A 7-DOF Dual-Module Parallel Collaborative Robot Oriented to 3C Assembly

Abstract

The invention relates to a seven-degree-of-freedom double-module parallel collaborative robot, which includes: a frame assembly, a three-movement-rotation parallel mechanism, and a pure-rotation three-degree-of-freedom mechanism. The three-movement-rotation parallel mechanism includes: four drive branch chains, each drive branch chain includes a slider and a connecting rod assembly, the sliders are all set to move along straight lines parallel to each other, and one end of the connecting rod assembly passes through a spherical pair and a connecting rod assembly. Slider connection; a moving platform connected to the other end of the connecting rod assembly of each drive branch chain through a spherical pair. The pure rotation three-degree-of-freedom mechanism includes: a pure rotation platform; a central rotation branch chain, the upper end of which is connected to the bottom of the pure rotation platform through a universal joint, and its lower end is connected to the pillar installed on the base through a spherical pair ; Three linear drive branch chains, each branch chain includes a linear slider and a push rod assembly, the lower end of the push rod assembly is connected to the linear slider through a spherical pair, and its upper end is connected to the bottom edge of the purely rotating 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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