Seven-degree-of-freedom double-module parallel cooperative robot for 3C assembly

Abstract

The invention relates to a seven-degree-of-freedom double-module parallel cooperative robot for a 3C assembly. The robot comprises a frame assembly, a three-movement and one-rotation parallel mechanism and a pure-rotation three-degree-of-freedom mechanism. The three-movement and one-rotation parallel mechanism comprises: four driving branched chains, each comprising a sliding block and a connecting rod assembly, wherein the sliding blocks are arranged to move in the linear directions parallel to one another, and one end of each connecting rod assembly is connected with the corresponding sliding block through a spherical pair; and a movable platform, connected with the other end of the connecting rod assembly of each driving branched chain through a spherical pair. The pure-rotation three-degree-of-freedom mechanism comprises: a pure-rotation platform; a central rotating branched chain, wherein the upper end of the central rotating branched chain is connected with the bottom of the pure rotating platform through a universal coupling, and the lower end of the central rotating branched chain is connected with a supporting column installed on a base through a spherical pair; and three linear driving branched chain, each comprising a linear sliding piece and a push rod assembly, wherein the lower end of each push rod assembly is connected with the corresponding linear sliding piece through a spherical pair, and the upper end of each push rod assembly is connected with the edge of the bottom of the pure-rotation platform through a spherical pair.

Description

technical field [0001] The invention relates to a parallel collaborative robot with seven degrees of freedom and two modules. Background technique [0002] 3C products are a general term for computer, communication and consumer electronic products. The assembly of 3C products has the characteristics of high repeatability, complex assembly, and more time-consuming. It is very suitable for the use of assembly robots to automate and mechanize the assembly process. . [0003] Today's commonly used assembly robots are mainly in the form of six-degree-of-freedom single robotic arms, which lack dexterity and precision, making it difficult to meet the needs of 3C assembly. On the one hand, in the actual 3C assembly, only the six-degree-of-freedom mechanism that can move arbitrarily in space is limited due to the existence of singular poses and the requirements for obstacle avoidance, and in order to prevent the influence of the external environment, it needs to be installed. more ...

AI Technical Summary

Problems solved by technology

[0003] The assembly robots commonly used today mainly appear in the form of a six-degree-of-freedom single robotic arm, which is insufficient in dexterity and precision to meet the needs of 3C assembly

On the one hand, in the actual 3C assembly, the six-degree-of-freedom mechanism that only realizes arbitrary movement in space is subject to certain restrictions due to the existence of singular poses and the requirements for obstacle avoidance, and in order to prevent the influence of the external environment, it needs to be installed more complex

In addition, to achieve so many degrees of freedom with a single arm, the cumulative error of the joint has a greater impact, and the stiffness is also small, which has a significant impact on the assembly accuracy

[0004] The prevalence of these technical problems hinders the application of assembly robots in the field of 3C assembly and needs to be resolved urgently

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