CN207013954U - Pipeline machine people's precision assembly device of adaptive straightening compensation optimizing - Google Patents
Pipeline machine people's precision assembly device of adaptive straightening compensation optimizing Download PDFInfo
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- CN207013954U CN207013954U CN201720802933.1U CN201720802933U CN207013954U CN 207013954 U CN207013954 U CN 207013954U CN 201720802933 U CN201720802933 U CN 201720802933U CN 207013954 U CN207013954 U CN 207013954U
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- straightening
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- clutch plate
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Abstract
Pipeline machine people's precision assembly device of adaptive straightening compensation optimizing, link transmission cantilever (3) front end coupling torque sensor (5), link transmission cantilever (3) includes one group of linkage, the front end of main drive rod (2) is connected between the linkage, fixing assembling straightening compensation device (6) on front side of torque sensor (5), assemble straightening compensation device (6) and connect clutch plate (8) by least three equally distributed adaptive flexible connecting rods (7), clutch plate (8) front end installation tool frame (9), fixed working motor (10) in the middle part of clutch plate (8), the work drive motor (10) is connected with tool rack (9).The flexible multidimensional pose adjustment bindiny mechanism combined using torque sensor 5 and assembling straightening compensation device 6, effectively realizes the profiling to flexible waist mechanism, and by cooperating, flexible adaptive functions carry out pose adjustment, integrated level is high, it is best in quality, stable performance, reliability height.
Description
Technical field
It the utility model is related to the flowing water of the adaptive straightening compensation optimizing based on moment sensing measurement and amount of tolerance feedback
Line robot precision assembly device, pipeline machine people's precision assembly device of especially adaptive straightening compensation optimizing.
Background technology
At present, pursue to ensure the economy of production and continue to increase production scale, on line operation it is dull and
It is difficult to further raise labour efficiency, labor-intensive pile line operation sufficiently effective can not utilize the activity duration, to big
Scale high-speed production adaptability is poor.Working time slightly length will produce personal sensation dry as dust, so as to cause work to be imitated
The low effect of rate.Meanwhile people is important resource in the big production of socialization, the labour cost of worker is increasingly at present
Increase the entreprise cost of vocational training to worker simultaneously also more and more higher, these can be substituted with robot and simple is repeated
Pile line operation is undoubtedly a successful way.As large-scale production process carries out automatic updating, whole production procedure
Intellectualized Tendency development is very fast, and pile line operation is made every effort to reach production stable and reliable product quality, takes into account adaptation to hand labor
The situation and target that intensity and labour skill lower the requirement.But on the other hand, possessed fault-tolerant ability during manual assembly
And the adaptability to the timely fast and low-cost adjustment under the conditions of larger of change of workpiece or tolerance, all it is existing automation equipment
The target of long-sought, streamline upgrading need to face this kind of technical barrier first.
It should be exactly on a large scale Cost Problems into what is produced to restrict robot automation at present.Cost of labor and robot
The game of price, although as robot application is increasingly extensive, and be able to can be made moderate progress after batch production, machine at this stage
When device people's precision assembly device does not arrive great outburst yet, one of its reason includes, and existing robot streamline is using substantial amounts of
Sophisticated sensor electronic device, cost is higher, mounting technique and complicated.Both be unfavorable for being greatly lowered manufacture and use into
This, is also not easy to safeguard.
Utility model content
The purpose of this utility model is to provide pipeline machine people's precision assembly device of adaptive straightening compensation optimizing, with
Solves above technical problem.
The purpose of this utility model will be realized by following technical measures：Including main drive rod, link transmission cantilever, power
Square sensor, assembling straightening compensation device, adaptive flexible connecting rod, clutch plate, tool rack and work drive motor；Link transmission hangs
Arm front end coupling torque sensor, link transmission cantilever include one group of linkage, main driving are connected between the linkage
The front end of bar, torque sensor front side fixing assembling straightening compensation device, assembling straightening compensation device are uniform by least three
The adaptive flexible connecting rod connection clutch plate of distribution, clutch plate front end installation tool frame, clutch plate middle part fixed working motor,
The work drive motor is connected with tool rack.
Especially, link transmission cantilever rear end is arranged on connecting seat, while main driving rod rear end is arranged on connecting seat.
Especially, link transmission cantilever forms quadric chain with main drive rod.
Especially, it is be hinged in the middle part of the rear side of link transmission cantilever front end and torque sensor, in link transmission cantilever leading portion
Three-dimensional telescopic attitude regulating mechanism is connected on outer wall between torque sensor posterior edges, the three-dimensional telescopic attitude regulating mechanism
Including at least evenly around three shrinking connecting-rods being distributed in outside link transmission cantilever leading portion.
Especially, adaptive flexible connecting rod is prismatic cylinder.
Especially, straightening compensation device and clutch plate is assembled to be parallel to each other and spaced.
Especially, at least three adaptive flexible connecting rods are in assembling straightening compensation device and clutch plate axiality
Mandrel line is uniformly distributed.
Especially, equally distributed each adaptive flexible connecting rod centroclinal dip be connected to assembling straightening compensation device and from
Between Moving plate outer rim, i.e., each adaptive flexible connecting rod is obliquely installed.
The advantages of the utility model and effect：The flexibility combined using torque sensor 5 and assembling straightening compensation device 6 is more
Pose adjustment bindiny mechanism is tieed up, effectively realizes the profiling to flexible waist mechanism, flexible adaptive functions are carried out by cooperating
Pose adjustment, integrated level is high, is easy to maintenance upgrade, best in quality, stable performance, and reliability is high.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment 1.
Reference includes：
Connecting seat 1, main drive rod 2, link transmission cantilever 3, three-dimensional telescopic attitude regulating mechanism 4, torque sensor 5, dress
The straight compensation device 6 of auxiliary tone, adaptive flexible connecting rod 7, clutch plate 8, tool rack 9, work drive motor 10, workpiece 11.
Embodiment
Found by research experiment, when there is no self-adapting flexible attachment structure in drive connection system, linear displacement
Rigging error refers to the rigging error of horizontal direction.The flexible central design of flexible waist is occurred in rod member end namely assembling
Face, then the rigging error of linear displacement eliminate when will not cause new rigging error, angle rigging error is in elimination
When will not also cause other new rigging errors.
The utility model embodiment, the flexible multidimensional posture combined using torque sensor 5 and assembling straightening compensation device 6
Adjustment bindiny mechanism, effectively profiling of the realization to flexible waist mechanism, operation principle are as follows：
Because accessory to be installed has rigging error, instrument or part to be installed on tool rack 9 can not essences
Really fall into the upper-side hole of workpiece 11, it will fall in chamfering of the hole along side.As robot continues to assemble, at this moment torque
Sensor 5 and assembling straightening compensation device 6 will utilize the adaptive flexible connecting rod 7 of itself uniform Discrete Symmetry distribution to produce
Elastic deformation, passively it is slipped on hole, so as to compensate for the rigging error of accessory to be installed and hole.Further, when slotting
Enter Kong Zhonghou, if any the rigging error on angle direction, the adaptive flexible connecting rod 7 in adaptive flexible connecting rod 7 can again
The secondary angle that rod member to be assembled is adjusted by elastic deformation, so as to the error on offset angle direction, complete assembling.When tolerance compared with
When big, three-dimensional telescopic attitude regulating mechanism 4 can also adjust torque sensor 5 by adjusting three length of telescopic bar with wide-angle
The direction of working face and angle.After assembling is completed to act on without external force, adaptive flexible connecting rod 7 can set back rapidly.
The utility model includes：Main drive rod 2, link transmission cantilever 3, torque sensor 5, assembling straightening compensation device 6,
Adaptive flexible connecting rod 7, clutch plate 8, tool rack 9 and work drive motor 10.
The utility model is described in further detail with reference to the accompanying drawings and examples.
Embodiment 1：As shown in Figure 1, the front end coupling torque sensor 5 of link transmission cantilever 3, link transmission cantilever 3 wraps
One group of linkage is included, the front end of main drive rod 2 is connected between the linkage, the front side fixing assembling of torque sensor 5 is adjusted
Straight compensation device 6, assembling straightening compensation device 6 are connected driven by least three equally distributed adaptive flexible connecting rods 7
Disk 8, the front end installation tool frame 9 of clutch plate 8, the middle part fixed working motor 10 of clutch plate 8, the work drive motor 10 connect with tool rack 9
Connect.
In foregoing, the rear end of link transmission cantilever 3 is arranged on connecting seat 1, while the rear end of main drive rod 2 is arranged on connecting seat
On 1.
In foregoing, link transmission cantilever 3 forms quadric chain with main drive rod 2.
In foregoing, the front end of link transmission cantilever 3 is be hinged in the middle part of the rear side of torque sensor 5, before link transmission cantilever 3
With connecting three-dimensional telescopic attitude regulating mechanism 4 between the posterior edges of torque sensor 5, the three-dimensional telescopic posture is adjusted on section outer wall
Regulating device 4 is included at least evenly around three shrinking connecting-rods being distributed in outside the leading portion of link transmission cantilever 3.
In the present embodiment, torque sensor 5 is a kind of ATI multi-dimensional forces and torque sensor, is strained using low noise silicon
Piece can dynamically measure as sensing element and gather, show in real time, x in record cartesian coordinate system, y, z-axis is positive and negative simultaneously
The power and moment values in totally six directions.The product measuring force scope of offer is 8N-400000N, and torgue measurement scope is 0.05Nm-
6000Nm.This type sensor can automatic sensing robotic asssembly when the power and torque that run into, according to power and torque
The posture of adjust automatically machine people is fed back, avoids defective work piece.ATI multi-dimensional forces and torque sensor measuring system should according to difference
With demand, there is provided three kinds of measuring systems, be respectively:DAQ systems, NET systems and Controller systems.The difference of three systems
It is：DAQ systems form：Sensor body, sensor cable, power supply case, data collecting card.Data collecting card is inserted in user
On computer, there is provided PCI, PCI-E, PCMCIA, USB, CPCI interface, coordinate ATI softwares, on user computer or robot controls
Upper collection in real time, display, preserve measurement result.
NET systems form：Sensor body, sensor cable, network box (built-in number adopts card).By netting twine or
DeviceNET connection computers.
Controll systems form：Sensor body, sensor cable, (nano, mini series also have powers control box
Box).Control box can provide digital output (RS232), two kinds of analog output (voltage signals or original after resolving
Voltage signal), discrete I/O.
In the present embodiment, straightening compensation device 6 is assembled to inevitable tolerance, and straightening compensation device is assembled by ATI
It is adaptive, adjust automatically compensation scale error, improve assembly yield.Assemble straightening compensation device 6 and be applied to hole pin assembling
When, to build-up tolerance adaptivity, realize that sophisticated product assembles by compliant mechanism and build-up tolerance amount feedback signal.
In the present embodiment, for convenience of manufacture processing, control processing cost, at the same provide it is each to uniform Flexible Ability, from
Adaptation flexible connecting rod 7 is prismatic cylinder, and assembling straightening compensation device 6 and clutch plate 8 are parallel to each other and spaced, from
The both ends for adapting to flexible connecting rod 7 are linked and packed straightening compensation device 6 and clutch plate 8 respectively, and at least three adaptive elasticity are even
Extension bar 7 is uniformly distributed around the central axis of assembling straightening compensation device 6 and the axiality of clutch plate 8.
The rear portion of torque sensor 5 is used for by main drive rod 2, link transmission cantilever 3 and three-dimensional telescopic attitude regulating mechanism 4
It is fixed on connecting seat 1 on the mechanical arm of industrial robot, there is provided active drive ability.It is driven before precision assembly is carried out
Disk 8 is used for the end effector for fixing industrial robot, drives mobile or rotation.When carrying out precision assembly, due to be assembled
It can be in contact between parts, cause the motion of accessory to be installed, drive the motion of end effector, and then drive clutch plate 8
Move the adaptive deformation of flexible connecting rod 7 of linkage.When adaptive flexible connecting rod 7 is more than three, it can compensate for assembling and adjust
The directly site error between compensation device 6 and the outer rim of clutch plate 8 on 6 free degree directions.Connect when using two adaptive elasticity
Extension bar 7, then this bindiny mechanism be changed into plane mechanism, the site error on some freedom direction can be compensated only for.
In the present embodiment, equally distributed each adaptive centroclinal dip of flexible connecting rod 7 is connected to assembling straightening compensation dress
Put between 6 and the outer rim of clutch plate 8, i.e., each adaptive flexible connecting rod 7 is obliquely installed, and flexible central is replaced the spare parts positioned to be installed
Between assembling contact point at so that rigging error on each direction is during elimination all without introducing on other directions
New rigging error.The inclination angle of the adaptive flexible connecting rod 7 will be used as design variable, the effect of controlling organization Flexible Ability
Amplification and fast quick-recovery.
The utility model at work, after manually intermediate is put in order, is placed in fixture on the conveyor line, fixture is set
Count into and put anti-mimetic design, avoid artificial carelessness from misplacing intermediate.After robot pickup intermediate, the OCR for moving to side is swept
Retouch to be scanned and record beside instrument and upload data to control system, the automatic sequence number for examining intermediate whether with current system
Whether setting is consistent.It is consistent then carry out next station, it is inconsistent, intermediate is placed on NG pipelines, simultaneity factor is stopped
Only run, artificial treatment of alarming.
Assembly parts production embodiment includes:
Started by middleware come stockline, be manually fitted together middleware and customization cable cutting ferrule, and cable is wound on and determined
Fabrication is put, and to prevent interference of the cable to process below, is then placed middleware on positioning fixture on the conveyor line.
Manually framework KK is fixed on positioning fixture, starts AGV dollies and framework KK is transported to specified location automatically, and
And secondary positioning is carried out to framework KK rigging position by secondary detent mechanism and rigidly fixed, ensure positioning accurate during assembling
Degree.
Robot picks up intermediate and scanned in specified location by OCR scanners, and the gathered data of scanning are remembered automatically
Record is preserved, and the rigging position of this intermediate is conveyed into laser measurement machine people.
Straight line module mechanism using pick device draw pad, be then automatically moved at extra quality detector to pad whether
Detected to be extra quality, if straight line module mechanism is automatically moved to be decoupled at extra quality partition if extra quality, lower section
Pick device is split to the pad of bottom, and the unnecessary pad split is automatically put into recycling box, then straight line mould
Group mechanism goes at extra quality detection to detect whether to be extra quality again, and when being detected as thin material, straight line module mechanism kinematic arrives
The position of assembling, now middleware be in vertical inactive state in robot, straight line module mechanism moves from top to bottom, by pad
It is attached on intermediate, and is stuck in custom card and puts.
The intermediate assembled is put on secondary bit transitions platform by robot, and is automatically performed position positioning and is drawn
Tightly, the crawl of robot is waited.Now robot using cross laser measuring instrument according to pre-assembled intermediate entrucking positional information,
Prepackage distribution detected apart from detection, hole location detecting and guide finger position and data are subjected to record storage and conversion, with
Just robot uses when assembling middleware.
Robot accurately captures middleware from secondary positioning table with tool rack 9, the assembling hole position provided according to robot
Confidence ceases, and moves to the front of the upside pilot hole of workpiece 11, and then robot carries cross laser measuring instrument measurement middleware
Distal end faces and the size of dowel hole and position secondary positioning is carried out to assembly, then data are transferred to robot, root
The data come according to being transmitted back to, by adjusting the position of the main truing tool frame 9 of drive rod 2 and link transmission cantilever 3, make intermediate
The normal of normal and pilot hole is coaxial, then by automatic orbit algorithm, intermediate is slowly encased in pilot hole, filled
The error run into during entering passes through three-dimensional telescopic attitude regulating mechanism 4, torque sensor 5 and assembling straightening compensation device 6
Mutual cooperation flexibility adaptive functions carry out pose adjustment, if deviation exceedes the moment values of setting, Force sensor feeds back to
Robot, stop loading action, then adjust posture after again attempt to load, as load more than three times it is unsuccessful if system alarm
Manually intervened, ensure that whole assembling process does not damage intermediate part.
Claims (8)
1. pipeline machine people's precision assembly device of adaptive straightening compensation optimizing, including main drive rod (2), link transmission hang
Arm (3), torque sensor (5), assembling straightening compensation device (6), adaptive flexible connecting rod (7), clutch plate (8), tool rack
And work drive motor (10) (9)；Characterized in that, link transmission cantilever (3) front end coupling torque sensor (5), link transmission hangs
Arm (3) includes one group of linkage, and the front end of main drive rod (2), torque sensor (5) front side are connected between the linkage
Fixing assembling straightening compensation device (6), assembling straightening compensation device (6) are connected by least three equally distributed adaptive elasticity
Extension bar (7) connection clutch plate (8), clutch plate (8) front end installation tool frame (9), clutch plate (8) middle part fixed working motor
(10), the work drive motor (10) is connected with tool rack (9).
2. pipeline machine people's precision assembly device of adaptive straightening compensation optimizing as claimed in claim 1, its feature exist
In link transmission cantilever (3) rear end is arranged on connecting seat (1), while main drive rod (2) rear end is arranged on connecting seat (1).
3. pipeline machine people's precision assembly device of adaptive straightening compensation optimizing as claimed in claim 1, its feature exist
In link transmission cantilever (3) forms quadric chain with main drive rod (2).
4. pipeline machine people's precision assembly device of adaptive straightening compensation optimizing as claimed in claim 1, its feature exist
In link transmission cantilever (3) front end is be hinged in the middle part of the rear side of torque sensor (5), in link transmission cantilever (3) leading portion outer wall
It is upper to be connected three-dimensional telescopic attitude regulating mechanism (4) between torque sensor (5) posterior edges, three-dimensional telescopic attitude regulation dress
Putting (4) is included at least evenly around three shrinking connecting-rods being distributed in outside link transmission cantilever (3) leading portion.
5. pipeline machine people's precision assembly device of adaptive straightening compensation optimizing as claimed in claim 1, its feature exist
In adaptive flexible connecting rod (7) is prismatic cylinder.
6. pipeline machine people's precision assembly device of adaptive straightening compensation optimizing as claimed in claim 1, its feature exist
In assembling straightening compensation device (6) and clutch plate (8) are parallel to each other and spaced.
7. pipeline machine people's precision assembly device of adaptive straightening compensation optimizing as claimed in claim 1, its feature exist
In at least three adaptive flexible connecting rods (7) are around the center of assembling straightening compensation device (6) and clutch plate (8) axiality
Axis is uniformly distributed.
8. pipeline machine people's precision assembly device of adaptive straightening compensation optimizing as claimed in claim 1, its feature exist
In equally distributed each adaptive flexible connecting rod (7) centroclinal dip is connected to assembling straightening compensation device (6) and clutch plate
(8) between outer rim, i.e., each adaptive flexible connecting rod (7) is obliquely installed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720802933.1U CN207013954U (en) | 2017-07-04 | 2017-07-04 | Pipeline machine people's precision assembly device of adaptive straightening compensation optimizing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720802933.1U CN207013954U (en) | 2017-07-04 | 2017-07-04 | Pipeline machine people's precision assembly device of adaptive straightening compensation optimizing |
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| Publication Number | Publication Date |
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| CN207013954U true CN207013954U (en) | 2018-02-16 |
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| CN201720802933.1U Expired - Fee Related CN207013954U (en) | 2017-07-04 | 2017-07-04 | Pipeline machine people's precision assembly device of adaptive straightening compensation optimizing |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093461A (en) * | 2018-10-16 | 2018-12-28 | 吉林大学 | Skate sharpening device based on screw drive based on PLC control |
| CN110404157A (en) * | 2019-08-03 | 2019-11-05 | 安徽工程大学 | A device and method for sine elastic amplifying torque compensation for robot |
| CN111085837A (en) * | 2019-12-28 | 2020-05-01 | 成都行必果光电科技有限公司 | Automatic assembly position attitude measurement method |
| CN112873203A (en) * | 2021-01-13 | 2021-06-01 | 安徽大学 | Omnibearing part assembly error self-adaptive compensation system |
| CN113148882A (en) * | 2021-03-29 | 2021-07-23 | 南京国冉科技有限公司 | Pneumatic telescopic hoisting mechanism |
-
2017
- 2017-07-04 CN CN201720802933.1U patent/CN207013954U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093461A (en) * | 2018-10-16 | 2018-12-28 | 吉林大学 | Skate sharpening device based on screw drive based on PLC control |
| CN110404157A (en) * | 2019-08-03 | 2019-11-05 | 安徽工程大学 | A device and method for sine elastic amplifying torque compensation for robot |
| CN111085837A (en) * | 2019-12-28 | 2020-05-01 | 成都行必果光电科技有限公司 | Automatic assembly position attitude measurement method |
| CN112873203A (en) * | 2021-01-13 | 2021-06-01 | 安徽大学 | Omnibearing part assembly error self-adaptive compensation system |
| CN112873203B (en) * | 2021-01-13 | 2021-10-08 | 安徽大学 | Omnidirectional Parts Assembly Error Adaptive Compensation System |
| CN113148882A (en) * | 2021-03-29 | 2021-07-23 | 南京国冉科技有限公司 | Pneumatic telescopic hoisting mechanism |
| CN113148882B (en) * | 2021-03-29 | 2024-04-02 | 南京国冉科技有限公司 | Pneumatic telescopic hoisting mechanism |
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Granted publication date: 20180216 Termination date: 20210704 |