CN106903495A - A kind of robot mechanism that assembly manipulation is directed at for heavy parts - Google Patents
A kind of robot mechanism that assembly manipulation is directed at for heavy parts Download PDFInfo
- Publication number
- CN106903495A CN106903495A CN201710122434.2A CN201710122434A CN106903495A CN 106903495 A CN106903495 A CN 106903495A CN 201710122434 A CN201710122434 A CN 201710122434A CN 106903495 A CN106903495 A CN 106903495A
- Authority
- CN
- China
- Prior art keywords
- rod member
- axis
- prismatic pair
- leading screw
- end effector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Abstract
The present invention proposes a kind of robot mechanism that assembly manipulation is directed at for heavy parts,It is related to axis hole to be directed at mounting technology,Wherein rod member (83),Prismatic pair (94),Rod member (84),Prismatic pair (95),Rod member (85) constitutes branch I,Rod member (83),Prismatic pair (96),Rod member (86),Prismatic pair (97),Rod member (87) constitutes branch II,Rod member (83),Prismatic pair (93),Rod member (82),Prismatic pair (92),Rod member (81),Prismatic pair (91),Rod member (80) constitutes branch III,Rod member (80) is frame,Rod member (85) and rod member (87) are end effector,The robot mechanism can adjust two relative poses of Assembly part,Realize alignment and the component assembly of Assembly part assembling position axis,The all prismatic pairs of mechanism kinematic pairs,Stable movement,Improve adjustment positioning precision and operating efficiency.
Description
Technical field
The present invention relates to axis hole alignment mounting technology, more particularly to a kind of machine that assembly manipulation is directed at for heavy parts
Robot mechanism.
Background technology
Assembly manipulation is frequently encountered in industrial production, wherein miniature parts assembling is usually taken artificial crawl, adjustment alignment
And the mode for loading, and heavy parts are difficult to be captured by manpower and adjusted, generally by the large-scale boom hoisting cable such as crane
Rope lifts by crane part, and auxiliary is used and manually adjusted or alignment device completion assembly manipulation.SCARA humanoid robots are mainly used in small-sized
The automatic assembling of part.
Large-scale boom hoisting has that the big, cable movement that takes up room is unstable, need it is artificial it is many, adjust positioning precision and
The features such as operating efficiency is not high, it is therefore desirable to the robot mechanism that exploitation is assembled suitable for heavy parts alignment, to improve assembling
Precision and operating efficiency.
Heavy parts proposed by the present invention are directed at the robot mechanism that puts together machines and are primarily adapted for use in more than tens kilograms heavy parts
Assembly manipulation, but suitably reduce the size of the mechanism, mechanism proposed by the present invention can be used for miniature parts assembling.
The content of the invention
To realize that part is directed at assembly manipulation, make the axle of the assembling position 60a of part 60 and the assembling position 61a of part 61
Line I-I is aligned with II-II and realizes coordinating along axis relative movement, and the present invention uses following technical scheme：
Part 61 is fixed, and part 60 is positioned over the 2 end effector rod members 85 and rod member for being directed at the robot mechanism that puts together machines
On 87, mechanism is the tree-shaped open chain mechanisms with 7 frees degree, wherein, rod member 83, prismatic pair 94, rod member 84, prismatic pair 95,
Rod member 85 constitutes branch I；Rod member 83, prismatic pair 96, rod member 86, prismatic pair 97, the composition of rod member 87 branch II；Rod member 83, movement
Secondary 93, rod member 82, prismatic pair 92, rod member 81, prismatic pair 91, the composition branch III of rod member 80, rod member 80 is frame, the He of rod member 85
Rod member 87 is end effector, and the distance between branch I and branch II can be adjusted according to specific part requirements.Branch
The axis of three prismatic pairs 91,92,93 in III is orthogonal, respectively along the Z axis of rectangular coordinate system, X-axis and Y direction, this
Three degree of freedom can determine position of the axis of part 60 in XYZ coordinate system, in the prismatic pair 94 in branch I and branch II
The axis of prismatic pair 96 along rectangular coordinate system X-direction, the axis of prismatic pair 95 and prismatic pair 97 along rectangular coordinate system Z axis
4 frees degree that direction, branch I and branch II are provided cooperate, and can make the axis of part 60 around the X-axis of XYZ coordinate system
Rotated with Z axis, so that it is determined that attitude of the axis of part 60 in XYZ coordinate system, thus, all prismatic pairs of kinematic pair this 7
Free degree mechanism, it may be determined that the relative pose of the axis of the assembling position 60a of the part 60 and assembling position 61a of part 61,
Then the prismatic pair 93 in branch III along Y-direction is moved, and makes the assembling position 60a of the part 60 and assembling position 61a of part 61
Axis is aligned and is relatively moved along axis, realizes the loading of part matching part.
Invention beneficial effect：
7 free degree part proposed by the present invention alignment puts together machines robot mechanism, can adjust the relative of two Assembly parts
Pose, realizes alignment and the component assembly of Assembly part assembling position axis, and all prismatic pairs of mechanism kinematic pairs, motion is flat
Surely, adjustment positioning precision and operating efficiency are improve.
Brief description of the drawings
Fig. 1 is component assembly, in figure, 60,61- parts, 60a, 61a- assembling position, I-I, II-II- axis, X, Y, Z-
Coordinate system XYZ coordinate axle.
Fig. 2 is that part alignment puts together machines the schematic diagram of mechanism of robot mechanism, in figure, 91,92,93,94,95,96,97- movements
Pair, 80,81,82,83,84,85,86,87- rod members.
Fig. 3 is that part alignment puts together machines people, in figure, 1- frameworks, 2- lifting platforms, 3- workpiece, 4,5-U type supports, 6,7,
10th, 17- leading screws, 8- slide units, 9,13,19- tracks, 11- motor cabinets, 12,14,16,18,21- servomotors, 15- bearings, 20-
Frame, 22,23- connecting rods.
Fig. 4 is end effector of robot, in figure, 24,25,26,27- rolling elements, 28- leading screws, 29- nuts, outside 30-
Shell, 31- servomotors, 32- bases, 40- end effectors.
Specific embodiment
A kind of robot mechanism for heavy parts alignment assembly manipulation as shown in Fig. 2 wherein, rod member 83, prismatic pair
94th, rod member 84, prismatic pair 95, the composition of rod member 85 branch I；Rod member 83, prismatic pair 96, rod member 86, prismatic pair 97, rod member 87 are constituted
Branch II；Rod member 83, prismatic pair 93, rod member 82, prismatic pair 92, rod member 81, prismatic pair 91, the composition branch III of rod member 80, rod member
80 is frame, and rod member 85 and rod member 87 are end effector, and the distance between branch I and branch II can be wanted according to specific part
Ask and be adjusted.The axis of three prismatic pairs 91,92,93 in branch III is orthogonal, respectively along the Z axis of rectangular coordinate system,
X-axis and Y direction, these three frees degree can determine position of the axis of workpiece in XYZ coordinate system, the prismatic pair in branch I
94 with branch II in prismatic pair 96 axis along rectangular coordinate system X-direction, the axis edge of prismatic pair 95 and prismatic pair 97
The Z-direction of rectangular coordinate system, 4 frees degree that branch I and branch II are provided cooperate, can make the axis of part around
The X-axis and Z axis of XYZ coordinate system are rotated, so that it is determined that attitude of the axis of workpiece in XYZ coordinate system, it is determined that be assembled part
Relative pose after, the prismatic pair 93 in branch III along Y-direction is moved, and makes to be positioned over 2 Hes of end effector rod member 85 of mechanism
The part that is assembled on rod member 87 is moved along axis, realizes the loading of part matching part.
A kind of robot for heavy parts alignment assembly manipulation respectively as shown in Figure 3 and Figure 4, its free degree and its axle
Line layout it is identical with schematic diagram of mechanism shown in Fig. 2, on the basis of the frame 20 of robot is fixed on, servomotor 21 pass through connecting rod 22,
23 drive lifting platform 2 to drive robot mechanism end effector 40 to be moved along Z axis, can adjust and be positioned on end effector 40
Workpiece 3 along Z axis position.
Framework 1 is arranged on the guide rail 13,19 of lifting platform 2, and guide rail 13,19 is fixed on lifting platform 2, and servomotor 16 drives
Dynamic leading screw 17 makes framework 1 drive robot mechanism end effector 40 to move along the x-axis, and can adjust position of the workpiece 3 along X-axis.
Servomotor 16 is fixed on lifting platform 2 by bearing 15.
Leading screw 10 is connected on framework 1, and servomotor 12 is arranged on framework 1 by motor cabinet 11, and slide unit 8 supports in-orbit
On road 9, it is connected with leading screw 10 by nut, servomotor 12 drives slide unit 8 to drive robot mechanism end to hold by leading screw 10
Row device 40 is moved along Y-axis, can adjust position of the workpiece 3 along Y-axis.
U-shaped support 4 is connected on slide unit 8, and servomotor 18 can move along the x-axis U-shaped support 4 by leading screw 6.It is U-shaped
Support 5 is connected on slide unit 8, and servomotor 14 can move along the x-axis U-shaped support 5 by leading screw 7.U-shaped support 4 and U-shaped branch
The amount of moving along the x-axis of frame 5 is different, it is possible to achieve workpiece 3 is deflected about the z axis.
As shown in figure 4, the end effector 40 on U-shaped support 4 is connected with leading screw 28, leading screw 28 by ways with it is outer
Shell 30 is connected, and servomotor 31 drives leading screw 28 to drive end effector 40 to be moved along Z axis by nut 29, the bottom of U-shaped support 4
Seat 32 is connected by nut with leading screw 6.The structure of U-shaped support 5 is identical with the structure of U-shaped support 4.
Rolling element 24,25,26,27 is installed, rolling element supports workpiece 3 in the end effector 40 on U-shaped support 4,5,
And allow workpiece 3 to be rotated relative to rolling element when U-shaped support 4,5 is moved along X-axis and Z axis.
Servomotor 31 in U-shaped support 4,5 drives leading screw 28 by nut 29, performs the end on U-shaped support 4,5
Device 40 is moved along Z-direction.U-shaped support 4 is different along Z axis amount of movement with U-shaped support 5, it is possible to achieve workpiece 3 is deflected around X-axis.
The structure of the end effector 40 on U-shaped support 4 and U-shaped support 5 and its adjustable along the distance of Y direction, with suitable
Answer different shape and various sizes of part.
The safety device for preventing part 60 from coming off can be housed in robot.
Claims (5)
1. it is a kind of for heavy parts be aligned assembly manipulation robot mechanism, all prismatic pairs of mechanism kinematic pairs, wherein bar
Part (83), prismatic pair (94), rod member (84), prismatic pair (95), rod member (85) composition branch I, rod member (83), prismatic pair (96),
Rod member (86), prismatic pair (97), rod member (87) composition branch II, rod member (83), prismatic pair (93), rod member (82), prismatic pair
(92), rod member (81), prismatic pair (91), rod member (80) composition branch III, rod member (80) is frame, rod member (85) and rod member
(87) it is end effector, it is characterised in that：The axis of three prismatic pairs (91), (92), (93) in branch III is each other just
Hand over, respectively along the Z axis of rectangular coordinate system, X-axis and Y direction, the prismatic pair (prismatic pair in 94 and branch II in branch I
(96) axis along rectangular coordinate system X-direction, the axis of prismatic pair (95) and prismatic pair (97) along rectangular coordinate system Z axis
Direction.
2. it is according to claim 1 it is a kind of for heavy parts be aligned assembly manipulation robot mechanism, it is characterised in that：
The distance between branch I and branch II can be adjusted according to specific part requirements.
3. it is a kind of for heavy parts be aligned assembly manipulation robot, all prismatic pairs of kinematic pair, the frame of robot
(20) on the basis of being fixed on, on the guide rail (13) of lifting platform (2), (19), guide rail (13), (19) are fixed on framework (1)
On lifting platform (2), leading screw (10) is connected on framework (1), and servomotor (12) is by motor cabinet (11) installed in framework (1)
On, slide unit (8) is supported on track (9), is connected with leading screw (10) by nut, and U-shaped support (4) is connected on slide unit (8), U
End effector (40) on type support (4) is connected with leading screw (28), and leading screw (28) is connected by ways with shell (30),
The base (32) of U-shaped support (4) is connected by nut with leading screw (6), and U-shaped support (5) is connected on slide unit (8), and its feature exists
In：Servomotor (21) drives lifting platform (2) to drive robot mechanism end effector (40) along Z by connecting rod (22), (23)
Axle is moved, and servomotor (16) driving leading screw (17) makes framework (1) drive robot mechanism end effector (40) to be moved along X-axis
Dynamic, servomotor (12) drives slide unit (8) to drive robot mechanism end effector (40) to be moved along Y-axis by leading screw (10),
Servomotor (18) can move along the x-axis U-shaped support (4) by leading screw (6), and servomotor (14) can be with by leading screw (7)
Move along the x-axis U-shaped support (5), servomotor (31) drives leading screw (28) to drive end effector (40) by nut (29)
Moved along Z axis, the servomotor (31) in U-shaped support (4), (5) drives leading screw (28) by nut (29), makes U-shaped support
(4), the end effector (40) on (5) is moved along Z-direction.
4. it is according to claim 3 it is a kind of for heavy parts be aligned assembly manipulation robot, it is characterised in that：It is U-shaped
The structure of the end effector (40) on support (4) and U-shaped support (5) and its adjustable along the distance of Y direction, to adapt to difference
Shape and various sizes of part.
5. a kind of robot that assembly manipulation is directed at for heavy parts according to claim 3 and claim 4, it is special
Levy and be：Rolling element (24), (25), (26), (27) are installed in end effector (40) on U-shaped support (4), (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710122434.2A CN106903495A (en) | 2017-03-03 | 2017-03-03 | A kind of robot mechanism that assembly manipulation is directed at for heavy parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710122434.2A CN106903495A (en) | 2017-03-03 | 2017-03-03 | A kind of robot mechanism that assembly manipulation is directed at for heavy parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106903495A true CN106903495A (en) | 2017-06-30 |
Family
ID=59186168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710122434.2A Pending CN106903495A (en) | 2017-03-03 | 2017-03-03 | A kind of robot mechanism that assembly manipulation is directed at for heavy parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106903495A (en) |
Cited By (3)
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|---|---|---|---|---|
| CN108908161A (en) * | 2018-07-20 | 2018-11-30 | 长久（滁州）专用汽车有限公司 | A kind of Test-bed of hydraulic brake system |
| CN109909732A (en) * | 2019-04-22 | 2019-06-21 | 清华大学 | Bolt pose detector and bolt pose detect device for screwing up |
| CN113618478A (en) * | 2021-08-10 | 2021-11-09 | 深圳市奇力模具有限公司 | Dedicated processingequipment of accurate mould |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908161A (en) * | 2018-07-20 | 2018-11-30 | 长久（滁州）专用汽车有限公司 | A kind of Test-bed of hydraulic brake system |
| CN109909732A (en) * | 2019-04-22 | 2019-06-21 | 清华大学 | Bolt pose detector and bolt pose detect device for screwing up |
| CN109909732B (en) * | 2019-04-22 | 2020-06-12 | 清华大学 | Bolt position appearance detector and bolt position appearance detect tightening device |
| CN113618478A (en) * | 2021-08-10 | 2021-11-09 | 深圳市奇力模具有限公司 | Dedicated processingequipment of accurate mould |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170630 |
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| RJ01 | Rejection of invention patent application after publication |