Flexible assembling device for six-degree-of-freedom parallel robot

Abstract

The utility model discloses a flexible assembly device for a six-degree-of-freedom parallel robot, which relates to the technical field of industrial robot assembly and comprises a six-degree-of-freedom flexible platform and a fixing device mounted on the six-degree-of-freedom flexible platform. Wherein the six-degree-of-freedom flexible platform comprises a lower platform, an upper platform and a connecting mechanism; the fixing device comprises a base with a hole, a circular ring fixing mechanism, an H-shaped stabilizing device, a center limiting clamping jaw and an arc-shaped gripper. The six-degree-of-freedom requirement can be met by mounting the connecting mechanisms in a pairwise staggered mode, the upper platform and the fixing device can flexibly change to achieve rotation in any direction, the upper annular fixing mechanism is used for fixing the posture of an assembled object, and assembly work of industrial equipment which is large in size and easy to roll can be achieved. And meanwhile, the device has the advantages of being high in adaptability, easy and convenient to operate and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot assembly technical field, concretely relates to a six degree of freedom parallel robot flexible assembly device. BACKGROUND

[0002] The continuous development of high-end manufacturing improves the assembly requirement of industrial robot assembly device, especially in the field of national defense and military industry and aerospace, research finds that parallel robot flexible assembly device can realize the improvement of industrial assembly efficiency.

[0003] The combination and installation of each part of the industrial robot assembly device is the most important step in industrial assembly, and the current industrial robot assembly device mainly carries out assembly work through program setting and linkage with each mechanical arm. As a kind of assembly device widely used in industrial assembly system, flexible assembly is the main assembly method of current industrial assembly, and the core concept of this kind of assembly method is to adapt to the change of product through small cost, including the change of product itself or the switching of different models.

[0004] At present, the industrial device arranged for assembly should adapt to the change of the assembled parts as much as possible, but because the assembly parts in the field of national defense and military industry and aerospace are mostly cylindrical, it is difficult to convey and fix during specific assembly, and the flexibility during assembly is strong and difficult to fix the position, which makes the assembly difficulty increase. Although the linkage of multiple mechanical arms can improve the above situation to a certain extent, the assembly object in the field of national defense and military industry and aerospace is large in size and long in length, and the use of multiple mechanical arms has huge cost and complex and lengthy program setting.

[0005] Therefore, a new type of flexible assembly device is urgently needed, which can adapt to the assembly requirements of large volume and easy rolling in the field of national defense and military industry and aerospace. UTILITY MODEL CONTENT

[0006] The utility model aims at the above shortcomings, and provides a six degree of freedom parallel robot flexible assembly device to solve the above problems existing in the prior art.

[0007] Technical scheme: a six degree of freedom parallel robot flexible assembly device, comprising a six degree of freedom flexible platform and a fixing device installed on the six degree of freedom flexible platform.

[0008] Among them, the six degree of freedom flexible platform comprises a lower platform, an upper platform and a connecting mechanism.

[0009] The upper platform is arranged on the upper side of the lower platform and connected with the fixing device, and the connecting mechanism is provided with a plurality of connecting mechanisms which are respectively arranged at predetermined positions between the upper platform and the lower platform in a staggered manner.

[0010] The fixing device comprises a hole base, a circular ring fixing mechanism, an H-shaped stabilizing device, a center limiting clamp and an arc-shaped gripper.

[0011] The hole base is arranged on the upper platform, the circular ring fixing mechanism is arranged on the hole base, the H-shaped stabilizing device is arranged on the hole base and located on one side of the circular ring fixing mechanism, the center limiting clamp is arranged on the hole base and connected with the circular ring fixing mechanism, and the arc-shaped gripper is provided with a plurality of arc-shaped grippers which are arranged in the circular ring fixing mechanism at a predetermined interval.

[0012] In a further embodiment, the connecting mechanism comprises a connecting hydraulic rod and a horizontal hook joint.

[0013] The connecting hydraulic rod is provided with six groups, and each group of the connecting hydraulic rod is connected with two horizontal hook joints at both ends, and the connecting hydraulic rod is connected with the upper platform and the lower platform through the two horizontal hook joints.

[0014] In a further embodiment, the circular ring fixing mechanism is provided with two circular ring fixing mechanisms which are arranged on the hole base at a predetermined interval to stably fix the loading part between the two circular ring fixing mechanisms.

[0015] In a further embodiment, a plurality of mechanical arm mounting holes are arranged on the hole base to mount a mechanical arm for assembly work.

[0016] In a further embodiment, the H-shaped stabilizing device is provided with two pairs of H-shaped stabilizing devices which are respectively abutted on both sides of the two circular ring fixing mechanisms to keep the two sides of the circular ring fixing mechanism horizontal without deviation.

[0017] In a further embodiment, the fixing device further comprises two side limiting clamps which are arranged on the hole base and connected with the circular ring fixing mechanism.

[0018] In a further embodiment, the two side limiting clamps are provided with two pairs of side limiting clamps which are respectively connected with the two circular ring fixing mechanisms.

[0019] The two center limiting clamping jaws are arranged between the two pairs of side limiting clamping jaws respectively, and the side limiting clamping jaws and the center limiting clamping jaws are all provided with adjusting knobs for adjusting the tightness of the side limiting clamping jaws and the center limiting clamping jaws and the circular ring fixing mechanism.

[0020] In a further embodiment, the arc-shaped gripper is provided with an adjusting knob for adjusting the tightness of the arc-shaped gripper and the loaded object.

[0021] Beneficial effects: The utility model discloses a six degree of freedom parallel robot flexible assembly device, through the two two staggered installation of connecting mechanism can realize the requirement of six degrees of freedom, make its upper platform and fixed device can change flexibly realize its position arbitrary direction rotation, the circular ring fixing mechanism of upper is used to fix the pose of the assembled article, make it can realize the assembly operation of bulky, easy rolling industrial equipment, can adapt to the change of article different model, volume, and the device has the advantages such as strong adaptability, simple operation. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the overall structural schematic diagram of the utility model.

[0023] Figure 2 It is the structural schematic diagram of six degree of freedom flexible platform of the utility model.

[0024] Figure 3 It is the structural schematic diagram of connecting mechanism of the utility model.

[0025] Figure 4 It is the structural schematic diagram of fixed device of the utility model.

[0026] Figure 5 It is the schematic diagram of fixed device part structure of the utility model.

[0027] The reference signs in the drawings are as follows: 1, six degree of freedom flexible platform;101, lower platform;102, upper platform;2, connecting mechanism;201, connecting hydraulic rod;202, horizontal hock hinge;3, fixed device;4, hole base;401, mechanical arm mounting hole;5, circular ring fixing mechanism;6, H type stabilizing device;7, side limiting clamping jaw;8, center limiting clamping jaw;9, adjusting knob;10, arc-shaped gripper;11, adjusting knob. DETAILED DESCRIPTION

[0028] In the following description, a large number of specific details are given to provide a more thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without one or more of these details. In other instances, well-known features have not been described in detail to avoid obscuring the present application.

[0029] The applicant believes that at present, the industrial device arranged for assembly should adapt to the changes of the assembled parts as much as possible, but because the assembled parts in the national defense and military industry and the aerospace industry are mostly cylindrical, it is difficult to convey and fix during specific assembly, and it is difficult to fix the position during assembly, which greatly increases the assembly difficulty. Although the linkage of multiple mechanical arms can improve the above situation to a certain extent, the assembly objects in the national defense and military industry and the aerospace industry are large in volume and long in length, and the use of multiple mechanical arms has huge cost and complex and lengthy program setting.

[0030] Therefore, it is urgent to invent a new and inexpensive flexible assembly device that can adapt to the assembly requirements of large-volume and easily-rolling national defense and military industry and aerospace industry.

[0031] To this end, the applicant proposes a six-degree-of-freedom parallel robot flexible assembly device, as shown in Figures 1-5 which includes a six-degree-of-freedom flexible platform 1 and a fixing device 3 installed on the six-degree-of-freedom flexible platform 1.

[0032] The present application is applied to the assembly work of large-volume and easily-rolling industrial equipment. The device mainly includes two parts, the lower part is a six-degree-of-freedom flexible platform 1, and the upper part is a fixing device 3 installed on the six-degree-of-freedom flexible platform 1. It can overcome the defects and deficiencies of existing assembly devices in industrial assembly technology and realize the targeted installation and fixation of large-volume and easily-rolling national defense and military industry and aerospace industry.

[0033] As shown in Figures 1-3 , the six-degree-of-freedom flexible platform 1 includes a lower platform 101, an upper platform 102, and a connecting mechanism 2, and the connecting mechanism 2 includes a connecting hydraulic rod 201 and a horizontal hook joint 202.

[0034] The upper platform 102 is arranged on the upper side of the lower platform 101 and connected with the fixing device 3. The connecting mechanism 2 is provided with a plurality of connecting mechanisms 2, and the plurality of connecting mechanisms 2 are respectively and alternately installed at predetermined positions between the upper platform 102 and the lower platform 101. Each group of connecting hydraulic rods 201 is provided with two horizontal hook joints 202 connected at both ends, and the connecting hydraulic rod 201 is connected with the upper platform 102 and the lower platform 101 through the two horizontal hook joints 202.

[0035] In the present application, the six-degree-of-freedom flexible platform 1 is mainly connected by two horizontal Hooke hinges 202 in each of the three directions below the lower platform 101 and the lower platform 101, and three horizontal Hooke hinges 202 staggered above the upper platform 102 through the connecting hydraulic rod 201 and the upper platform 102. Because there are two hinge mechanisms in each of the three directions above and below, and the three directions above and below are staggered, the upper platform 102 is very flexible, so that the fixed device 3 installed above it can rotate in any direction of its position.

[0036] Specifically, the six-degree-of-freedom flexible platform 1 is mainly composed of a lower platform 101, an upper platform 102, six connecting hydraulic rods 201 arranged between the lower platform 101 and the upper platform 102, and six pairs of horizontal Hooke hinges 202 connected between the two connecting hydraulic rods 201 and the lower platform 101 and the upper platform 102. Among them, the six connecting mechanisms 2 are staggered, and the connecting structure is as shown in Figure 2 The connecting mechanism 2 is installed by pairing the lower platform 101 and the upper platform 102 in pairs and then staggered, so as to realize the six-degree-of-freedom control of the flexible platform. Through this installation method, the device upper platform 102 can be deflected at different angles. The horizontal Hooke hinge 202 on the lower platform 101 is installed in pairs at one corner of the lower platform 101, and the horizontal Hooke hinge 202 installed on the upper platform 102 is also installed in pairs, but is staggered with the lower horizontal Hooke hinge 202.

[0037] As shown in Figures 4-5 The fixed device 3 includes a hole base 4, a circular ring fixing mechanism 5, an H-shaped stabilizing device 6, two side limiting clamping jaws 7, a center limiting clamping jaw 8, and an arc-shaped gripper 10.

[0038] Among them, the hole base 4 is installed on the upper platform 102, the circular ring fixing mechanism 5 is arranged on the hole base 4, the H-shaped stabilizing device 6 is installed on the hole base 4 and located on one side of the circular ring fixing mechanism 5, the two side limiting clamping jaws 7 are installed on the hole base 4 and clamped with the circular ring fixing mechanism 5, the center limiting clamping jaw 8 is installed on the hole base 4 and clamped with the circular ring fixing mechanism 5, and the arc-shaped gripper 10 is provided with a plurality of arc-shaped grippers 10. A plurality of arc-shaped grippers 10 are installed in the circular ring fixing mechanism 5 at a predetermined interval.

[0039] In addition, two circular ring fixing mechanisms 5 are arranged on the hole base 4 at a predetermined interval, and are used to stably fix the loading part between the two circular ring fixing mechanisms 5. A plurality of mechanical arm mounting holes 401 are arranged on the hole base 4, and are used to mount the mechanical arm for assembly work. Two pairs of H-shaped stabilizing devices 6 are arranged, and are respectively abutted on the two sides of the two circular ring fixing mechanisms 5, so as to keep the two sides of the circular ring fixing mechanism 5 horizontal and not to be offset. Two pairs of two-side limiting clamps 7 are arranged, and are respectively clamped on the two circular ring fixing mechanisms 5. Two center limiting clamps 8 are arranged, and are respectively arranged between the two pairs of two-side limiting clamps 7. The two-side limiting clamps 7 and the center limiting clamps 8 are respectively provided with adjusting knobs 9, which are used to adjust the tightness of the two-side limiting clamps 7 and the center limiting clamps 8 and the circular ring fixing mechanism 5. The arc-shaped gripper 10 is provided with an adjusting knob 11, which is used to adjust the tightness of the arc-shaped gripper 10 and the loaded object.

[0040] In the present application, the fixing device 3 is installed on the six-degree-of-freedom flexible platform 1, which takes the square platform with four mechanical arm mounting holes 401 below as the hole base 4. There are two circular ring fixing mechanisms 5 on the hole base 4, and four arc-shaped grippers 10 are installed on the circular rings of the two circular ring fixing mechanisms 5. Each arc-shaped gripper 10 is provided with an adjusting knob 11 below to fix the cylindrical object. There are three limiting clamps below the circular ring fixing mechanism 5, including two two-side limiting clamps 7 and one center limiting clamp 8. The three clamps are provided with adjusting knobs 9 in front, which are used to control the tightness of the clamps clamping the circular ring fixing mechanism 5, so as to adjust the position of the circular ring fixing mechanism 5 and limit the sliding of the circular ring fixing mechanism 5. There are H-shaped roller fixers, i.e. H-shaped stabilizing devices 6, on the left and right ends of each circular ring fixing mechanism 5, which are similar to the above-mentioned clamps and are also suitable for limiting the circular ring fixing mechanism 5. When the clamps are loosened, the circular ring fixing mechanism 5 will not be offset left and right, and can stably move in the fixed direction. The four mechanical arm mounting holes 401 arranged on the square platform can accommodate some mechanical arms for loading work. The upper fixing device 3 is fixed on the lower six-degree-of-freedom flexible platform 1, so as to ensure that the overall flexible fixing device 3 can be flexibly adjusted in each direction while ensuring that the object can be stably fixed on the upper part.

[0041] The fixing device 3 is mainly installed by two circular ring fixing mechanisms 5 and a base 4 with holes. One circular ring fixing mechanism 5 is placed in front and one is placed behind, so that the cylindrical object can be stably fixed in the two circular ring fixing mechanisms 5 when passing through the fixing device 3. The mechanical arm can be installed in the four square holes, i.e. the mechanical arm installation holes 401, in the middle of the base 4 with holes to perform assembly work. Due to the action of the six-degree-of-freedom flexible platform 1 below, the whole device can be inclined to various angles and directions to realize the fixation of objects of different models and sizes. The H-shaped stabilizing device 6, the two side limiting clamps 7 and the center limiting clamp 8 are mainly used to limit the circular ring fixing mechanism 5. The H-shaped stabilizing device 6 is used to keep the two sides of the circular ring fixing mechanism 5 horizontal without deviation. The two side limiting clamps 7 and the center limiting clamp 8 can adjust the tightness of the circular ring fixing mechanism 5 by rotating the adjusting knobs 9 in front to ensure that the object can smoothly enter and be positionally fixed. The four arc-shaped grippers 10 on the circular ring fixing mechanism 5 can be adjusted in tightness by rotating the adjusting knobs 11 below the arc-shaped grippers 10 to fix the object.

[0042] In the current industry, the fixation of large-volume cylindrical objects often requires multiple mechanical arm linkage and is difficult to adapt to changes in object models or shapes. Multiple mechanical arm linkage is long and complex to handle and has huge economic costs. In the actual work process, if the object position or model changes, only the direction of the six-degree-of-freedom flexible platform 1 below and the tightness of the clamps above need to be adjusted to adapt to the changed object. The specific assembly process includes the following:

[0043] First, the orientation and size of the object to be fixed are determined, and the clamps of the two circular ring fixing mechanisms 5 at the top of the fixing device 3 are adjusted to be loose to adapt to the size of the object. Second, the six-degree-of-freedom flexible platform 1 at the bottom of the fixing device 3 is adjusted so that the orientation of the circular ring fixing mechanisms 5 at the top is consistent with the orientation of the object to be fixed to adapt to the direction of the object. Finally, the object is inserted into the two circular ring fixing mechanisms 5 of the fixing device 3 along the current orientation, the part to be loaded is determined in the middle of the two circular ring fixing mechanisms 5, and the tightness of the two circular ring fixing mechanisms 5 is adjusted to fix the position, so that the arc-shaped grippers 10 on each circular ring fixing mechanism 5 can stably grasp and fix the object, and the mechanical hand can be selected and placed on the four mechanical arm installation holes 401 in the middle to perform loading.

[0044] The device can not only fix large-volume cylindrical objects, but also adapt to changes in object models and sizes. It also has the advantages of continuous process, easy operation and low cost.

[0045] As above, although the present application has been shown and described with reference to certain preferred embodiments thereof, it is not to be construed as being limited thereto. Various changes in form and details can be made without departing from the spirit and scope of the application as defined in the appended claims.

Claims

1. A six-degree-of-freedom parallel robot flexible assembly device, characterized by, The six-degree-of-freedom flexible platform and a fixing device mounted on the six-degree-of-freedom flexible platform are provided; The six-degree-of-freedom flexible platform comprises a lower platform, an upper platform and a connecting mechanism; The upper platform is arranged on the upper side of the lower platform and connected with the fixing device; The connecting mechanism is provided with a plurality of connecting mechanisms, and the plurality of connecting mechanisms are respectively arranged at predetermined positions between the upper platform and the lower platform in a staggered manner; The fixing device comprises a hole base, a circular ring fixing mechanism, an H-shaped stabilizing device, a center limiting clamp and an arc-shaped gripper; The hole base is mounted on the upper platform; The circular ring fixing mechanism is arranged on the hole base; The H-shaped stabilizing device is mounted on the hole base and located on one side of the circular ring fixing mechanism; The center limiting clamp is mounted on the hole base and clamped with the circular ring fixing mechanism; The arc-shaped gripper is provided with a plurality of arc-shaped grippers, and the plurality of arc-shaped grippers are arranged in the circular ring fixing mechanism at a predetermined interval.

2. The six degree of freedom parallel robot flexible assembly device of claim 1, wherein: The connecting mechanism comprises a connecting hydraulic rod and a horizontal hook joint; Each group of the connecting hydraulic rod is connected with two horizontal hook joints at both ends; The connecting hydraulic rod is connected with the upper platform and the lower platform through the two horizontal hook joints.

3. The six degree of freedom parallel robot flexible assembly device of claim 1, wherein: The circular ring fixing mechanism is provided with two circular ring fixing mechanisms arranged at a predetermined interval on the hole base, and used for stably fixing the loading part between the two circular ring fixing mechanisms.

4. The six degree of freedom parallel robot flexible assembly device of claim 1, wherein: A plurality of mechanical arm mounting holes are formed in the hole base, and used for mounting a mechanical arm for assembly work.

5. The six degree of freedom parallel robot flexible assembly device of claim 3, wherein: The H-shaped stabilizing device is provided with two pairs of H-shaped stabilizing devices, and the two pairs of H-shaped stabilizing devices are respectively abutted on both sides of the two circular ring fixing mechanisms, so as to keep the two sides of the circular ring fixing mechanism horizontal and not deviated.

6. The six degree of freedom parallel robot flexible assembly device of claim 1, wherein: The fixing device further comprises two side limiting clamps, which are mounted on the hole base and clamped with the circular ring fixing mechanism.

7. The six degree of freedom parallel robot flexible assembly device of claim 6, wherein: The two side limiting clamps are provided with two pairs of side limiting clamps, and the two pairs of side limiting clamps are respectively clamped on the two circular ring fixing mechanisms; The center limiting clamp is provided with two center limiting clamps, and the two center limiting clamps are respectively arranged between the two pairs of side limiting clamps; The two side limiting clamps and the center limiting clamp are provided with adjusting knobs, which are used for adjusting the tightness of the two side limiting clamps, the center limiting clamp and the circular ring fixing mechanism.

8. The six degree of freedom parallel robot flexible assembly device of claim 1, wherein: The arc-shaped gripper is provided with an adjusting knob, which is used for adjusting the tightness of the arc-shaped gripper and the loaded object.

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