Precision assembling mechanical arm with parallel structure six-dimension force sensing

A six-dimensional force sensor and manipulator technology, which is applied in the field of manipulator devices and precision assembly manipulators, can solve the problems of only two and cannot realize arbitrary adjustment of posture, so as to improve production efficiency and quality, reduce labor intensity of workers, and achieve high rigidity. Assembly effect

Inactive Publication Date: 2008-01-16
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

This technology has the following deficiencies: [1] It adopts a planar rectangular coordinate structure, and there are only two degrees of freedom to adjust; [2] Limited to structural constraints, there are only two directions of force sensors
Due to the above shortcomings, although this technology has a force sensor, it cannot achieve arbitrary adjustment of attitude

Method used

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  • Precision assembling mechanical arm with parallel structure six-dimension force sensing
  • Precision assembling mechanical arm with parallel structure six-dimension force sensing
  • Precision assembling mechanical arm with parallel structure six-dimension force sensing

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Embodiment Construction

[0019] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and processes are provided, but the protection scope of the present invention is not limited to the following implementations example.

[0020] The connection relationship of each part is as follows:

[0021] As shown in FIG. 1 and FIG. 5 , the lower sleeve 9 is arranged on the lower platform 8 through the ball hinge 7 , and the upper sleeve 16 is arranged on the upper platform 4 through the ball hinge 5 . The motor 10 is fixed on the lower sleeve 9 , and the first gear 11 is arranged on the output shaft of the motor 10 and meshes with the second gear 12 . The second gear 12 is arranged on the rotating shaft 15 by the first flat key 19 and the first fastening nut 20, and the rotating shaft 15 is arranged on the fir...

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Abstract

The invention relates to a precise assembly manipulator with a six-dimension force sensor in the technical field of mechanical engineering. The manipulator comprises an attitude adjusting platform, a six-dimension force sensor and a clamping manipulator. One end of the six- dimension sensor is positioned on the attitude adjusting platform through a bolt, and the other end is connected with the clamping manipulator. The six-dimension force sensor senses sensing information of acting force produced by the clamping manipulator when the clamping manipulator clamps a workpiece, and meanwhile conveys the sensing information to the attitude adjusting platform, which sets work information to adjust and control the attitude of the workpiece through wires. The attitude adjusting platform, by receiving the sensing information of the acting force fed back by the six-dimension force sensor, adjusts the acting force produced by the clamping manipulator when the clamping manipulator clamps the workpiece and the attitude of the workpiece. The invention can achieve the assembly of high precision and high rigidity in all six dimensions freely, and can achieve the real time adjustment of assembly attitude based on the output from the six-dimension force sensor. The invention can be applied to the production line of automatic assembly so that the labor intensity of workers can be reduced and the production efficiency and quality can be improved.

Description

technical field [0001] The invention relates to a manipulator device in the technical field of mechanical engineering, in particular to a precision assembly manipulator with six-dimensional force sensing. Background technique [0002] During the production process of automobile exhaust purifiers, the assembly size gap between the ceramic core carrier and the metal shell of the purifier is small, and the ceramic core will be broken if there is a slight difference. During the assembly process, the assembly posture needs to be automatically adjusted according to the stress state of the ceramic core carrier. At present, domestic All are assembled manually, and each worker has to assemble thousands of pieces every day. Working for a long time is easy to cause boredom and fatigue, resulting in discord with various products. In other occasions where the size, deformation, and force requirements are relatively strict, in the mechanical automation production, it often occurs that man...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J13/00B25J19/00
Inventor 李彦明刘成良苗玉彬
Owner SHANGHAI JIAO TONG UNIV
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