CN114619215A - PR-2PP double-platform equipment for intelligent assembly - Google Patents
PR-2PP double-platform equipment for intelligent assembly Download PDFInfo
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- 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
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Abstract
The application discloses two platform equipment of PR-2PP for intelligence assembly includes: an upper platform, comprising: the ball spline shaft is meshed with a screw nut and a spline nut which are arranged on the ball spline shaft, the screw nut is connected to a first driving mechanism through a first belt, the spline nut is connected to a second driving mechanism through a second belt, and the tail end of the ball spline shaft is also provided with a tail end connecting piece; a lower platform, comprising: the device comprises a plurality of branched chains arranged in parallel, wherein each branched chain is a P-P serial mechanism; the P-P series mechanism comprises: the device comprises an active moving pair and a passive moving pair arranged on the active moving pair; the passive sliding pair is also provided with a bearing platform; wherein the upper platform is mounted on the lower platform. The upper platform and the lower platform have multiple degrees of freedom, the space assembly task which can be completed by the multiple degrees of freedom can be executed with high precision and high efficiency, and a large number of simple assembly tasks need to be repeatedly executed with high precision in the actual production process.
Description
Technical Field
The application belongs to the technical field of automation and robots, and particularly relates to PR-2PP double-platform equipment for intelligent assembly.
Background
Automated assembly is an important technology in manufacturing industry, and current processing equipment mostly depends on traditional machine tools, while the assembly industry mostly depends on manual work. In order to improve the assembly efficiency in the industrial production process, reduce the assembly error and simultaneously improve the automation level of the manufacturing industry, automatic intelligent assembly equipment with high precision and high speed needs to be designed. The existing assembly equipment mostly has no intelligence, is difficult to work by matching with intelligent sensors such as vision, force sense and the like, and has poor stability. In addition, most of the existing motion working platforms do not have the characteristics of high precision and rapidity, and the task requirement of precision assembly is difficult to complete.
Disclosure of Invention
In view of the above shortcomings or drawbacks of the prior art, the present application provides a PR-2PP dual-platform device for smart assembly.
In order to solve the technical problem, the application is realized by the following technical scheme:
the application provides a PR-2PP double-platform equipment for intelligent assembly, the double-platform equipment includes:
an upper platform, comprising: the ball spline shaft is meshed with a screw nut and a spline nut which are arranged on the ball spline shaft, the screw nut is connected to a first driving mechanism through a first belt, the spline nut is connected to a second driving mechanism through a second belt, and the tail end of the ball spline shaft is also provided with a tail end connecting piece;
a lower platform, comprising: the device comprises a plurality of branched chains arranged in parallel, wherein each branched chain is a P-P serial mechanism; the P-P series mechanism comprises: the device comprises an active moving pair and a passive moving pair arranged on the active moving pair; a bearing platform is also arranged on the passive moving pair;
wherein the upper platform is mounted on the lower platform.
Optionally, the PR-2PP dual-platform device for intelligent assembly described above, wherein the first driving mechanism comprises: the first belt is meshed with the outer side of the screw nut and the driving end of the screw nut driving motor, and the ball spline shaft is driven to move up and down along the axis direction under the driving action of the screw nut driving motor; and/or the ball spline shaft is meshed with the screw nut through first balls.
Optionally, the PR-2PP dual-platform device for intelligent assembly described above, wherein the second driving mechanism comprises: the second belt is meshed with the outer side of the spline nut and the driving end of the spline nut driving motor, and the mounting shaft is driven to make spiral motion along the axis direction of the mounting shaft under the driving action of the spline nut driving motor; and/or the ball spline shaft and the spline nut are engaged through a second ball.
Optionally, in the above PR-2PP dual-platform device for intelligent assembly, an electronic limit switch is further disposed on the ball spline shaft; and/or the end connecting piece is also provided with a six-dimensional force and moment sensor for detecting contact force and contact moment.
Optionally, the above PR-2PP dual-platform device for intelligent assembly further includes: and the fixed connecting piece is used for installing a screw nut or a spline nut on the first rack.
Optionally, the PR-2PP double-platform device for intelligent assembly described above, wherein the active moving pair has a lateral degree of freedom and a longitudinal degree of freedom, wherein the lateral degree of freedom is realized by a first lateral rail and a first slider nut mounted on the first lateral rail, and the first slider nut mounted on the first ball screw is driven by a first driving mechanism;
and/or the longitudinal degree of freedom is realized by a first longitudinal guide rail and a second slide nut arranged on the first longitudinal guide rail, and the second slide nut arranged on a second ball screw is driven by a second driving mechanism.
Optionally, the above PR-2PP dual-platform device for intelligent assembly, wherein the lower platform further includes: the longitudinal passive moving pair is connected with the first sliding nut, and the transverse passive moving pair is connected with the second sliding nut.
Optionally, the PR-2PP dual-platform device for intelligent assembling is further provided with the bearing platform on the longitudinal passive moving pair and the transverse passive moving pair.
Optionally, the above PR-2PP dual-platform device for intelligent assembly, wherein the upper platform includes: a PR mechanism having one degree of freedom of movement in the vertical direction and one degree of freedom of rotation in the vertical direction, i.e., two degrees of freedom; the lower platform includes: a 2PP mechanism having two degrees of freedom in two directions, namely two degrees of freedom; the dual stage device has four degrees of freedom.
Optionally, the PR-2PP dual-platform device for intelligent assembly is configured such that the upper platform is connected to a box body through a first rack, and the box body is mounted on the lower platform;
and/or the lower platform is arranged on the electric appliance cabinet through a second rack;
and/or a first drive controller, a first cooling fan and a first sensor mainboard are arranged in the box body;
and/or a second driving controller, a second cooling fan and a second sensor mainboard are arranged in the electric appliance cabinet;
and/or the electric appliance cabinet adopts a packaging box body form, and the side surface of the electric appliance cabinet is also provided with an external interface, an emergency stop switch, a state display lamp, a power supply and a control switch.
Compared with the prior art, the method has the following technical effects:
the upper platform and the lower platform have multiple degrees of freedom, space assembly tasks which can be completed by the multiple degrees of freedom can be executed with high precision and high efficiency, a large number of simple assembly tasks need to be repeatedly executed with high precision in the actual production process, for example, common procedures of memory bank clamping, bolt tightening and the like in the 3C industry, and the assembly tasks of a mouse receiver, a battery and the like can be executed through the application; the method and the device have the advantages of high degree of freedom, high precision, high speed, flexible movement, capability of repeatedly executing assembly actions and the like.
In the present application, the upper stage has one degree of freedom and two degrees of freedom for translation and the lower stage has two degrees of freedom for lateral and longitudinal translation, so that the apparatus as a whole has four degrees of freedom, and can perform assembly tasks with high precision and high efficiency. The four-degree-of-freedom motion platform has the characteristics of high precision, high speed and flexible motion, and can repeatedly execute assembly actions. In addition, the four-degree-of-freedom motion platform can be used in combination with vision and force sensors, and automatic positioning and force control assembly are achieved.
In the application, the assembly object and the workpiece can be placed on the bearing platform, and the assembly female part is fixed by using a certain tool. By the lateral and longitudinal movement of the lower platform, the assembly position and the pick-up position can be positioned with high accuracy. The clamping of the assembled part is realized by utilizing the electric clamping jaw of the end effector, and the process can be matched with the up-down movement and the rotation of the mounting shaft in the upper platform. And moving the bearing platform of the lower platform again to enable the assembly position of the assembly female member to be located under the workpiece, and adjusting the upper position and the lower position and the rotation direction of the mounting shaft again to enable the assembled workpiece to be smoothly loaded into the assembly female member.
In order to improve the precision and the efficiency in the assembling process and improve the fault tolerance of the assembling process, a six-dimensional force and torque sensor is arranged at the end effector, so that the detected force is fed back in real time in the assembling process and the assembling process is controlled. Meanwhile, when different workpieces are assembled, the corresponding clamping force can be adjusted according to the clamping force sensor arranged on the clamping jaw, so that the assembled parts can not be damaged by overlarge force while the workpieces cannot fall off in the assembling process.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1: the PR-2PP double-platform equipment for intelligent assembly is a three-dimensional view;
FIG. 2: a schematic structural diagram of an upper platform in an embodiment of the present application;
FIG. 3: in an embodiment of the present application, a first structural diagram of a lower platform is shown;
FIG. 4: a second structural diagram of the lower platform in the embodiment of the present application;
FIG. 5: the motion diagram of the PR mechanism in an embodiment of the present application;
FIG. 6: the motion of the 2PP mechanism in one embodiment of the present application is schematically shown.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
As shown in fig. 1 to 4, in one embodiment of the present application, a PR-2PP dual platform device for smart assembly includes:
an upper platform 1, comprising: the ball spline shaft 11 is meshed with a screw nut 13 and a spline nut 15 which are arranged on the ball spline shaft 11, the screw nut 11 is connected to a first driving mechanism through a first belt 18, the spline nut 15 is connected to a second driving mechanism through a second belt, and the tail end of the ball spline shaft 11 is also provided with a tail end connecting piece;
a lower platform 2, comprising: the device comprises a plurality of branched chains arranged in parallel, wherein each branched chain is a P-P serial mechanism; the P-P series mechanism comprises: the device comprises an active moving pair and a passive moving pair arranged on the active moving pair; the passive sliding pair is also provided with a bearing platform 24;
wherein the upper platform 1 is mounted on the lower platform 2.
Wherein, the above mentioned P represents a moving pair, and R represents a rotating pair. The upper stage 1 includes: an equivalent PR mechanism which has one degree of freedom of up and down movement in the vertical direction and one degree of freedom of rotation in the vertical direction, namely two degrees of freedom; the lower stage 2 includes: the 2PP mechanism has two moving degrees of freedom in the transverse direction and the longitudinal direction, namely two degrees of freedom; the dual stage device has four degrees of freedom. The upper platform and the lower platform realize cooperative motion, and related assembly operation within four degrees of freedom can be completed.
Alternatively, the ball spline shaft 11 can perform the fitting operation with respect to the above two degrees of freedom, with the above rotational degree of freedom and the above translational degree of freedom.
In this embodiment, the ball spline shaft 11 is further provided with an electronic limit switch 16. The electronic limit switch 16 is used to ensure that the linear movement of the ball spline shaft 11 is within its range of movement.
The end connector is also mounted with a six-dimensional force and torque sensor 110 for detecting contact force and contact torque. In this embodiment, the device further comprises an end effector, i.e. an assembling device, which is composed of the six-dimensional force and torque sensor 110, the electric jaw 111 and the clamping force sensor 112. The six-dimensional force and moment sensor 110 is used for detecting the contact force and moment of the tail end during assembling operation, the electric clamping jaw 111 is used for completing the clamping and placing tasks of the assembling object, and the clamping force sensor 112 is used for judging and controlling the clamping force during assembling.
As shown in fig. 2, in the present embodiment, the first drive mechanism includes: and the screw nut driving motor 17 is provided with a first belt 18 which is meshed with the outer side of the screw nut 13 and the driving end of the screw nut driving motor 17, and the ball spline shaft 11 is driven to move up and down along the axis direction under the driving action of the screw nut driving motor 17.
Further, in the present embodiment, the ball spline shaft 11 and the screw nut 13 are engaged by first balls. That is, the first balls provided inside the screw nut 13 are engaged with the ball grooves in the ball spline shaft 11.
The two degrees of freedom of motion of the upper platform 1 are controlled and driven by a spline nut driving motor 14 and a lead screw nut driving motor 17 respectively to realize the up-and-down movement of the ball spline shaft 11, the spiral movement around the vertical axis and the decoupling movement of the two. The end effector is mounted at the tail end of the ball spline shaft 11.
The second drive mechanism includes: and the second belt is meshed with the outer side of the spline nut 15 and the driving end of the spline nut driving motor 14, and the second belt drives the ball spline shaft 11 to make spiral motion along the axis direction under the driving action of the spline nut driving motor 14.
The ball spline shaft 11 and the spline nut 15 are engaged by a second ball. That is, the second balls provided inside the spline nut 15 are engaged with the ball grooves in the ball spline shaft 11. .
In the present embodiment, the rotational degree of freedom refers to the decoupling of the helical motion and the degree of freedom of movement by the spline nut 15, the second belt, and the spline nut driving motor 14. The spline nuts 15 are driven by a spline nut driving motor 14 to move the ball spline shaft 11 not only rotationally but also vertically. The rotation of the entire PR mechanism is thus controlled by the spline nut 15 and the lead screw nut 13. For example, when the spline nut 13 drives the ball spline shaft 11 to rotate once, and at the same time, the spline shaft 11 moves up or down by a lead distance, at this time, another lead screw nut driving motor 17 needs to be controlled to drive the lead screw nut 13, so that the lead screw nut 13 drives the ball spline shaft 11 to move down or up by a corresponding lead distance, and the movement of the spline nut driving the ball spline shaft 11 while rotating can be cancelled, which is a decoupling concept.
The equivalent PR mechanism of the upper platform 1 is actually an equivalent decoupling of the helical motion and rotation of the ball spline shaft, i.e., the mechanism can achieve helical motion around the axis of the ball spline shaft and movement along the axis of the ball spline shaft. The decoupling control of the ball spline shaft 11 is realized by controlling the rotation speed of the two screw nut drive motors 17 and the spline nut drive motor 14, that is, the ball spline shaft and the end effector thereof can independently realize up-down movement and independently realize rotation around the axis.
This embodiment still includes: and a fixed connector 19, through which the screw nut 13 or the spline nut 15 is mounted on the first frame 12 through the fixed connector 19. Namely, under the driving action of the spline nut driving motor 14 and the lead screw nut driving motor 17, the up-and-down movement, the rotation movement around the vertical axis and the decoupling movement of the ball spline shaft 11 are realized. The fixing connector 19 for mounting the lead screw nut 13 or the spline nut 15 may be a single structural member or two structural members.
In the present embodiment, as shown in fig. 1, the upper platform 1 is connected to the box 3 through the first frame 12, and the box 3 is mounted on the lower platform 2. Further, optionally, a first driving controller, a first heat dissipation fan and a first sensor main board are installed in the box body 3.
As shown in fig. 3 and 4, for the lower platform 2, the active kinematic pair has a transverse degree of freedom and a longitudinal degree of freedom, wherein the transverse degree of freedom is realized by a first transverse guide rail 22 and a first slider nut 23 mounted on the first transverse guide rail 22, and the first slider nut 23 mounted on the first ball screw 21 is driven by a first driving mechanism; the longitudinal degree of freedom is achieved by a first longitudinal rail 212 and a second slipper nut 211 mounted on the first longitudinal rail 212, the second slipper nut 211 mounted on the second ball screw 210 being driven by the second drive 28 mechanism. Wherein the first drive mechanism comprises: the first lower platform driving motor 26, a first gear and a first toothed belt 25 which are matched with the first lower platform driving motor 26 are arranged, and the first slider nut 23 arranged on the first ball screw 21 is driven by the corresponding first lower platform driving motor 26 and the corresponding first toothed belt 25; the second drive 28 mechanism comprises: the second lower platform driving motor 28, and the second gear belt 29 which are matched with the second lower platform driving motor 28 are provided, and the second slider nut 211 mounted on the second ball screw 210 is driven by the corresponding second lower platform driving motor 28 and the second gear belt 29.
The lower platform 2 further comprises: a longitudinal passive moving pair 214 connected with the first sliding nut 23 and a transverse passive moving pair 213 connected with the second sliding nut 211.
Further, the carrying platform 24 is mounted on the longitudinal passive moving pair 214 and the transverse passive moving pair 213, and the above arrangement realizes the freedom of transverse and longitudinal movement relative to the second frame 27.
The lower platform 2 with the two degrees of freedom in parallel connection adopts two serial branched chains, the main design aim is to ensure that two vertical orthogonal moving directions do not interfere with each other in the moving process, the first moving pair on each branched chain is an active pair, and the second moving pair is a passive pair.
Further, in this embodiment, the lower platform 2 is installed on the electrical cabinet 4 through the second frame 27, and the second driving controller, the second cooling fan and the second sensor main board are installed in the electrical cabinet 4.
Further optionally, the electric appliance cabinet 4 is in the form of a packaging box 3, and a peripheral interface, an emergency stop switch, a status display lamp, a power supply and a control switch are further arranged on a side surface of the electric appliance cabinet.
When the assembly task is executed, the assembly workpieces and the assembled female parts can be measured and positioned according to the determined fixed positions, and visual positioning equipment can also be used. The four-degree-of-freedom double-motion platform supports carrying of an industrial vision camera for positioning and workpiece detection, and enables the assembly process to be more intelligent.
The control process of the present embodiment will be described in detail below.
As shown in fig. 5, for the kinematics of the upper stage 1-PR mechanism:
the end pose of the upper platform 1 has two variables: z and gamma. Wherein z is the vertical displacement of the ball screw shaft, and γ is the rotation angle around the vertical direction.
The spline nut driving motor 14 according to the spline nut 15 can lower and rotate the ball spline shaft, and the rotation amount θ of the spline nut driving motor 141Comprises the following steps:
where s is the reduction ratio.
At this time, the vertical displacement z by the spline nut drive motor 141Comprises the following steps:
where η is the lead of the ball spline shaft.
The amount of rotation theta of the lead screw nut drive motor 17 required for the vertical displacement z of the upper platform 1 at this time2Comprises the following steps:
wherein, for 2PP kinematics:
as shown in FIG. 6, a base coordinate system o-xyz and a moving coordinate system o '-x' y 'z', an x-axis and a moving pair q of the 2PP platform are established1Direction of motion e1Parallel, y-axis and sliding pair q2Direction e1Parallel.
In the initial state, the pose of o' under the base coordinate system o-xyz is [ l1,l2,h,0,0,0]And h is the vertical distance from the 2PP moving platform to the plane xoy and is a fixed value. Because the mechanism only has the freedom degrees in the x and y directions and the motion space is parallel to the plane xoy, the pose of the recording platform is as follows: x2pp＝[x2pp y2pp]T. Let the input of the shift pair be q ═ q1 q2]TBecause the two sliding pairs are perpendicular to each other, the action on the movable platform is linearly irrelevant, and because of the parallel relation between each sliding pair and the base coordinate axis, the positive solution of the coordinate system of the movable platform can be obtained:
the inverse kinematics of the mechanism is:
wherein, for PR-2PP mechanism relative kinematics:
the base coordinate system o-xyz of the lower platform 1-2PP mechanism is coincided with the origin of the coordinate system of the upper platform 1-PR mechanism, so that the basic parameter l of the 2PP mechanism1,l2And h is defined as a position parameter of the upper platform 1-PR mechanism and the origin of the coordinate system, and the kinematics of the combined mechanism can be obtained after the parameter is measured or obtained according to the known installation position.
At this time, if the relative pose of the upper platform 1-PR mechanism with respect to the lower platform 2-2PP mechanism is [ x, y, z, γ ], the four motors of the corresponding upper platform 1 and lower platform 2 are controlled to move:
namely when the upper platform 1 and the lower platform 2 have a certain relative pose [ x, y, z, gamma ]]Then, the amount of movement of the second lower stage driving motor 28 by controlling the lower stage 2-2PP is q obtained by the solution1(the amount of movement is inversely calculated as the amount of rotation by the lead screw lead), the amount of movement of the first lower stage drive motor 26 for controlling the lower stages 2 to 2PP is q obtained by the solution2(the amount of movement is inversely calculated as the amount of rotation by the lead screw lead), the amount of movement of the spline nut drive motor 14 of the upper stage 1-PR mechanism is controlled to be q which is obtained by solving the amount of movement3Controlling the motion amount of a feed screw nut driving motor 17 of the upper platform 1-PR mechanism to be solved q4The combined control of the upper platform 1 and the lower platform 2 can be realized, so that the upper platform and the lower platform have definite mathematical and physical pose relations.
The specific working process of this embodiment is as follows:
firstly, the assembly parent part and the part to be assembled are fixed on the bearing platform 24 of the lower platform 2, and the first lower platform driving motor 26 and the second lower platform driving motor 28 are controlled to drive the bearing platform 24 to move transversely and longitudinally, so that the position of the part to be assembled is right opposite to the electric clamping jaw 111 of the end effector of the upper platform 1.
Secondly, controlling the spline nut driving motor 14 and the lead screw nut driving motor 17 to adjust the vertical height and the clamping jaw direction of the end effector, taking out the piece to be assembled by using the electric clamping jaw 111, and adjusting the clamping force in the process according to the clamping force sensor 112.
Then, the first lower platform driving motor 26 and the second lower platform driving motor 28 are controlled to drive the bearing platform 24 to move transversely and longitudinally, so that the part to be assembled clamped by the electric clamping jaws 111 is right opposite to the assembling position on the assembling female part, and the spline nut driving motor 14 and the lead screw nut driving motor 17 are controlled to adjust the vertical height of the end effector and the clamping jaw direction, so that the part to be assembled is assembled into the assembling female part.
Finally, during this assembly process, the force and moment generated upon contact can be measured using the six-dimensional force and force sensor 110, thereby providing feedback control over the movement process. Meanwhile, the magnitude of the force and moment detected by the six-dimensional force and force sensor 110 can be used to judge whether the assembly process is completed.
Note that the end effector may be modified and replaced accordingly for different assembly tasks. The default end effector of the device is an electric clamping jaw, and in other assembly tasks, the end effector can be replaced and changed according to actual requirements. An alternative, for example in bolt assembly operations, is to use a sleeve corresponding to the bolt type with a strong magnetic inside.
When the assembly task is executed, the positioning of the assembly part to be assembled and the assembly female part can be measured and positioned according to the determined fixed position, and visual positioning equipment can also be used. The four-freedom-degree double-motion platform supports carrying of an industrial vision camera for positioning and workpiece detection, and enables the assembly process to be more intelligent.
In the description of the present application, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The above embodiments are merely to illustrate the technical solutions of the present application and are not limitative, and the present application is described in detail with reference to preferred embodiments. It will be understood by those skilled in the art that various modifications and equivalent arrangements may be made in the present invention without departing from the spirit and scope of the present invention and shall be covered by the appended claims.
Claims (10)
1. A PR-2PP dual platform device for smart assembly, the dual platform device comprising:
an upper platform, comprising: the ball spline shaft is meshed with a screw nut and a spline nut which are arranged on the ball spline shaft, the screw nut is connected to a first driving mechanism through a first belt, the spline nut is connected to a second driving mechanism through a second belt, and the tail end of the ball spline shaft is also provided with a tail end connecting piece;
a lower platform, comprising: the device comprises a plurality of branched chains arranged in parallel, wherein each branched chain is a P-P serial mechanism; the P-P series mechanism comprises: the device comprises an active moving pair and a passive moving pair arranged on the active moving pair; the passive sliding pair is also provided with a bearing platform;
wherein the upper platform is mounted on the lower platform.
2. The PR-2PP dual platform device for intelligent assembly according to claim 1, wherein the first driving mechanism comprises: the first belt is meshed with the outer side of the screw nut and the driving end of the screw nut driving motor, and the ball spline shaft is driven to move up and down along the axis direction under the driving action of the screw nut driving motor; and/or the ball spline shaft is meshed with the screw nut through first balls.
3. The PR-2PP dual platform device for intelligent assembly according to claim 1, wherein the second driving mechanism comprises: the second belt is meshed with the outer side of the spline nut and the driving end of the spline nut driving motor, and the mounting shaft is driven to make spiral motion along the axis direction of the mounting shaft under the driving action of the spline nut driving motor; and/or the ball spline shaft and the spline nut are engaged through a second ball.
4. The PR-2PP double platform device for intelligent assembly according to any one of claims 1 to 3, wherein an electronic limit switch is further arranged on the ball spline shaft; and/or the end connecting piece is also provided with a six-dimensional force and moment sensor for detecting contact force and contact moment.
5. The PR-2PP dual platform device for intelligent assembly according to claim 1, 2 or 3, further comprising: and the fixed connecting piece is used for installing a screw nut or a spline nut on the first rack.
6. The PR-2PP double platform device for intelligent assembly according to claim 1, wherein the active moving pair has a transverse degree of freedom and a longitudinal degree of freedom, wherein the transverse degree of freedom is realized by a first transverse guide rail and a first slider nut mounted on the first transverse guide rail, the first slider nut mounted on a first ball screw is driven by a first driving mechanism;
and/or the longitudinal degree of freedom is realized by a first longitudinal guide rail and a second slide nut arranged on the first longitudinal guide rail, and the second slide nut arranged on a second ball screw is driven by a second driving mechanism.
7. The PR-2PP dual platform device for intelligent assembly of claim 6, wherein said lower platform further comprises: the longitudinal passive moving pair is connected with the first sliding nut, and the transverse passive moving pair is connected with the second sliding nut.
8. The PR-2PP double platform device for intelligent assembly according to claim 6, wherein the bearing platform is further mounted on the longitudinal passive moving pair and the transverse passive moving pair.
9. The PR-2PP dual platform device for intelligent assembly according to claim 1, wherein the upper platform comprises: a PR mechanism having one degree of freedom of movement in the vertical direction and one degree of freedom of rotation in the vertical direction, i.e., two degrees of freedom; the lower platform includes: a 2PP mechanism having two degrees of freedom in two directions, namely two degrees of freedom; the dual stage device has four degrees of freedom.
10. The PR-2PP dual platform device for intelligent assembly according to claim 1,
the upper platform is connected with the box body through a first rack, and the box body is arranged on the lower platform;
and/or the lower platform is arranged on the electric appliance cabinet through a second rack;
and/or a first drive controller, a first cooling fan and a first sensor mainboard are arranged in the box body;
and/or a second driving controller, a second cooling fan and a second sensor mainboard are arranged in the electric appliance cabinet;
and/or the electric appliance cabinet adopts a packaging box body form, and the side surface of the electric appliance cabinet is also provided with an external interface, an emergency stop switch, a state display lamp, a power supply and a control switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Application publication date: 20220614 |