CN111660281B - Parallel robot assembling method and auxiliary tool thereof - Google Patents
Parallel robot assembling method and auxiliary tool thereof Download PDFInfo
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- CN111660281B CN111660281B CN202010497794.2A CN202010497794A CN111660281B CN 111660281 B CN111660281 B CN 111660281B CN 202010497794 A CN202010497794 A CN 202010497794A CN 111660281 B CN111660281 B CN 111660281B
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- 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
Abstract
The invention provides a parallel robot assembling method, which comprises the following steps: s1, mounting each driven branched chain on the movable platform and mounting each actuating element on the fixed platform; s2, supporting and placing the fixed platform on the basic platform by adopting a tip cone, and adjusting the height of the tip cone to enable the fixed platform to be parallel to the basic platform; s3, adjusting the motion amount of each actuator to make the height of the output shaft of each actuator consistent with a preset reference height; s4, mounting an angle transition piece on an output shaft of the execution element, mounting an angle tool on the angle transition piece, finely adjusting the angle tool to enable a datum plane at the upper end of the angle tool to be parallel to the base platform, fastening the angle transition piece, and detaching the angle tool; s5, assembling the driven branched chain and the angle transition piece; s6, mounting a coaxial tool to ensure that the movable platform is coaxial with the fixed platform; and S7, adjusting the motion amount of each executing element, enabling the movable platform to be parallel to the basic platform, and dismantling the coaxial tool. The parallel robot assembly system can be used for rapidly and accurately completing the assembly of the parallel robot.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a parallel robot assembling method and an auxiliary tool thereof.
Background
Compared with a serial robot, the parallel robot has the advantages of high precision, high rigidity, small additional inertia, small volume and simple structure, thereby being widely applied. The existing parallel robot can achieve micron-level linear precision and angular precision at the angular-second level, and the high precision needs to strictly control the design, assembly and calibration links. The assembly process plays a key role in starting and stopping in the three links, and the final precision of the parallel robot is directly influenced by the assembly precision. Because the number of links of the parallel robot is large and the structure is complex, and some structural components, such as the connecting part of the actuator and the hinge, sometimes have angles, great difficulty is brought to installation, adjustment and detection, and the assembly by adopting the traditional method one link by one link is time-consuming and the precision is difficult to guarantee. Therefore, a simple and efficient assembling method of the parallel robot with high precision is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an assembly method of a parallel robot and an auxiliary tool thereof so as to realize the efficient and high-precision assembly of the parallel robot.
The invention provides a parallel robot assembling method, which comprises the following steps:
s1, mounting each driven branched chain on the movable platform and mounting each actuating element on the fixed platform;
s2, supporting and placing the fixed platform on the basic platform by adopting tip cones uniformly distributed along the circumferential direction, and adjusting the height of each tip cone to enable the fixed platform to be parallel to the basic platform;
s3, adjusting the motion amount of each actuator to make the height of the output shaft of each actuator consistent with a preset reference height;
s4, mounting an angle transition piece on an output shaft of the execution element, mounting an angle tool on the angle transition piece, enabling a reference surface at the upper end of the angle transition piece to be parallel to the base platform through fine adjustment of the angle tool, fastening the angle transition piece, and detaching the angle tool;
s5, assembling the driven branched chain and the angle transition piece, and installing a coaxial tool between the movable platform and the fixed platform in a penetrating manner to ensure that the movable platform and the fixed platform are coaxial;
and S6, adjusting the motion amount of each executing element to enable the movable platform to be parallel to the basic platform, and dismantling the coaxial tool to complete the assembly of the parallel robot.
Preferably, a height reference block is installed on the fixed platform, and the height of the upper surface of the height reference block is measured by a height measuring instrument as a preset reference height.
Preferably, the height of each position of the upper end reference surface of the angle tool and the height of each position of the movable platform are measured by the height measuring instrument respectively so as to judge whether the upper end reference surface of the angle tool is parallel to the basic platform or not and judge whether the movable platform is parallel to the basic platform or not.
Preferably, the actuator is an actuator, and the amount of movement of each motor in each actuator is adjusted so that the height of the mating surface of the output shaft of each actuator is kept consistent with a preset reference height.
Preferably, after the movable platform is parallel to the base platform, the numerical value of the position feedback unit in each actuator is recorded as the zero position of the parallel robot in the initial state.
Preferably, the position feedback unit is an encoder or a grating scale.
Preferably, the driven branched chain comprises a lower end hinge, a support leg and an upper end hinge, wherein two ends of the support leg are respectively connected with the lower end hinge and the upper end hinge, the upper end hinge is assembled on the movable platform, and the lower end hinge is assembled on the angle transition piece.
The invention provides an auxiliary tool used in a parallel robot assembling method, which comprises the following steps: the device comprises a basic platform, a tip cone, a height measuring instrument, a height reference block, an angle tool and a coaxial tool; the basic platform is used for providing a reference surface for the assembly process of the parallel robot; the height reference block is arranged on the fixed platform and used for providing height reference for the height of each execution element; the tip cone is used for supporting and placing the fixed platform on the basic platform, and the fixed platform is parallel to the basic platform by adjusting the height of the tip cone; the angle tool is arranged on the angle transition piece and used for adjusting the angle of the angle transition piece by adjusting the parallelism of the angle tool relative to the base platform; the coaxial tool is arranged between the movable platform and the fixed platform in a penetrating way and is used for ensuring that the movable platform and the fixed platform are coaxial; the height measuring instrument is used for measuring the height of the height reference block, the height of each position of the upper end reference surface of the angle tool and the height of each position of the movable platform.
Preferably, the angle tool is provided with an upper end reference surface and a lower end matching surface matched with the angle transition piece, and an included angle between the lower end matching surface and the upper end reference surface is a dihedral angle.
Preferably, the coaxial tool comprises an upper end cylindrical surface and a lower end cylindrical surface, the upper end cylindrical surface is matched with the reference hole of the movable platform, and the lower end cylindrical surface is matched with the reference hole of the fixed platform.
The invention can obtain the following technical effects:
1. the use of the angle tool and the coaxial tool can greatly reduce the assembly flow and the assembly complexity, and improve the assembly precision and speed.
2. The assembling method can enable the final parallelism of the parallel robot to reach +/-0.01 mm.
3. The assembly method is simple in principle, low in cost, strong in operability and high in precision, and is particularly suitable for assembly of single-piece small-batch parallel robots.
Drawings
FIG. 1 is a schematic structural diagram of an auxiliary tool according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an actuator output shaft configured to be level with a height reference block according to one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an upper end reference plane of an angle tool parallel to a base platform according to an embodiment of the invention;
FIG. 4 is a schematic structural view of a coaxial tool according to one embodiment of the invention;
fig. 5 is a flow diagram of a parallel robot assembly method according to one embodiment of the invention.
Wherein the reference numerals include: the device comprises a basic platform 1, a tip cone 2, an actuator 3, a motor 3-1, an encoder 3-2, an output shaft matching surface 3-3, a fixed platform 4, an angle transition piece 5, a lower end hinge 6, a supporting leg 7, a dial indicator 8, a gauge stand 9, a movable platform 10, an upper end hinge 11, a height reference block 12, a coaxial tool 13, an upper end cylindrical surface 13-1, a lower end cylindrical surface 13-2, an angle tool 14, an upper end reference surface 14-1 and a lower end matching surface 14-2.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same reference numerals are used for the same blocks. In the case of the same reference numerals, their names and functions are also the same. Therefore, detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
The parallel robot assembly method and the auxiliary tool thereof provided by the invention can be suitable for different types of parallel robots, and the following description is given by taking a six-degree-of-freedom parallel robot with a 6-PSS (6 represents 6 branches, P represents a linear driving pair, and S represents a spherical hinge pair) structure as an example, wherein the displacement repetition precision index is +/-1 mu m, the angle repetition precision index is +/-1', the precision allocated to the assembly process according to the precision requirement is +/-0.01 mm, and other types of parallel robots can be obtained in the same way.
The parallel robot comprises a movable platform, a fixed platform, a driven branched chain and an actuating element, wherein the driven branched chain is installed on the movable platform, the actuating element is installed on the fixed platform, and the actuating element and the driven branched chain are assembled together and used for driving the driven branched chain to move so as to drive the movable platform to link.
The actuator is a linear drive element, such as an actuator, linear motor, or the like. In the present embodiment, a 6-way actuator is described as an example.
The driven branched chain comprises a lower end hinge, a supporting leg and an upper end hinge, wherein two ends of the supporting leg are respectively connected with the lower end hinge and the upper end hinge, the upper end hinge is assembled on the movable platform, and the lower end hinge is assembled with the executing element through an angle transition piece.
Before explaining the parallel robot assembling method provided by the invention, an auxiliary tool used in the parallel robot assembling method is explained.
As shown in fig. 1 to 4, the auxiliary tool includes: the device comprises a basic platform 1, a tip cone 2, a height measuring instrument, a height reference block 12, a coaxial tool 13 and an angle tool 14.
The base platform 1 provides a stable reference surface for the whole assembly process of the parallel robot, and is preferably a marble platform.
The tip cones 2 are circumferentially distributed and supported on the bottom surface of the fixed platform 4 so as to support the fixed platform 4 and place the fixed platform on the base platform 1, and the height of each tip cone 2 is adjusted so that the upper surface of the fixed platform 4 is parallel to the upper surface of the base platform 1.
A height reference block 12 is mounted on the stationary platform 4 for providing a height reference for the height of the 6-way actuator 3, the height reference block 12 being a standard gauge block whose height is selected in accordance with a nominal height value of the output shaft engagement surface 3-3 of the actuator 3.
The coaxial tool 13 is installed between the movable platform 10 and the fixed platform 4 in a penetrating manner, and is used for ensuring the coaxiality between the movable platform 10 and the fixed platform 4. The coaxial tool 13 is similar to a dumbbell structure and comprises an upper end cylindrical surface 13-1 and a lower end cylindrical surface 13-2, the upper end cylindrical surface 13-1 is matched with a reference hole of the movable platform 10, the lower end cylindrical surface 13-2 is matched with a reference hole of the fixed platform 4, and in order to facilitate assembly and disassembly, the diameter of the lower end cylindrical surface 13-2 is required to be smaller than that of the upper end cylindrical surface 13-1.
The angle tool 14 is installed on the angle transition piece 5 and used for adjusting the angle of the angle transition piece 5 by adjusting the parallelism of the angle tool 14 relative to the base platform 1, the angle tool 14 is provided with an upper end reference surface 14-1 and six lower end matching surfaces 14-2 corresponding to the angle transition piece 5, the six lower end matching surfaces 14-2 are cut out on a cylinder, the included angle between each lower end matching surface 14-2 and the upper end reference surface 14-1 is a dihedral angle in spatial distribution, and the angle tool 14 can ensure the precision of the six angles by integral processing.
The height measuring instrument is used for measuring the height of the height reference block 12, the height of each position of the upper end reference surface 14-1 of the angle tool 14 and the height of each position of the movable platform 10. The height measuring instrument comprises a dial indicator 8 and a dial seat 9, wherein the dial indicator 8 is fixed on the basic platform 1, the dial indicator 8 is fixed on the dial seat 9, and the dial indicator 8 is used for measuring the height of each part.
The above details describe the structure of the auxiliary tool, and the invention further provides a method for assembling the parallel robot by using the auxiliary tool, corresponding to the auxiliary tool.
As shown in fig. 5, and in conjunction with fig. 1-4, the parallel robot assembling method provided in the embodiment of the present invention includes the following steps:
and S1, mounting each driven branched chain on the movable platform and mounting each actuating element on the fixed platform.
Taking six actuators and six driven branched chains as examples, the six actuators 3 are respectively mounted on the fixed platform 4, and the six lower end hinges 6, the support legs 7 and the upper end hinges 8 are respectively mounted on the movable platform 10. The installation of the actuator 3 and the driven branched chain is not in sequence and can be synchronously carried out.
After the six-way lower end hinge 6, the support leg 7 and the upper end hinge 8 are respectively installed on the movable platform 10, the smooth movement without clamping stagnation after the assembly is ensured.
After the six paths of actuators 3 are respectively installed on the fixed platform 4, the prepressing is adjusted to eliminate the clearance in the transmission link of the actuators 3, the smooth movement of the actuators 3 is ensured without clamping stagnation, and the axial shaking is ensured not to exceed E1.
As before step S1, the method further includes the following steps:
and step S0, cleaning all parts and controlling the assembly environment.
The purpose of step S0 is to ensure that no foreign objects or dust enter the device during assembly.
S2, supporting and placing the fixed platform on the basic platform by adopting the tip cones uniformly distributed along the circumferential direction, and adjusting the height of each tip cone to enable the fixed platform to be parallel to the basic platform.
The bottom end of the tip cone 2 is fixed on the basic platform 1, the top end of the tip cone 2 supports the fixed platform 4, and the fixed platform 4 is parallel to the basic platform 1 by adjusting the height of each tip cone 2, so that the allowable tolerance is within +/-0.005 mm.
And S3, adjusting the motion amount of each actuator to make the height of the output shaft of each actuator consistent with a preset reference height.
A height reference block 12 is mounted on the fixed platform 4, and the height of the upper surface of the height reference block 12 is measured by a height measuring instrument as a preset reference height.
And measuring the height of the output shaft matching surface 3-3 of the six-way actuator 3 by using a dial indicator 8, comparing the height with a preset reference height, and if the allowable tolerance is more than +/-0.005 mm, adjusting the movement amount of the motor 3-1 in the six-way actuator 3 until the allowable tolerance of the height of the output shaft matching surface 3-3 of the six-way actuator 3 and the preset reference height is within +/-0.005 mm.
S4, mounting an angle transition piece on an output shaft of the execution element, mounting an angle tool on the angle transition piece, enabling the upper end reference surface of the angle transition piece to be parallel to the base platform through fine adjustment of the angle tool, fastening the angle transition piece, and detaching the angle tool.
The angle transition piece 5 is respectively installed on an output shaft of the six-way actuator 3, the angle transition piece 5 is not fastened at this time, an angle tool 14 is respectively installed on each angle transition piece 5, a lower end matching surface 14-2 of the angle tool 14 is in contact with an installation surface of the angle transition piece 5, the height of an upper end reference surface 14-1 of the angle tool 14 is measured by a dial indicator 8, the angle tool 14 is finely adjusted until an upper end reference surface 14-1 of the angle tool 14 is parallel to the base platform 1, the allowable tolerance is +/-0.01 mm, then the angle transition piece 5 is fastened, and the angle tool 14 is removed.
And S5, assembling the driven branched chain and the angle transition piece.
And mounting the lower end hinge 6 on the angle transition piece 5 to preliminarily complete the assembly of the parallel robot.
S6, a coaxial tool is installed between the movable platform and the fixed platform in a penetrating mode to ensure that the movable platform and the fixed platform are coaxial.
The coaxial tool 13 is installed through the central reference hole of the movable platform 10 and the central reference hole of the fixed platform 4, and the coaxiality of the movable platform 10 and the fixed platform 4 is guaranteed to reach 0.01 mm.
And S7, adjusting the motion amount of each executing element to enable the movable platform to be parallel to the basic platform, and dismantling the coaxial tool to complete the assembly of the parallel robot.
The dial indicator 8 is used for measuring the height of each position of the movable platform 10, the amount of motion of the motor 3-1 in the six-path actuator 3 is adjusted, the movable platform 10 is ensured to be parallel to the basic platform 1, and the allowable tolerance is +/-0.01 mm. And then, the coaxial tool 13 is removed, and the parallel robot is assembled and adjusted.
After step S7, the method further includes the following steps:
and S8, recording the numerical value of the position feedback unit in the six-path actuator 3 as the zero position of the parallel robot in the initial state.
The position feedback unit is an angular feedback unit or a linear feedback unit, such as an encoder 3-2 or a grating scale.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A parallel robot assembly method is characterized by comprising the following steps:
s1, mounting each driven branched chain on the movable platform and mounting each actuating element on the fixed platform;
s2, supporting and placing the fixed platform on a basic platform by adopting tip cones uniformly distributed along the circumferential direction, and adjusting the height of each tip cone to enable the fixed platform to be parallel to the basic platform;
s3, adjusting the motion amount of each actuator to make the height of the output shaft of each actuator consistent with a preset reference height;
s4, mounting an angle transition piece on an output shaft of the actuating element, mounting an angle tool on the angle transition piece, finely adjusting the angle tool to enable a datum plane of the upper end of the angle tool to be parallel to the base platform, fastening the angle transition piece, and removing the angle tool;
s5, assembling the driven branched chain and the angle transition piece, and installing a coaxial tool between the movable platform and the fixed platform in a penetrating manner to ensure that the movable platform and the fixed platform are coaxial;
s6, adjusting the motion amount of each executing element to enable the movable platform to be parallel to the basic platform, removing the coaxial tool and completing the assembly of the parallel robot;
and mounting a height reference block on the fixed platform, measuring the height of the upper surface of the height reference block by using a height measuring instrument, and taking the height as a preset reference height.
2. The parallel robot assembling method according to claim 1, wherein the height of each position of the upper end reference surface of the angle tool and the height of each position of the movable platform are measured by the height measuring instrument, respectively, to determine whether the upper end reference surface of the angle tool is parallel to the base platform and whether the movable platform is parallel to the base platform.
3. The parallel robot assembling method according to claim 1, wherein the actuator is an actuator, and the amount of movement of each motor in each actuator is adjusted so that the height of the output shaft engaging surface of each actuator is kept consistent with a preset reference height.
4. The parallel robot assembling method according to claim 3, wherein after the movable platform is parallel to the base platform, the value of the position feedback unit in each actuator is recorded as the zero position of the parallel robot in the initial state.
5. The parallel robot assembly method of claim 4, wherein the position feedback unit is an encoder or a grating scale.
6. The parallel robot assembling method according to claim 3, wherein the driven branched chain includes a lower end hinge, a leg and an upper end hinge, both ends of the leg are respectively connected to the lower end hinge and the upper end hinge, the upper end hinge is assembled to the movable platform, and the lower end hinge is assembled to the angle transition piece.
7. An auxiliary tool used in the parallel robot assembling method according to any one of claims 1 to 6, comprising: the device comprises a basic platform, a tip cone, a height measuring instrument, a height reference block, an angle tool and a coaxial tool; wherein the content of the first and second substances,
the basic platform is used for providing a reference surface for the assembly process of the parallel robot;
the height reference block is arranged on the fixed platform and used for providing height reference for the height of each execution element;
the fixed platform is used for supporting and placing the fixed platform on the foundation platform, and the fixed platform is parallel to the foundation platform by adjusting the height of the tip cone;
the angle tool is installed on the angle transition piece and used for adjusting the angle of the angle transition piece by adjusting the parallelism of the angle tool relative to the base platform;
the coaxial tool is arranged between the movable platform and the fixed platform in a penetrating way and is used for ensuring that the movable platform and the fixed platform are coaxial;
the height measuring instrument is used for measuring the height of the height reference block, the height of each position of the upper end reference surface of the angle tool and the height of each position of the movable platform.
8. The parallel robot assembling method according to claim 7, wherein the angle tool has an upper end reference surface and a lower end fitting surface fitted to the angle transition piece, and an included angle between the lower end fitting surface and the upper end reference surface is a dihedral angle.
9. The auxiliary tool used in the parallel robot assembling method according to claim 7, wherein the coaxial tool includes an upper end cylindrical surface and a lower end cylindrical surface, the upper end cylindrical surface is matched with the reference hole of the movable platform, and the lower end cylindrical surface is matched with the reference hole of the fixed platform.
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| CN113029560A (en) * | 2021-03-09 | 2021-06-25 | 安徽工程大学 | Adaptive high-precision RV reducer performance testing device and control method thereof |
| CN113199434B (en) * | 2021-05-11 | 2022-08-09 | 深圳若贝特智能机器人科技有限公司 | Assembly tool of parallel robot and assembly method thereof |
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