawings of embodiments:
drawings
Fig. 1 and 2 are schematic diagrams of the components of the power manipulator.
Fig. 3 is a schematic view of a rotary joint composition.
Fig. 4 is a schematic diagram of the track self-balancing mechanism.
Fig. 5 is a schematic view of the parallelogram mechanism.
Fig. 6 is a schematic view of the assist mechanism.
Fig. 7 is a schematic structural composition diagram of a swing joint.
Fig. 8 is a schematic end effector assembly.
Fig. 9 is a schematic structural composition diagram of the jig.
FIG. 10 is a schematic diagram of the control interface structure.
Fig. 11 is a control system framework diagram.
The numbering in the figures illustrates: 1 fixed upright post, 2 rotary joints, 3 rotary upright posts, 4 balance cylinders, 5 parallelogram mechanisms, 6-track self-balance mechanisms, 7 swing joints, 8 tail end actuating mechanisms, 9 clamps, 10 control systems, 11 gas distribution modules, 12 control hosts, 13 workpieces, 14 gas source processing modules, 15 switch modules, 16 mounting flanges, 17 shafts with flanges, 18 shaft sleeves with flanges, 19 bearings, 20 brake discs with V-shaped grooves and inner cylindrical holes, 21 outer V-shaped brake shoes, 22 brake cylinders, 23L-shaped flange seats, 24 main rods, 25 auxiliary rods, 26 connecting rods, 27 working rods, 28 vertical floating support guide grooves, 29 horizontal floating support guide grooves, 30 fork-shaped members with flanges, 31 lug-shaped members with flanges, 32 shaft/balance intersection points, 33 mounting rods, 34 rotary joints, 35 rotary cylinders, 36 rocker arms, 37 mounting flanges 38 main aluminum profiles, 39 auxiliary aluminum profiles, 40 vacuum generator, 41 vacuum pressure gauge, 42 vacuum filter, 43 flexible joint, 44 vacuum sucker, 45 operating lever, 46 control box, 47 no-load/load selection module, 48 brake/release selection module, 49 forward rotation/stop/reverse rotation selection module, 50 vacuum/atmosphere selection module, 51 clamping flange, 52 control cabinet, 53 high-precision large-flow pneumatic control pressure reducing valve, 54 no-load high-precision mechanical pressure reducing valve, 55 load high-precision mechanical pressure reducing valve, 56 pneumatic control direction control valve, 57 control interface, 58X-direction hinge shaft, 59Y-direction hinge shaft, 60 horizontal floating support intersection point, 61 short arm balance intersection point, 62 long arm balance intersection point, 63 shaft lock nut, 64 module mounting plate, 65 no-load/load control module, 66 brake/release control module, 67/stop/reverse rotation control module, 68 vacuum/atmosphere control module
Detailed Description
Referring to fig. 1 and 2, the power manipulator and the control system thereof include main components: the device comprises a fixed upright post 1, a rotary joint 2, a rotary upright post 3, a balance cylinder 4, a parallelogram mechanism 5, a track self-balancing mechanism 6, a swing joint 7, a tail end executing mechanism 8, a clamp 9 and a control system 10.
The fixed upright post 1 is fixed on the ground, the upper end surface of the fixed upright post 1 is provided with a rotating upright post 3 through a rotating joint 2, and the rotating upright post 3 can rotate around the vertical axis of the rotating joint 2; the track self-balancing mechanism 6 is arranged on the upper end face of the rotating upright post 3, one side of the track self-balancing mechanism 6 is provided with a short arm end of the parallelogram mechanism 5, the other opposite side is provided with the balancing cylinder 4, the balancing cylinder 4 applies constant acting force to the parallelogram mechanism 5, and meanwhile, the track self-balancing mechanism 6 carries out self-adaptive adjustment on the acting force arm of the parallelogram mechanism 5, so that the parallelogram mechanism 5 is always kept in a balanced state; the long arm end of the parallelogram mechanism 5 is provided with a swing joint 7, the lower end face of the swing joint 7 is provided with a rotary joint 2, the lower end face of the rotary joint 2 is provided with a tail end actuating mechanism 8, the combination formed by the swing joint 7 and the rotary joint 2 can ensure that the stress of the long arm end of the parallelogram mechanism 5 is always vertical and downward, the lower end face of the tail end actuating mechanism 8 is provided with a clamp 9, a workpiece 13 is clamped on the clamp 9, and the tail end actuating mechanism 8 can drive the clamp 9 which clamps the workpiece 13 to rotate in a 90-degree pitching manner, so that the workpiece can be switched from a horizontal state to a vertical state at will.
Component manufacturing embodiment:
the fixed upright post 1 and the rotating upright post 3 are formed by welding square tubes, reinforcing rib plates and flat plates with corresponding sections.
The air source processing module 14 and the switch module 15 are integrally installed at a proper height of the fixed upright post 1 by a mounting flange 16 after being connected by screw threads, so that the operation of a human hand is convenient.
Referring to fig. 3, the rotary joint 2 is composed of a shaft 17 with a flange, a shaft sleeve 18 with a flange, a bearing 19, a brake disc 20 with an inner V-shaped groove and an inner cylindrical hole, an outer V-shaped brake shoe 21, a brake cylinder 22, an L-shaped flange seat 23 and a shaft lock nut 63. The bearing 19 is arranged in an inner cylindrical cavity of the shaft sleeve 18, the shaft 17 penetrates through an inner diameter hole of the bearing 19 to form a pair of revolute pairs with the shaft sleeve 18, the shaft end of the shaft 17 is locked by a shaft locking nut 63 to prevent the shaft 17 from being separated from the shaft sleeve 18, the brake disc 20 is sleeved on an outer cylindrical surface of the shaft sleeve 18 through an inner cylindrical hole, a circle of uniformly distributed countersunk threaded holes are formed between the bottom surface of a V-shaped groove of the brake disc 20 and the inner cylindrical surface, the brake disc 20 is fastened and connected on the shaft sleeve 18 by screwing in screws to exert pretightening force, the outer V-shaped brake shoe 21 is arranged at the front end of a piston rod of the brake cylinder 22 through threaded fit, and the outer V-shaped brake shoe 21 is attached to and separated from a V-shaped groove in the brake disc 20 under pressure along with the extension and retraction of the piston rod according to working requirements, so that the revolute pair of the rotary joint 2 is locked and loosened.
The balance cylinder 4 should select a low-friction cylinder as much as possible, the low-friction resistance is favorable for improving the power-assisted sensitivity, the cylinder diameter of the balance cylinder 4 is determined by the load, the piston rod end of the balance cylinder 4 is connected with the short arm balance intersection point 61 of the parallelogram mechanism 5 by the Y-direction hinge shaft 59, the flange seat end of the balance cylinder 4 is connected with the proper position of the rotating upright post 2 by a bolt, and when the balance cylinder 4 is installed, the piston rod axis is parallel to the vertical floating support guide groove 28 as much as possible.
Referring to fig. 4, the track self-balancing mechanism 6 is a cavity structure, a pair of horizontal floating support guide grooves 29 and a pair of vertical floating support guide grooves 28 are arranged on the front end surface and the rear end surface of the track self-balancing mechanism 6, the length of the horizontal floating support guide grooves 29 determines the horizontal stroke of the working rod 27 in the parallelogram mechanism 5, and the length of the vertical floating support guide grooves 28 determines the height stroke of the working rod 27 in the parallelogram mechanism 5. In manufacturing, the vertical floating support guide groove 28 and the horizontal floating support guide groove 29 are strictly perpendicular to each other, and in order to prevent wear, hardening treatment should be performed on both guide grooves.
Referring to fig. 5, the primary rod 24, the secondary rod 25, the connecting rod 26 and the working rod 27 of the parallelogram mechanism 5 form a parallelogram link mechanism through hinge shafts, the four rods are square tube profiles, the primary rod 24 includes three hinge shaft holes with a distance of E and F, wherein the end hinge shaft hole with a size of E is a short arm balance intersection point 61 of the parallelogram mechanism 5, the secondary rod 25 includes two hinge shaft holes with a distance of F, the connecting rod 26 includes two hinge shaft holes with a distance of G, wherein the hinge shaft hole connected with the secondary rod is a horizontal floating support quadrilateral intersection point 60 of the parallelogram mechanism 5, the working rod includes three hinge shaft holes with a distance of G and H, wherein the end hinge shaft hole with a size of H is a long arm balance intersection point 62 of the parallelogram mechanism 5, and the parallelogram mechanism 5 needs to set a ratio of E to F equal to a ratio of G to H, which is a key point for realizing the boosting function. In manufacturing, the four parameters E, F, G, H are to have as close dimensional tolerances as possible.
Referring to fig. 6, in the power assist mechanism comprising the parallelogram mechanism 5 and the track self-balancing mechanism 6, the horizontal floating support intersection 60 and the short arm balance intersection 61 in the parallelogram mechanism 5 are respectively connected to the horizontal floating support guide groove 29 and the vertical floating support guide groove 28 of the track self-balancing mechanism 6 through the X-direction hinge 58 and the Y-direction hinge 59, and the ratio of the horizontal position amount a of the horizontal floating support intersection 60 to the horizontal position amount B of the long arm balance intersection 62 is constantly equal to the ratio of the vertical position amount C of the short arm balance intersection 61 to the vertical position amount D of the long arm balance intersection 62, that is, when the long arm balance intersection 62 is changed from the horizontal position amount to the vertical position amount, a/B is constantly equal to C/D, no matter how the parallelogram mechanism 5 is deformed (e.g., changed from a rectangular shape to a prismatic shape or from a prismatic shape to a rectangular shape) according to a shape of the two guide grooves in the track self-balancing mechanism 6. In manufacturing, in order to reduce frictional resistance, rolling bearings should be mounted on the X-axis hinge shaft 58 and the Y-axis hinge shaft 59.
Referring to fig. 7, the swing joint 7 is composed of a fork 30 with a flange, a lug 31 with a flange and a shaft 32, and the swing joint 7 is used for keeping a mounting rod 33 of the end actuating mechanism 8 in a vertical state all the time under the action of gravity and enabling the shaft 32 to be always subjected to a vertically downward acting force.
Referring to fig. 8, the end effector 8 mounts the mounting rod 33, the rotary joint 34, the rotary cylinder 35, the rocker arm 36, the mounting flange 37, etc. to a mechanism capable of rotating the mounting flange 37 by 90 ° through a hinge shaft, and after the workpiece 13 is connected to the mounting flange 37, the workpiece 13 can be controlled to be maintained at any angular position between the horizontal plane and the vertical plane, wherein the rotary cylinder 35 is a cylinder with a gas-off contracting brake function.
Referring to fig. 9, the structure of the fixture 9 is various, such as mechanical clamping type, vacuum adsorption type, electromagnetic adsorption type, and the present application is a vacuum adsorption type fixture, which includes a main aluminum profile 38, 6 auxiliary aluminum profiles 39, a vacuum generator 40, a vacuum pressure gauge 41, a vacuum filter 42, a flexible joint 43, a vacuum chuck 44, and the like, and the specification of these structural components and components is determined according to the weight of the workpiece 13, and the suction and release of the workpiece 13 are realized by controlling the vacuum generator 40, and in the present application, the vacuum generator 40 is selected as a venturi principle vacuum generator, and the fixture 9 is set to a 2x3 lattice adsorption layout according to the shape structure of the workpiece 13 in the present application.
Referring to fig. 10-11, a control system 10 includes an air source processing module 14, a switch module 15, an air distribution module 11, a control interface 57, and a control host 12, where the air source processing module 14 modulates a plant air source into dry constant-pressure air, and then controls the on/off of the switch module 15 to supply or cut off the air to the air distribution module 11, the air distribution module 11 outputs weak air and strong air to a signal input port of each module in the control interface 57 and a power input port of each module in the control host 12 through hoses, an output port of each module in the control interface 57 outputs the modulated signal air to a control port of each module in the control host 12, and a power output port of each module in the control host 12 controls an output state according to information of the control port, thereby controlling each executing element; the control interface 57 comprises an idle load/load selection module 47, a brake/release selection module 48, a forward rotation/stop/reverse rotation selection module 49, a vacuum/atmosphere selection module 50 and a module mounting plate 64, wherein the module mounting plate 64 is provided with four mounting holes arranged in a straight line at equal intervals for mounting the four selection modules, and the control interface 57 is mounted on the front end surface of the tail end execution mechanism 8 for operation; the control host 12 comprises an idle load/load control module 65, a brake/release control module 66, a forward rotation/stop/reverse rotation control module 67, a vacuum/atmosphere selection control block 68 and a control cabinet 52, wherein the four control modules are respectively provided with a control port, a power input port and a power output port, and the power output port of the idle load/load control module 65 is connected with the balance cylinder 4 through a hose so that the long arm balance intersection point 62 is in a floating state and plays a power-assisted function; the power output port of the braking/releasing control module 66 is connected with the braking cylinder 22 by a hose, so that the rotary joint 2 can be braked or released according to the working requirement to realize the locking and releasing of each upright post and each movable component; the power output port of the forward/stop/reverse rotation control module 67 is connected to the rotary cylinder 35 by a hose, so that the end executing mechanism 8 performs corresponding forward, stop and reverse rotation movements as required; the vacuum/atmosphere control module 68 has a power output port connected to the vacuum generator 40 by a hose, and the vacuum generator 40 is connected to the suction cup 44 by a hose, so that the suction cup 44 can suck and release the workpiece as required.
The use embodiment:
firstly, a factory air source is connected to an air source processing module 14 of the air source processing system through an air pipe for filtering and pressure reduction, a switch module 15 is opened to inflate the system, when the system is just inflated, a rotary joint 2 and a rotary air cylinder 35 are in a braking state, a mechanical arm cannot move, the braking of the system is relieved by operating a braking/releasing selection button on a control interface 57, a vacuum suction cup 44 is attached to a workpiece 13 by moving a control rod 45, a vacuum button 50 is started, the workpiece 12 is adsorbed on a clamp 9, a load button 47 is started, the workpiece 13 is automatically balanced, the control rod 45 moves up and down, the workpiece 13 is moved to a target position, a forward rotation button 49 is started, the workpiece 13 rotates from a horizontal state to a vertical state, the workpiece 13 is close to a placing rack, a no-load button 47 and an atmosphere button 50 are started, the workpiece 13 is separated from a manipulator clamp 9, and the manipulator obtains balance again. When the operation is stopped, the brake button 48 is activated to brake each of the articulated arms so that the articulated arms cannot move freely.
Through the combined motion of the vertical rotation motion of the two rotary joints 2, the horizontal and high-low motion of the track self-balancing mechanism 6, the scissor fork motion of the parallelogram 5 and the pitching turnover motion of the tail end executing mechanism 8, the adjustment of any six degrees of freedom of the workpiece 13 can be realized, and the aircraft process assembly requirement is met.
Claims (7)
1. A power-assisted manipulator comprises a fixed upright post (1), a rotary joint (2), a rotary upright post (3), a balance cylinder (4), a parallelogram mechanism (5), a track self-balancing mechanism (6), a swing joint (7), a tail end executing mechanism (8) and a clamp (9), wherein the fixed upright post (1) is fixed on the ground, the rotary upright post (3) is installed on the upper end face of the fixed upright post (1) through the rotary joint (2), and the rotary upright post (3) can rotate around the vertical axis of the rotary joint (2); the track self-balancing mechanism (6) is arranged on the upper end face of the rotating upright post (3), one side of the track self-balancing mechanism (6) is provided with a short arm end of the parallelogram mechanism (5), the other opposite side is provided with the balancing cylinder (4), the balancing cylinder (4) applies constant acting force to the parallelogram mechanism (5), and meanwhile, the track self-balancing mechanism (6) performs self-adaptive adjustment on the acting force arm of the parallelogram mechanism (5) to enable the parallelogram mechanism (5) to keep a balanced state all the time; the long arm end of the parallelogram mechanism 5 is provided with a swing joint 7, the lower end face of the swing joint 7 is provided with a rotary joint 2, the lower end face of the rotary joint 2 is provided with a terminal actuating mechanism 8, the combination formed by the swing joint 7 and the rotary joint 2 can enable the long arm end of the parallelogram mechanism 5 to be always vertically downward under stress, the lower end face of the terminal actuating mechanism 8 is provided with a clamp 9, the clamp 9 is clamped with a workpiece 13, the terminal actuating mechanism 8 can drive the clamp 9 clamped with the workpiece 13 to rotate in 90 degrees in a pitching manner, and therefore the workpiece can be switched from a horizontal state to a vertical state.
2. The power-assisted manipulator is characterized in that the rotary joint (2) comprises a shaft (17) with a flange, a shaft sleeve (18) with a flange, a bearing (19), a brake disc (20) with an inner V-shaped groove and an inner cylindrical hole, an outer V-shaped brake shoe (21), a brake cylinder (22), an L-shaped flange seat (23) and a shaft lock nut (63), wherein the bearing (19) is arranged in the inner cylindrical cavity of the shaft sleeve (18), the shaft (17) penetrates through the inner diameter hole of the bearing (19) to form a pair of rotating pairs with the shaft sleeve (18), the shaft end of the shaft (17) is locked by the shaft lock nut (63) to prevent the shaft (17) from being separated from the shaft sleeve (18), the brake disc (20) is sleeved into the outer cylindrical surface of the shaft sleeve (18) through the inner cylindrical hole, countersunk head threaded holes which are uniformly distributed are arranged between the bottom surface of the V-shaped groove of the brake disc (20) and the inner cylindrical surface, a circle of countersunk head threaded holes are attached to the bottom surface of the V-shaped groove of the brake disc (20) and the inner cylindrical surface of the inner cylinder, the brake disc (18) is fastened by screwing in screws to exert pretightening force to realize the fastening connection of the brake disc (20), the outer V-shaped groove, the outer V-shaped brake disc (21) is attached to be attached to the brake disc, the brake disc (21) and the brake disc is attached to be separated from the inner cylindrical surface of the brake disc (21), the piston rod (21) to be separated from the piston rod (21), the piston rod (2), and the piston rod (2) to be withdrawn with the piston rod, the piston rod (21) and the piston rod (21) to be separated from the piston rod, and the piston rod (21) to be withdrawn with pressure joint under the free joint.
3. A manipulator as claimed in claim 1, wherein the parallelogram mechanism (5) forms a parallelogram linkage from the primary rod (24), the secondary rod (25), the connecting rod (26), and the working rod (27) via hinge shafts, the primary rod (24) includes three hinge shaft holes spaced by E and F, wherein the end hinge shaft hole of E is a short arm balance intersection (61) of the parallelogram mechanism (5), the secondary rod (25) includes two hinge shaft holes spaced by F, the connecting rod (26) includes two hinge shaft holes spaced by G, the hinge shaft hole connected to the secondary rod is a horizontal floating support intersection (60) of the parallelogram mechanism (5), the working rod includes three hinge shaft holes spaced by G and H, wherein the end hinge shaft hole of H is a long arm balance intersection (62) of the parallelogram mechanism (5), and the parallelogram mechanism (5) is configured such that the ratio of E to F is equal to the ratio of G to H, thereby achieving the boosting function.
4. A power-assisted manipulator according to claim 1, wherein the trajectory self-balancing mechanism (6) is a cavity structure, a pair of horizontal floating support guide grooves (29) and a pair of vertical floating support guide grooves (28) are disposed on the front end surface and the rear end surface of the trajectory self-balancing mechanism (6), the length of the horizontal floating support guide grooves (29) determines the horizontal stroke of the working rod (27) in the parallelogram mechanism (5), and the length of the vertical floating support guide grooves (28) determines the height stroke of the working rod (27) in the parallelogram mechanism (5).
5. The power-assisted manipulator according to claim 1, wherein the power-assisted mechanism comprises a parallelogram mechanism (5) and a track self-balancing mechanism (6), a horizontal floating support intersection (60) and a short arm balance intersection (61) in the parallelogram mechanism (5) are respectively connected in a horizontal floating support guide groove (29) and a vertical floating support guide groove (28) of the track self-balancing mechanism (6) through an X-direction hinge shaft (58) and a Y-direction hinge shaft (59), and the ratio of the horizontal position quantity A of the horizontal floating support intersection (60) to the horizontal position quantity B of the long arm balance intersection (62) is constantly equal to the ratio of the vertical position quantity C of the short arm balance intersection (61) to the vertical position quantity D of the long arm balance intersection (62), that is, when the long arm balance intersection (62) is constantly changed in both horizontal position quantity and vertical position quantity, A/B is constantly equal to C/D.
6. A manipulator according to claim 1, wherein said swing joint (7) comprises a flanged fork (30), a flanged ear (31) and a shaft (32), the fork (30) and the ear (31) both have hinge holes of the same size, the fork (30) and the ear (31) form a fork-ear fit, the shaft (32) is inserted into the hinge holes to form a swing joint, and under the action of load gravity, no matter how the angle of the fork (30) or the ear (31) changes, the force direction of the shaft 32 is kept vertically downward.
7. A control system applied to a power-assisted manipulator of claim 1 is characterized by comprising an air source processing module (14), a switch module (15), an air distribution module (11), a control interface (57) and a control host (12), wherein the air source processing module (14) modulates a factory air source into dry and constant-pressure air, then controls the on-off of the switch module (15) to supply air or cut off air to the air distribution module (11), the air distribution module (11) respectively outputs weak air and strong air to a signal input port of each module in the control interface (57) and a power input port of each module in the control host (12) through hoses, an output port of each module in the control interface (57) outputs the modulated signal air to a control port of each module in the control host (12), and a power output end of each module in the control host (12) controls an output state according to information of the control port, so as to realize control of each execution element; the control interface (57) comprises an idle load/load selection module (47), a brake/release selection module (48), a forward rotation/stop/reverse rotation selection module (49), a vacuum/atmosphere selection module (50) and a module mounting plate (64), wherein the module mounting plate (64) is provided with four mounting holes with equal intervals for mounting the four selection modules in a straight line, and the control interface (57) is mounted on the front end surface of the tail end execution mechanism (8) so as to facilitate operation; the control host (12) comprises an idle load/load control module (65), a brake/release control module (66), a forward rotation/stop/reverse rotation control module (67), a vacuum/atmosphere control block (68) and a control cabinet (52), wherein the four control modules are respectively provided with a control port, a power input port and a power output port, and the power output port of the idle load/load control module (65) is connected with the balance cylinder (4) through a hose so that the long arm balance intersection point (62) is in a floating state and plays a power assisting function; the power output port of the braking/releasing control module (66) is connected with the braking cylinder (22) through a hose, so that the rotary joint (2) can be braked or released according to the working requirement, and the locking and releasing of each upright post and each movable component can be realized; the power output port of the forward/stop/reverse rotation control module (67) is connected with the rotary cylinder (35) through a hose, so that the tail end actuating mechanism (8) can perform corresponding forward rotation, stop and reverse rotation movements as required; the power output port of the vacuum/atmosphere control module (68) is connected with the vacuum generator (40) through a hose, and the vacuum generator (40) is connected with the suction cup (44) through a hose, so that the suction cup (44) can absorb and release workpieces according to the work requirement.
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| CN201611153159.2A CN106671055B (en) | 2016-12-14 | 2016-12-14 | Power-assisted manipulator and control system thereof |
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| CN107984216B (en) * | 2017-12-25 | 2023-07-18 | 宁夏力成电气集团有限公司 | Automatic production line for mixed line production of multiple varieties of low-voltage switch equipment and operation method |
| CN108482333A (en) * | 2018-04-20 | 2018-09-04 | 力帆实业(集团)股份有限公司 | Electric vehicle changes the rear floor battery taking and placing mechanism of electromechanical arm |
| CN108750259B (en) * | 2018-06-25 | 2024-01-19 | 常州特劳姆机械有限公司 | Labeller |
| CN109176486A (en) * | 2018-11-08 | 2019-01-11 | 江苏昱博自动化设备有限公司 | A kind of boosting manipulator |
| CN110355747B (en) * | 2018-11-21 | 2022-06-14 | 上海交通大学 | Two-degree-of-freedom planar flexible taking and placing mechanism |
| FR3091681B1 (en) * | 2019-01-10 | 2021-01-29 | Faurecia Automotive Ind | Motor vehicle rear assembly and associated method of use |
| CN110695975A (en) * | 2019-09-20 | 2020-01-17 | 西安飞机工业（集团）有限责任公司 | Pneumatic power-assisted flexible assembly equipment for airplane cabin door |
| CN111203492B (en) * | 2020-04-20 | 2020-08-21 | 山东天空之眼智能科技有限公司 | Novel manipulator is transferred in punching press of unmanned aerial vehicle fuselage |
| CN112499280A (en) * | 2020-10-23 | 2021-03-16 | 东风时代(武汉)电池系统有限公司 | Tray unstacking device |
| CN112550754B (en) * | 2020-12-24 | 2022-06-07 | 芜湖中科飞机制造有限公司 | Tail supporting and falling balancing device for assembling small airplane |
| CN113651005A (en) * | 2021-07-19 | 2021-11-16 | 新松机器人联合研究院(江油)有限公司 | Automatic sorting system of robot of logistics storage |
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