Assistance manipulator and control system thereof

Abstract

The invention provides an assistance manipulator and a control system thereof. The assistance manipulator comprises a fixed stand column, a rotating joint, a rotating stand column, a balance cylinder, a parallelogram mechanism, a trajectory self-balance machine 6, a swing joint, a terminal actuation mechanism, a fixture, and a control system. When a force arm at one end of the assistance manipulator is changed, a force arm at the other end is also changed, and a fixed proportional relation is kept, so that a counter force is always balanced with a reaction arm no matter high-low motion, left-right motion and rotating motion of workpieces, the workpieces are always located in a floating state, the gravity is overcome, and the assistance function is realized. The assistance manipulator realizes floating of objects through combined application of the force balance self-adaption and the pneumatic principle, performs zero-gravity carrying and assembly for the objects, realizes hoisting, plane movement and overturning of weights through micro force of human hands, and is smooth and balanced in the motion process.

Description

technical field [0001] This application mainly relates to the technical field of mechanical manufacturing, in particular to a power-assisted manipulator and its control system. Background technique [0002] In the aircraft assembly workshop, in order to complete the combined assembly and flexible docking of components, it is often necessary to adjust the position and attitude of components. For large-scale precision assembly and docking, a flexible assembly system composed of three or more coordinates is often used. This assembly system often has a complex mechanical structure and control system. The development, use, and maintenance costs are very high, and the special type is also very strong; For most of the general assembly and docking, manual handling, adjustment, and assembly are often used, resulting in the problems of high work intensity, low efficiency, and poor assembly quality; and for parts assembly that requires the cooperation of the factory crane to complete t...

AI Technical Summary

Problems solved by technology

For large-scale precision assembly and docking, a flexible assembly system composed of three or more coordinates is often used. This assembly system often has a complex mechanical structure and control system. The development, use, and maintenance costs are very high, and the special type is also very strong; For most of the general assembly and docking, manual handling, adjustment, and assembly are often used, resulting in the problems of high work intensity, low efficiency, and poor assembly quality; and for parts assembly that requires the cooperation of the factory crane to complete the assembly, there are also occupations. The cycle of the factory crane is too long, which affects other production schedules

[0003]In order to solve practical problems such as high work intensity, low efficiency and poor assembly quality in the process of aircraft parts assembly and material handling, a power-assisted machine is needed to help workers Component assembly is the lifting of the material handling process

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