CN113386106A - Three-degree-of-freedom workbench for workpiece assembly - Google Patents
Three-degree-of-freedom workbench for workpiece assembly Download PDFInfo
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- CN113386106A CN113386106A CN202110579357.XA CN202110579357A CN113386106A CN 113386106 A CN113386106 A CN 113386106A CN 202110579357 A CN202110579357 A CN 202110579357A CN 113386106 A CN113386106 A CN 113386106A
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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
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
Abstract
The invention relates to the technical field of mechanical assembly, in particular to a three-degree-of-freedom workbench for workpiece assembly. The three-degree-of-freedom workbench for workpiece assembly comprises a fixed platform, a movable platform and three branched chains, wherein each branched chain comprises a first sub branched chain, a second sub branched chain and a middle connecting rod, the first sub branched chain comprises a first body and a first telescopic part, the second sub branched chain comprises a second body and a second telescopic part, and the middle connecting rod is provided with a first end part and a second end part which are opposite to each other in the extending direction of the middle connecting rod. The movable platform connecting part, the first sub-branched chain, the second sub-branched chain and the middle connecting rod form a first parallelogram, and the fixed platform connecting part, the first sub-branched chain, the second sub-branched chain and the middle connecting rod form a second parallelogram. The three-degree-of-freedom workbench has the advantages of high workpiece assembly efficiency, low machining and manufacturing cost and the like.
Description
Technical Field
The invention relates to the technical field of mechanical assembly, in particular to a three-degree-of-freedom workbench for workpiece assembly.
Background
When assembling complex precision equipment or parts, such as engine assembling, parts need to be placed on a workbench for operation, the workbench in the related art is fixed in position, workpieces placed on the workbench cannot move, fixed-point assembling can only be performed, and accordingly assembling efficiency of the workpieces is low. In addition, assembly line work is gradually adopted for assembly of workpieces in the related technology, and the fixed position of the workbench is also not beneficial to the assembly line work.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, an embodiment of the present invention provides a three-degree-of-freedom workbench for workpiece assembly.
The three-degree-of-freedom workbench for workpiece assembly according to the embodiment of the invention comprises:
in some embodiments, the fixed platform is provided with three fixed platform connecting parts which are arranged at intervals along the circumferential direction of the fixed platform;
the movable platform is provided with three movable platform connecting parts; and
the three branched chains, the three movable platform connecting parts and the three fixed platform connecting parts are in one-to-one correspondence, each of the three branched chains comprises a first sub branched chain, a second sub branched chain and a middle connecting rod, the first sub branched chain comprises a first body and a first telescopic part, the first telescopic part is movably arranged on the first body along the extending direction of the first body, the second sub branched chain comprises a second body and a second telescopic part, the second telescopic part is movably arranged on the second body along the extending direction of the second body, and the middle connecting rod is provided with a first end part and a second end part which are opposite to each other in the extending direction of the middle connecting rod;
the first expansion part is rotatably connected with the corresponding movable platform connecting part along a first axis and a second axis, the first body is rotatably connected with the corresponding fixed platform connecting part along a third axis and a fourth axis, the second expansion part is rotatably connected with the corresponding movable platform connecting part along the first axis and a fifth axis, the second body is rotatably connected with the corresponding fixed platform connecting part along a third axis and a sixth axis, the first end part is rotatably connected with the first body along a seventh axis, the second end part is rotatably connected with the second body along an eighth axis, wherein the second axis is perpendicular to the first axis, the third axis is parallel to the first axis, each of the fourth axis, the fifth axis, the sixth axis, the seventh axis and the eighth axis is parallel to the second axis, so that the movable platform connecting part, the first sub-branched chain, the second sub-branched chain and the middle connecting rod form a first parallelogram, and the fixed platform connecting part, the first sub-branched chain, the second sub-branched chain and the middle connecting rod form a second parallelogram.
The three-degree-of-freedom workbench for workpiece assembly has the advantages of high workpiece assembly efficiency, low machining and manufacturing cost and the like.
In some embodiments, the branched chain further comprises a first connecting rod rotatably connected with the corresponding movable platform connecting part along the first axis, the first telescopic part is rotatably connected with the first connecting rod along the second axis, and the second telescopic part is rotatably connected with the first connecting rod along the fifth axis.
In some embodiments, the branched chain further includes a first support fixedly connected to the corresponding movable platform connecting portion, and the first connecting rod is rotatably connected to the first support along the first axis.
In some embodiments, the branched chain further comprises a second connecting rod, the first connecting rod is rotatably connected with the corresponding fixed platform connecting part along the third axis, the first body is rotatably connected with the second connecting rod along the fourth axis, and the second body is rotatably connected with the second connecting rod along the sixth axis.
In some embodiments, the branched chain further includes a second support, the second support is fixedly connected to the corresponding fixed platform connecting portion, and the second connecting rod is rotatably connected to the second support along the third axis.
In some embodiments, three of the branched chains are uniformly arranged along the circumferential direction of the fixed platform.
In some embodiments, the movable platform is substantially triangular, and three movable platform connecting portions are respectively arranged at three included angles of the movable platform.
In some embodiments, the fixed platform is substantially triangular, and three fixed platform connecting portions are respectively arranged at three included angles of the fixed platform.
In some embodiments, the movable platform is provided with a lightening hole.
In some embodiments, the device further comprises a control unit for controlling the action of the three branched chains, and the control unit is arranged on the side surface of the movable platform.
Drawings
Fig. 1 is a schematic structural diagram of a three-degree-of-freedom workbench for workpiece assembly according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the structure of the branch in fig. 1.
Fig. 3 is a schematic structural view of the second support in fig. 1.
Fig. 4 is a schematic structural view of the movable platform in fig. 1.
Fig. 5 is a schematic structural diagram of a three-degree-of-freedom workbench for workpiece assembly used with a forklift according to an embodiment of the invention.
Fig. 6 is a control schematic diagram of a three-degree-of-freedom workbench for workpiece assembly according to one embodiment of the present invention.
Reference numerals: a three-degree-of-freedom table 100; a forklift 200; a fixed platform 1; a fixed platform connecting part 101; a movable platform 2; a movable platform connecting part 201; a lightening hole 202; a branched chain 3; a first sub-branch 301; a first body 3011; a first expansion section 3012; a first connector 3013; a second sub-branch 302; a second body 3021; a second expansion part 3022; a second connector 3023; an intermediate connecting rod 303; a first end portion 3031; a second end portion 3032; a first connecting rod 304; a second connecting rod 305; a first support 306; a second support 307; a seat body 3071; mounting holes 30711; a first end cap 3072; mounting holes 30721; a second end cap 3073; a control unit 4; a three-dimensional force sensor 401; the switch 402 is controlled.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1 to 5, a three-degree-of-freedom workbench 100 for workpiece assembly according to an embodiment of the present invention includes a fixed platform 1, a movable platform 2, and three branched chains 3.
Decide platform 1 and have three and decide platform connecting portion 101, three decide platform connecting portion 101 and set up along deciding platform 1's circumference interval ground, move platform 2 and have three and move platform connecting portion 201, three branch chain 3, three move platform connecting portion 201 and three decide platform connecting portion 101 one-to-one. Each of the three branched chains 3 includes a first sub-branched chain 301, a second sub-branched chain 302 and an intermediate connecting rod 303, the first sub-branched chain 3013 includes a first body 3011 and a first telescopic portion 3012, and the first telescopic portion 3012 is movably disposed on the first body 3011 along an extending direction of the first body 3011. The second sub-branch 3023 includes a second body 3021 and a second telescopic portion 3022, and the second telescopic portion 3022 is movably disposed on the second body 3021 along the extending direction of the second body 3021. The intermediate connecting rod 303 has a first end portion 3031 and a second end portion 3032 opposite in the extending direction thereof.
The first telescoping portion 3012 is rotatably connected to the corresponding moving platform connecting portion 201 along a first axis and a second axis. The first body 3011 is rotatably connected to the corresponding fixed platform connecting portion 101 along the third axis and the fourth axis. The second telescopic portion 3022 is rotatably connected to the corresponding movable platform connecting portion 201 along the first axis and the fifth axis. The second body 3021 is rotatably connected to the corresponding fixed platform connecting portion 101 along the third axis and the sixth axis. The first end portion 3031 is rotatably connected to the first body 3011 along a seventh axis, and the second end portion 3032 is rotatably connected to the second body 3021 along an eighth axis.
Wherein the second axis is perpendicular to the first axis, the third axis is parallel to the first axis, each of the fourth, fifth, sixth, seventh and eighth axes is parallel to the second axis, such that the movable platform connecting portion 201, the first sub-branch 3013, the second sub-branch 3023 and the intermediate connecting rod 303 form a first parallelogram, and the fixed platform connecting portion 101, the first sub-branch 3013, the second sub-branch 3023 and the intermediate connecting rod 303 form a second parallelogram.
Three branched chains 3 of the three-degree-of-freedom workbench 100 according to the embodiment of the invention are respectively connected with the fixed platform 1 and the movable platform 2 to form a closed-loop spatial parallel mechanism, and the translation of the movable platform 2 in the up-down direction, the left-right direction and the front-back direction can be realized by adjusting the three branched chains 3.
Thus, when assembling a workpiece using the three-degree-of-freedom table 100 according to the embodiment of the present invention, the workpiece to be assembled is placed on the movable platform 2 to perform the assembling work. In the process of assembling the workpiece on the movable platform 2, on one hand, the movable platform 2 can be moved to realize the translation of the workpiece to be assembled in the vertical, left-right and front-back directions, so that the assembly efficiency of the workpiece can be improved. On the other hand, as shown in fig. 5, the fixed platform 1 may be placed on a forklift or an AGV, so that the forklift or the AGV drives the three-degree-of-freedom workbench 100 to move, and further drives the workpiece to be assembled placed on the movable platform 2 to move by a larger distance, which is beneficial to realizing automation of the workpiece assembling process and further beneficial to improving the assembly efficiency of the workpiece. In addition, the three-degree-of-freedom workbench 100 according to the embodiment of the present invention does not have virtual constraint, and all components are connected by low pairs, so that the three-degree-of-freedom workbench 100 has a simple overall structure and low assembly precision requirement, and thus, the processing and manufacturing cost of the three-degree-of-freedom workbench 100 can be reduced.
Therefore, the three-degree-of-freedom workbench 100 according to the embodiment of the invention has the advantages of high workpiece assembly efficiency, low processing and manufacturing cost and the like.
The three-degree-of-freedom workbench 100 according to the embodiment of the invention is described in detail below by taking fig. 1 to 5 as an example.
The three-degree-of-freedom workbench 100 according to the embodiment of the invention comprises a fixed platform 1, a movable platform 2 and three branched chains 3.
Decide platform 1 and have three and decide platform connecting portion 101, three decide platform connecting portion 101 and set up along deciding platform 1's circumference interval ground, move platform 2 and have three and move platform connecting portion 201, three branch chain 3, three move platform connecting portion 201 and three decide platform connecting portion 101 one-to-one. Each of the three branched chains 3 includes a first sub-branched chain 301, a second sub-branched chain 302 and an intermediate connecting rod 303, the first sub-branched chain 3013 includes a first body 3011 and a first telescopic portion 3012, and the first telescopic portion 3012 is movably disposed on the first body 3011 along an extending direction of the first body 3011. The second sub-branch 3023 includes a second body 3021 and a second telescopic portion 3022, and the second telescopic portion 3022 is movably disposed on the second body 3021 along the extending direction of the second body 3021.
For example, the three branched chains 3 are a first branched chain, a second branched chain and a third branched chain, the three moving platform connecting portions 201 are a first moving platform connecting portion, a second moving platform connecting portion and a third moving platform connecting portion, and the three fixed platform connecting portions 101 are a first fixed platform connecting portion, a second fixed platform connecting portion and a third fixed platform connecting portion. The first branched chain, the first movable platform connecting part and the first fixed platform connecting part correspond to each other, the second branched chain, the second movable platform connecting part and the second fixed platform connecting part correspond to each other, and the third branched chain, the third movable platform connecting part and the third fixed platform connecting part correspond to each other.
In some embodiments, first sub-branch 301 comprises an electric cylinder, the cylinder body of which forms first body 3011, and the push rod of which forms first telescoping portion 3012. The second sub-branch comprises an electric cylinder, the cylinder body of which forms the second body 3021 and the push rod of which forms the second telescopic part 3022. The two electric cylinders of the first sub-branched chain 301 and the second sub-branched chain 302 can respectively select an interpolation track mode and a pushing mode, so that the movable platform 2 can have precise position control and large bearing capacity.
Of course, in other embodiments, the electric cylinder may be replaced by a hydraulic cylinder, a pneumatic cylinder, or the like.
Preferably, the stationary platform 1 may be mounted on the floor of a workshop, or may be mounted on a forklift 200 or an AGV cart. When the fixed platform 1 is installed on the forklift 200 or the AGV trolley, workpieces to be assembled can be carried remotely, and the forklift 200 or the AGV trolley is used for assisting in assembling the workpieces.
The first telescoping portion 3012 is rotatably connected to the corresponding moving platform connecting portion 201 along a first axis and a second axis. The first body 3011 is rotatably connected to the corresponding fixed platform connecting portion 101 along the third axis and the fourth axis. The second telescopic portion 3022 is rotatably connected to the corresponding movable platform connecting portion 201 along the first axis and the fifth axis. The second body 3021 is rotatably connected to the corresponding fixed platform connecting portion 101 along the third axis and the sixth axis.
The intermediate connecting rod 303 has a first end portion 3031 and a second end portion 3032 opposite in the extending direction thereof. The first end portion 3031 is rotatably connected to the first body 3011 along a seventh axis, and the second end portion 3032 is rotatably connected to the second body 3021 along an eighth axis.
For example, as shown in fig. 2, the first sub-branch 301 further includes a first connection component 3013, the first connection component 3013 extends along an extending direction of the first body 3011, the first connection component 3013 has a first end and a second end opposite to each other in the extending direction, the first end of the first connection component 3013 is fixedly connected to the first body 3011, and the first end portion 3031 is rotatably connected to the second end of the first connection component 3013 along a seventh axis, so that the first end portion 3031 is rotatably connected to the first body 3011 along the seventh axis.
The second sub-branch 302 further includes a second connector 3023, the second connector 3023 extends along the extending direction of the second body 3021, the second connector 3023 has a first end and a second end opposite to each other in the extending direction, the first end of the second connector 3023 is fixedly connected to the second body 3021, and the second end portion 3032 is rotatably connected to the second end of the second connector 3023 along an eighth axis, so that the second end portion 3032 is rotatably connected to the second body 3021 along the eighth axis.
Wherein the second axis is perpendicular to the first axis, the third axis is parallel to the first axis, each of the fourth, fifth, sixth, seventh and eighth axes is parallel to the second axis, such that the movable platform connecting portion 201, the first sub-branch 3013, the second sub-branch 3023 and the intermediate connecting rod 303 form a first parallelogram, and the fixed platform connecting portion 101, the first sub-branch 3013, the second sub-branch 3023 and the intermediate connecting rod 303 form a second parallelogram.
For example, the second axis is perpendicular to the extending direction of the first body 3011.
Preferably, the three branches 3 are uniformly arranged along the circumference of the fixed platform 1. Therefore, the movement of the movable platform 2 is conveniently controlled by controlling the movement of the three branched chains 3.
Preferably, the fixed platform 1 is substantially triangular, and three fixed platform connecting portions 101 are respectively arranged at three included angles of the fixed platform 1. Therefore, the material is saved, and the processing and manufacturing cost of the three-degree-of-freedom workbench 100 is further reduced.
Preferably, the movable platform 2 is substantially triangular, and three movable platform connecting portions 201 are respectively arranged at three included angles of the movable platform 2. Therefore, the material is saved, and the processing and manufacturing cost of the three-degree-of-freedom workbench 100 is further reduced.
Preferably, the movable platform 2 is provided with a lightening hole 202.
In some embodiments, each of the three branches 3 further includes a first link rod 304, the first link rod 304 is rotatably connected to the corresponding movable platform connecting portion 201 along a first axis, the first expansion portion 3012 is rotatably connected to the first link rod 304 along a second axis, and the second expansion portion 3022 is rotatably connected to the first link rod 304 along a fifth axis.
Therefore, when the first connecting rod 304 rotates along the first axis relative to the movable platform connecting portion 201, each of the first and second extensible parts 3012 and 3022 can be driven to rotate along the first axis relative to the movable platform connecting portion 201. Therefore, it is only necessary to connect the first connecting rod 304 with the corresponding movable platform connecting portion 201 through a first revolute pair, connect the first expansion portion 3012 with the first connecting rod 304 through a second revolute pair, and connect the second expansion portion 3022 with the first connecting rod 304 through a third revolute pair. The rotation axis of the first revolute pair is a first axis, the rotation axis of the second revolute pair is a second axis, and the rotation axis of the third revolute pair is a fifth axis, so that the first telescopic part 3012 and the second telescopic part 3022 can be rotatably connected with the corresponding movable platform connecting part 201 along the first axis and the second axis, and the second telescopic part 3022 can be rotatably connected with the corresponding movable platform connecting part 201 along the first axis and the fifth axis. That is, the first expansion part 3012 and the second expansion part 3022 share the first revolute pair. And then can reduce the quantity of revolute pair between movable platform 2 and the branched chain 3, help to further simplify the overall structure of the three degrees of freedom work level 100, reduce the assembly accuracy requirement, thus can further reduce the manufacturing cost of the three degrees of freedom work level 100.
Of course, in other embodiments, the first expansion part 3012 and the second expansion part 3022 may be connected to the moving platform connecting part 201 through two different revolute pairs, and the revolute axes of the two different revolute pairs are both the first axis.
In some embodiments, each of the three branches 3 further includes a second connecting rod 305, the first connecting rod 305 is rotatably connected with the corresponding fixed platform connecting portion 101 along a third axis, the first body 3011 is rotatably connected with the second connecting rod 305 along a fourth axis, and the second body 3021 is rotatably connected with the second connecting rod 305 along a sixth axis.
Therefore, when the second connecting rod 305 rotates along the third axis relative to the fixed platform connecting portion 101, each of the first body 3011 and the second body 3021 may be driven to rotate along the third axis relative to the fixed platform connecting portion 101. Therefore, the second connecting rod 305 is connected with the corresponding fixed platform connecting part 101 through a first revolute pair, the first body 3011 is connected with the second connecting rod 305 through a second revolute pair, and the second body 3021 is connected with the second connecting rod 305 through a third revolute pair. The rotation axis of the first revolute pair is a third axis, the rotation axis of the second revolute pair is a fourth axis, and the rotation axis of the third revolute pair is a sixth axis, so that the first body 3011 and the second body 3021 can be rotatably connected with the corresponding fixed platform connecting part 101 along the third axis and the fourth axis, and the second body 3021 can be rotatably connected with the corresponding fixed platform connecting part 101 along the third axis and the sixth axis. That is, the first body 3011 and the second body 3021 share the first revolute pair. And then can reduce the quantity of revolute pair between fixed platform 1 and the branched chain 3, help to further simplify the overall structure of the three degrees of freedom work level 100, reduce the assembly accuracy requirement, thus can further reduce the manufacturing cost of the three degrees of freedom work level 100.
Of course, in other embodiments, the first body 3011 and the second body 3021 may also be connected to the fixed platform connecting portion 101 through two different revolute pairs, and the revolute axes of the two different revolute pairs are both the third axis.
Preferably, each of the three branches 3 further includes a first support 306, the first support 306 is fixedly connected to the corresponding movable platform connecting portion 201, and the first connecting rod 304 is rotatably connected to the first support 306 along the first axis.
Therefore, when the first connecting rod 304 rotates along the first axis relative to the first support 306, each of the first and second expansion parts 3012 and 3022 can be driven to rotate along the first axis relative to the moving platform connecting part 201. Therefore, when the three-degree-of-freedom workbench 100 is assembled, the first sub-branched chain 301 and the second sub-branched chain 302 may be assembled on the first support 306 in a rotating manner, and then the first support 306 is fixedly connected to the corresponding movable platform connecting portion 201. And further, the branched chain 3 and the movable platform 2 can be conveniently assembled, and the processing and manufacturing cost of the three-degree-of-freedom workbench 100 can be further reduced.
Preferably, the branched chain 3 further comprises a second seat 307, the second seat 307 is fixedly connected with the corresponding movable platform connecting portion 201, and the second connecting rod 305 is rotatably connected with the second seat 307 along a third axis.
Thus, when the second connecting rod 305 rotates along the third axis relative to the second support 307, each of the first body 3011 and the second body 3021 can be driven to rotate along the third axis relative to the platform connecting portion 201. Therefore, when the three-degree-of-freedom workbench 100 is assembled, the first sub-branched chain 301 and the second sub-branched chain 302 can be assembled on the second support 307 in a rotating manner, and then the second support 307 is fixedly connected to the corresponding fixed platform connecting part 101. And further, the branched chain 3 and the fixed platform 1 can be conveniently assembled, and the processing and manufacturing cost of the three-degree-of-freedom workbench 100 can be further reduced.
Preferably, the second support 307 includes a base 3071, two first end caps 3072 and two second end caps 3073, the base 3071 is substantially U-shaped, the base 3071 includes two side walls and a bottom wall, the two side walls are respectively provided with a mounting hole 30711, the two first end caps 3072 are respectively provided with a mounting hole 30721, the two first end caps 3072 are respectively connected with the two side walls of the base 3071 through bolts, the two second end caps 3073 are respectively connected with the two side walls of the base 3071 through bolts, and the mounting holes 30721 correspond to the mounting holes 30711.
The bottom wall of the seat body 3071 is connected with the fixed platform connecting part 101, and two ends of the second connecting rod 305 are respectively rotatably installed in the corresponding installation holes 30721 and 30711.
Preferably, the first pedestal 306 and the second pedestal 307 are both symmetrical structures. Therefore, the first support 306 and the second support 307 are convenient to process, and the processing and manufacturing cost of the three-degree-of-freedom workbench 100 is further reduced.
Preferably, the first pedestal 306 and the second pedestal 307 are identical in structure. Therefore, the processing and manufacturing cost of the three-degree-of-freedom workbench 100 can be further reduced.
The three-degree-of-freedom workbench 100 further comprises a control unit 4 for controlling the three branched chains 3 to act, and the control unit 4 is arranged on the side surface of the movable platform 2.
The control unit 4 is arranged on the side face of the movable platform 2, on one hand, the control unit 4 is close to the hand of an assembling worker, the assembling worker can conveniently brake the movement of the movable platform 2 when assembling the workpiece, and the assembly efficiency of the workpiece is further improved. On the other hand, the control unit 4 is prevented from influencing the assembly operation of the assembly worker above the movable platform 2, and the assembly efficiency of the workpiece is further improved.
Therefore, the control unit 4 is arranged on the side surface of the movable platform 2, so that the assembly efficiency of the workpiece can be improved.
For example, as shown in fig. 6, the control unit 4 includes a three-dimensional force sensor 401 and a control switch 402. The control switch comprises a movable switch and a zero-return switch, the movable switch is provided with an opening position and a closing position, when the movable switch is at the opening position, an operator can drag the movable platform 2 to move from the initial position to the set assembly position, and when the movable switch is at the closing position, the movable platform 2 is kept at the current position; the operator controls the brake platform 2 to return to the original position from the current position by controlling the zero-returning switch. Wherein, the initial position is the position of the movable platform 2 before the movable platform 2 is moved; the position of the device is set to be the position where the movable platform 2 is convenient for an operator to assemble the workpiece; the original position is the position of the movable platform 2 when the movable platform 2 shown in fig. 1 is positioned right above the fixed platform 1; the current position is a position where the movable platform 2 is located at a certain time, and the position may be an initial position, a set-up position, or an origin position.
Specifically, when the three-degree-of-freedom workbench 100 is used for workpiece assembly and the movable platform 2 needs to be moved from the initial position to the set assembly position, firstly, an operator controls the movable switch to enable the movable switch to be in the open position; then, an operator applies force towards a set direction to the movable platform 2, the set direction is a direction from an initial position to the set assembly position, the three-dimensional force sensor acquires a force sensor signal which is applied to the movable platform 2 by the operator and faces the set direction, and the force sensor signal acquired by the three-dimensional force sensor is filtered through a filter; then, the force sensor signal is transmitted to the position control module, the position control signal is obtained through kinematic analysis performed by the position control module, the position control signal is sent to the first sub-branched chain 3013 and the second sub-branched chain 3023 of the three branched chains 3 (the first branched chain, the second branched chain, and the third branched chain), and the first sub-branched chain 3013 and the second sub-branched chain 3023 of the three branched chains act according to the position control signal to drive the movable platform 2 to move to the set assembling position.
In the process that the movable platform 2 moves from the initial position to the set assembling position, the three-dimensional force sensor collects a force sensor signal applied to the movable platform 2 by an operator in real time, so that the movable platform 2 is controlled to move through the position control module according to the current state of the movable platform 2, and finally the movable platform 2 moves to the set assembling position. After the movable platform 2 moves to the set assembling position, an operator controls the movable switch to enable the movable switch to be in the closing position, the movable platform 2 is kept at the current position (the set assembling position), and the operator can assemble the workpiece on the movable platform 2.
After the three-degree-of-freedom workbench 100 finishes assembling the workpiece, an operator can control the movable platform 2 to return to the original position from the current position by controlling the zero-returning switch, and the movable platform 2 returns to the original position from the current position by using the position control module.
The control unit also comprises a state monitoring module, and the state of each sub-branched chain of the three branched chains 3 can be detected in real time by using the state monitoring module and fed back to the position control module and the control unit. The state monitoring module is used for monitoring the state of each sub-branched chain of the three branched chains 3 in real time, so that the current position of the movable platform 2 can be conveniently obtained, and the position control module is used for controlling the movable platform 2 to return to the original position from the current position. In addition, the state monitoring module is used for monitoring the state of each sub-branched chain of the three branched chains 3 in real time, and whether each sub-branched chain of the three branched chains 3 works normally can be monitored.
The three-degree-of-freedom workbench 3 has the advantages of compact and symmetrical structure, high bearing capacity, various application occasions and the like, and has wide application prospect in the assembly of heavy precision equipment.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. 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.
Claims (10)
1. A three degree-of-freedom table for workpiece assembly, comprising:
the fixed platform is provided with three fixed platform connecting parts which are arranged at intervals along the circumferential direction of the fixed platform;
the movable platform is provided with three movable platform connecting parts; and
the three branched chains, the three movable platform connecting parts and the three fixed platform connecting parts are in one-to-one correspondence, each of the three branched chains comprises a first sub branched chain, a second sub branched chain and a middle connecting rod, the first sub branched chain comprises a first body and a first telescopic part, the first telescopic part is movably arranged on the first body along the extending direction of the first body, the second sub branched chain comprises a second body and a second telescopic part, the second telescopic part is movably arranged on the second body along the extending direction of the second body, and the middle connecting rod is provided with a first end part and a second end part which are opposite to each other in the extending direction of the middle connecting rod;
the first expansion part is rotatably connected with the corresponding movable platform connecting part along a first axis and a second axis, the first body is rotatably connected with the corresponding fixed platform connecting part along a third axis and a fourth axis, the second expansion part is rotatably connected with the corresponding movable platform connecting part along the first axis and a fifth axis, the second body is rotatably connected with the corresponding fixed platform connecting part along a third axis and a sixth axis, the first end part is rotatably connected with the first body along a seventh axis, the second end part is rotatably connected with the second body along an eighth axis, wherein the second axis is perpendicular to the first axis, the third axis is parallel to the first axis, each of the fourth axis, the fifth axis, the sixth axis, the seventh axis and the eighth axis is parallel to the second axis, so that the movable platform connecting part, the first sub-branched chain, the second sub-branched chain and the middle connecting rod form a first parallelogram, and the fixed platform connecting part, the first sub-branched chain, the second sub-branched chain and the middle connecting rod form a second parallelogram.
2. The three degree of freedom table for workpiece assembly of claim 1, wherein each of the three branches further comprises a first link rotatably connected to the corresponding movable platform connection along the first axis, the first extension portion rotatably connected to the first link along the second axis, and the second extension portion rotatably connected to the first link along the fifth axis.
3. The three-degree-of-freedom workbench for workpiece assembly according to claim 2, wherein each of the three branches further comprises a first support fixedly connected to the corresponding movable platform connecting portion, and the first connecting rod is rotatably connected to the first support along the first axis.
4. The three degree-of-freedom workbench for workpiece assembly according to claim 1, wherein each of the three branches further comprises a second connecting rod, the first connecting rod being rotatably connected with the corresponding fixed platform connecting portion along the third axis, the first body being rotatably connected with the second connecting rod along the fourth axis, and the second body being rotatably connected with the second connecting rod along the sixth axis.
5. The three-degree-of-freedom workbench for workpiece assembly according to claim 4, wherein each of the three branch chains further comprises a second support fixedly connected with the corresponding fixed platform connecting portion, and the second connecting rod is rotatably connected with the second support along the third axis.
6. A three-degree-of-freedom workbench for workpiece assembly according to any of claims 1-5, wherein three of said branches are uniformly arranged along the circumference of said fixed platform.
7. A three-degree-of-freedom workbench for workpiece assembly according to any one of claims 1-5, wherein the movable platform is substantially triangular, and three movable platform connecting parts are respectively arranged at three included angles of the movable platform.
8. A three-degree-of-freedom workbench for workpiece assembly according to any of claims 1-5, wherein the fixed platform is substantially triangular, and three fixed platform connecting parts are respectively arranged at three included angles of the fixed platform.
9. A three-degree-of-freedom workbench for workpiece assembly according to any one of claims 1-5, wherein weight-reducing holes are provided on the movable platform.
10. The three-degree-of-freedom workbench for workpiece assembly according to any one of claims 1-5, further comprising a control unit for controlling the motion of the three branched chains, wherein the control unit is disposed on the side surface of the movable platform.
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| CN202110579357.XA CN113386106A (en) | 2021-05-26 | 2021-05-26 | Three-degree-of-freedom workbench for workpiece assembly |
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| CN202110579357.XA CN113386106A (en) | 2021-05-26 | 2021-05-26 | Three-degree-of-freedom workbench for workpiece assembly |
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Application publication date: 20210914 |