Double-six-degree-of-freedom parallel robot bearing and assembling platform

Abstract

The utility model provides a double six-degree-of-freedom parallel robot bearing assembly platform, which comprises two groups of six-degree-of-freedom motion platforms and a mounting plate, the mounting plate is fixedly connected with the two groups of six-degree-of-freedom motion platforms, an auxiliary platform is arranged on one side of the mounting plate, a six-dimensional force sensor and a rocker are fixedly arranged above the auxiliary platform, and the rocker is fixedly connected with the six-degree-of-freedom motion platforms. The rocker is arranged on the six-dimensional force sensor, and the six-dimensional force sensor can monitor the direction and magnitude of rocker force; fixing structures are arranged on the surfaces of the mounting plates. A target workpiece is accurately aligned with an assembly point by operating the rocker, the six-dimensional force sensor and the six-degree-of-freedom motion platform, the problems that a large workpiece is difficult to assemble and low in assembly precision are solved, only one person is needed for operation, the labor cost is saved, and the safety risk is reduced; a target workpiece is fixedly mounted on the mounting plate through a fixing structure, large-size and easy-to-roll large workpieces can be stably borne, bearing and assembling of cylindrical workpieces of different specifications can be adapted, the application range is wide, and operation is flexible and convenient.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical engineering and automation control technical field, concretely relates to a kind of double six degrees of freedom parallel robot bearing assembly platform. BACKGROUND

[0002] With the continuous progress of high-end manufacturing, higher requirements are put forward for the application of industrial robot assembly device in key industrial fields such as military industry and aerospace. In particular, in these fields, the assembly objects are mostly large and cylindrical parts, which not only increases the complexity of transmission and fixation, but also significantly increases the difficulty of assembly due to their high flexibility and difficulty in precise positioning.

[0003] Currently, in the assembly of large workpieces, some methods adjust the moving angle, direction and moving distance of workpieces by bearing support devices in cooperation with multiple workers, which is time-consuming and laborious, and has safety risks. Some methods use multiple mechanical arms to cooperate in workpiece assembly. However, although the use of multiple mechanical arms can reduce the operation difficulty to some extent, due to the large size and length of the objects to be assembled in these industrial fields, the multiple mechanical arm solution not only has high cost, but also has complex programming process. Therefore, there is an urgent need to develop a new type of low-cost large workpiece bearing and assembly platform to meet the growing assembly needs of the national defense industry and aerospace and other industrial fields.

[0004] Therefore, the utility model designs a new type of low-cost double six degrees of freedom parallel robot bearing assembly platform, which can realize the bearing and assembly requirements of high precision, high rigidity and large load of parallel robot. UTILITY MODEL CONTENTS

[0005] The utility model aims at the deficiencies of prior art, and provides a kind of double six degrees of freedom parallel robot bearing assembly platform.

[0006] In order to achieve the above technical purpose, the utility model adopts the following technical solutions:

[0007] The utility model provides a kind of double six degrees of freedom parallel robot bearing assembly platform, including two groups of six degrees of freedom motion platform and mounting plate;The mounting plate is arranged above six degrees of freedom motion platform, and is fixedly connected with two groups of six degrees of freedom motion platform;The side of mounting plate is provided with auxiliary platform, six-dimensional force sensor and rocker are fixedly arranged above auxiliary platform, the rocker is arranged on six-dimensional force sensor, and six-dimensional force sensor can monitor the direction and size of rocker force.

[0008] As a further optimization of the utility model, it also has the following features: the six-dimensional force sensor is signal connected with external control system, and the motor of the electric cylinder in the six degrees of freedom motion platform is signal connected with the external control system.

[0009] As further optimization of the utility model, it also has the characteristics that the auxiliary platform is fixedly installed on one side of the mounting plate, and the auxiliary platform and the mounting plate are distributed on the same horizontal plane.

[0010] As further optimization of the utility model, it also has the characteristics that the mounting plate surface is provided with a fixing structure, and the target workpiece is fixedly installed on the mounting plate through the fixing structure.

[0011] As further optimization of the utility model, it also has the characteristics that the fixing structure comprises a plurality of mounting seats, and the mounting seats are parallel to each other; the mounting seat is provided with a circular-arc-shaped groove, and the target workpiece is arranged inside the circular-arc-shaped groove of each mounting seat.

[0012] As further optimization of the utility model, it also has the characteristics that the circular-arc-shaped groove on the mounting seat is fixedly installed with a clamping mechanism for fixing the target workpiece; the clamping mechanism comprises two semicircular ring-shaped clamps, one of which is fixed in the circular-arc-shaped groove and detachably fixedly connected with the other semicircular ring-shaped clamp; the target workpiece is fixed in the space formed by the two semicircular ring-shaped clamps.

[0013] As further optimization of the utility model, it also has the characteristics that the two ends of the semicircular ring-shaped clamp are respectively provided with connecting pieces, the connecting pieces are provided with threaded holes, the threaded hole positions of the connecting pieces of the two semicircular ring-shaped clamps correspond, and the two semicircular ring-shaped clamps are fixedly connected by screwing bolts into the threaded holes.

[0014] As further optimization of the utility model, it also has the characteristics that the semicircular ring-shaped clamp is provided with a plurality of groups of arc-shaped supporting pieces on the inner side; the arc-shaped supporting piece comprises a base, a connecting rod and an arc-shaped limiting plate; the base is fixedly installed on the inner side wall of the semicircular ring-shaped clamp, one end of the connecting rod is fixedly connected with the base, and the other end is rotatably connected with the arc-shaped limiting plate; the connecting rod comprises an inner rod and an outer rod which are telescopically connected, the outer surface of the inner rod is provided with external threads, the outer rod is hollow, the inner wall of the outer rod is provided with internal threads matched with the external threads of the inner rod, the inner rod is telescopically connected in the outer rod, and the outer rod is rotatably connected with the arc-shaped limiting plate.

[0015] As further optimization of the utility model, it also has the characteristics that the six-degree-of-freedom motion platform comprises a lower platform, an upper platform and six telescopic connecting pieces; the six telescopic connecting pieces are alternately installed in two groups, and the upper and lower ends of the telescopic connecting pieces are hingedly connected with the upper platform and the lower platform through Hooke joints; the upper platforms of the two groups of six-degree-of-freedom motion platforms are fixedly connected with the mounting plate.

[0016] The utility model discloses a beneficial effect:

[0017] (1) the utility model discloses in application, in order to make target workpiece and assembly point alignment, the staff manual control rocker according to the direction of assembly point, six -dimensional force sensor can monitor the direction and size of rocker force, and will sensing signal transmission to external control system, and the motor of six electric cylinders in six -freedom motion platform is controlled by external control system, make the motion direction and motion amplitude of six -freedom motion platform and manual control each other match, and then make target workpiece and assembly point accurate alignment, overcome the problem that large -scale workpiece assembly is difficult and assembly accuracy is low, realize the efficient accurate assembly of large -scale workpiece, only one operation is needed, save manpower cost, reduce the security risk;

[0018] (2) the utility model discloses connecting two six -freedom motion platforms, can realize the bearing and high -precision assembly of large -scale workpiece of bulky, easy to roll, and the device installed above six -freedom motion platform is very high in flexibility so that it can rotate in any direction of its position, while can guarantee that the article can be stably fixed on the upper portion;

[0019] (3) the utility model discloses the fixation of workpiece is realized through a plurality of mounting seat and semicircular ring clamp, can bear the cylindrical workpiece of big length, big weight, and semicircular ring clamp inside is provided with a plurality of arc -shaped support piece, and the length of connecting rod in arc -shaped support piece is adjustable, can adapt to the bearing and assembly of cylindrical workpiece of different specifications, and the scope of application is wide, and the operation is flexible and convenient. BRIEF DESCRIPTION OF DRAWINGS

[0020] Fig. 1 It is the double six -freedom parallel robot bearing assembly platform structure diagram of the utility model;

[0021] Fig. 2 It is the side view of the double six -freedom parallel robot bearing assembly platform of the utility model;

[0022] Fig. 3 It is the single six -freedom motion platform structure diagram of the utility model;

[0023] Fig. 4 It is the connection diagram of two six -freedom motion platforms of the utility model;

[0024] The mark in the drawing is:

[0025] 1, six -freedom motion platform;2, mounting plate;3, auxiliary platform;4, six -dimensional force sensor;5, rocker;6, mounting seat;7, clamping mechanism;8, lower platform;9, upper platform;10, telescopic connecting piece;11, connecting piece. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0027] Embodiment 1

[0028] With reference to Figs. 1-4 The utility model embodiments provide a kind of double six degrees of freedom parallel robot bearing assembly platform, including two groups six degrees of freedom motion platform 1 and mounting plate 2.

[0029] The mounting plate 2 is arranged above six degrees of freedom motion platform 1, is fixedly connected with two groups six degrees of freedom motion platform 1 simultaneously, and mounting plate 2 surface is provided with fixed structure, and target workpiece is fixedly installed on mounting plate 2 by fixed structure.

[0030] Six degrees of freedom motion platform 1 includes lower platform 8, upper platform 9 and six telescopic connecting pieces 10, and six telescopic connecting pieces 10 are staggered and installed in two groups, and the upper and lower ends of telescopic connecting piece 10 are hinged with upper platform 9 and lower platform 8 respectively, and the upper platform 9 of two groups six degrees of freedom motion platform 1 is fixedly connected with mounting plate 2.

[0031] One side of mounting plate 2 is provided with auxiliary platform 3, and the auxiliary platform 3 is fixedly installed on one side of mounting plate 2, and auxiliary platform 3 and mounting plate 2 are distributed on the same horizontal plane.

[0032] Six-dimensional force sensor 4 and rocker 5 are fixedly arranged above auxiliary platform 3, and rocker 5 is arranged on six-dimensional force sensor 4, and six-dimensional force sensor can monitor the direction and size of the force of rocker 5. Six-dimensional force sensor 4 is signal connected with external control system, and external control system is signal connected with the motor of electric cylinder in six degrees of freedom motion platform 1.

[0033] When applying, the target workpiece to be assembled is fixedly installed on mounting plate 2 by fixed structure, in order to make target workpiece and assembly point align, staff manually operates rocker 5 according to the direction of assembly point, six-dimensional force sensor can monitor the direction and size of the force of rocker 5, and transmits sensing signal to external control system, and the motor of six groups of electric cylinders in six degrees of freedom motion platform 1 is controlled by external control system, so that the motion direction and motion amplitude of six degrees of freedom motion platform 1 and manual operation are mutually matched, and then target workpiece and assembly point are accurately aligned. The utility model overcomes the problem that large workpiece assembly is difficult and assembly precision is low, and realizes the efficient and accurate assembly of large workpiece.

[0034] Example 2

[0035] The main structure of this embodiment is the same as that of Embodiment 1, except that the fixing structure is further described in this embodiment.

[0036] Specifically, such as Figs. 1-2 As shown, in this embodiment, the fixing structure includes several mounting seats 6, all of which are parallel to each other. Each mounting seat 6 has an arc-shaped groove, and the target workpiece is simultaneously placed inside the arc-shaped groove of each mounting seat 6. A clamping mechanism 7 for fixing the target workpiece is fixedly installed within the arc-shaped groove on the mounting seat 6. The clamping mechanism 7 includes two semi-circular clamps, one of which is fixed within the arc-shaped groove and detachably fixedly connected to the other semi-circular clamp. The target workpiece is fixed within the space formed by the two semi-circular clamps. Connectors 11 are respectively provided on the outer surfaces of both ends of the semi-circular clamps. Each connector 11 has a threaded hole, and the threaded holes of the connectors 11 of the two semi-circular clamps are positioned correspondingly. The two semi-circular clamps are fixedly connected by screwing bolts into the threaded holes.

[0037] The inner side of the semi-circular annular clamp is provided with several sets of arc-shaped support members. Each arc-shaped support member includes a base, a connecting rod, and an arc-shaped limiting plate (not shown in the figure). The base is fixedly installed on the inner wall of the semi-circular annular clamp. One end of the connecting rod is fixedly connected to the base, and the other end is rotatably connected to the arc-shaped limiting plate. The connecting rod includes an inner rod and an outer rod that are nested together. The inner rod is fixedly connected to the base, and its outer surface is provided with external threads. The outer rod is hollow inside, and its inner wall is provided with internal threads that match the external threads of the inner rod. The inner rod is threaded into the inner part of the outer rod, and the outer rod is rotatably connected to the arc-shaped limiting plate.

[0038] In application, large cylindrical target workpieces are simultaneously placed inside the semi-circular annular clamps of the arc-shaped grooves in each mounting base 6. Then, the arc-shaped grooves in the mounting base 6 are fixedly connected to each other using bolts, thus securing the cylindrical target workpieces within the clamps. Each arc-shaped limiting plate fits tightly against the cylindrical target workpiece. Furthermore, this embodiment can adapt to cylindrical target workpieces of different specifications by adjusting the length of the connecting rod. When the length of the connecting rod needs adjustment, the outer rod can be manually rotated, causing it to move relative to the inner rod, moving towards or away from the base, thereby shortening or lengthening the connecting rod to accommodate cylindrical target workpieces of different specifications.

[0039] The above are only preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments, and any technical scheme falling within the concept of the present application belongs to the protection scope of the present application. It should be noted that, for ordinary skilled in the art, some improvements and decorations without departing from the principles of the present application are considered as the protection scope of the present application.

Claims

1. A dual six-degree-of-freedom parallel robot bearing assembly platform, characterized in that, it comprises two sets of six-degree-of-freedom motion platforms (1) and a mounting plate (2); the mounting plate (2) is arranged above the six-degree-of-freedom motion platforms (1) and is fixedly connected with the two sets of six-degree-of-freedom motion platforms (1); one side of the mounting plate (2) is provided with an auxiliary platform (3), and a six-dimensional force sensor (4) and a rocker (5) are fixedly arranged above the auxiliary platform (3), the rocker (5) is arranged on the six-dimensional force sensor (4), and the six-dimensional force sensor can monitor the direction and size of the force of the rocker (5). 2.The dual six-degree-of-freedom parallel robot bearing assembly platform according to claim 1, characterized in that, the six-dimensional force sensor (4) is signal-connected with an external control system, and the external control system is signal-connected with a motor of an electric cylinder in the six-degree-of-freedom motion platform (1). 3.The dual six-degree-of-freedom parallel robot bearing assembly platform according to claim 1, characterized in that, the auxiliary platform (3) is fixedly mounted on one side of the mounting plate (2), and the auxiliary platform (3) and the mounting plate (2) are distributed on the same horizontal plane. 4.The dual six-degree-of-freedom parallel robot bearing assembly platform according to claim 1, characterized in that, a fixing structure is arranged on the surface of the mounting plate (2), and a target workpiece is fixedly mounted on the mounting plate (2) through the fixing structure. 5.The dual six-degree-of-freedom parallel robot bearing assembly platform according to claim 4, characterized in that, the fixing structure comprises a plurality of mounting seats (6), and the mounting seats (6) are parallel to each other; an arc-shaped groove is arranged on the mounting seat (6), and the target workpiece is arranged inside the arc-shaped groove of each mounting seat (6). 6.The dual six-degree-of-freedom parallel robot bearing assembly platform according to claim 5, characterized in that, a clamping mechanism (7) for fixing the target workpiece is fixedly mounted in the arc-shaped groove on the mounting seat (6); the clamping mechanism (7) comprises two semicircular clamps, one of which is fixed in the arc-shaped groove and detachably fixedly connected with the other semicircular clamp; and the target workpiece is fixed in the space formed by the two semicircular clamps. 7.The dual six-degree-of-freedom parallel robot bearing assembly platform according to claim 6, characterized in that, connecting pieces (11) are arranged on the outer surfaces of the two ends of the semicircular clamp, the connecting pieces (11) are provided with threaded holes, the threaded holes of the connecting pieces (11) of the two semicircular clamps are in a corresponding position, and the two semicircular clamps are fixedly connected by screwing bolts into the threaded holes. 8.The dual six-degree-of-freedom parallel robot bearing assembly platform according to claim 6, characterized in that, a plurality of groups of arc-shaped supporting pieces are arranged on the inner side of the semicircular clamp; the arc-shaped supporting piece comprises a base, a connecting rod and an arc-shaped limiting plate. The base is fixedly installed on the inner side wall of the semicircular clamp, one end of the connecting rod is fixedly connected with the base, and the other end is rotatably connected with the arc-shaped limiting plate; the connecting rod comprises an inner rod and an outer rod which are sleeved with each other, the outer surface of the inner rod is provided with external threads, the outer rod is hollow, the inner wall of the outer rod is provided with internal threads matched with the external threads of the inner rod, and the inner rod is threadedly sleeved in the outer rod.

9. The dual 6-DOF parallel robot load assembly platform of claim 1, wherein, The six-DOF motion platform (1) comprises a lower platform (8), an upper platform (9) and six telescopic connecting rods (10); the six telescopic connecting rods (10) are alternately installed in two groups, and the upper and lower ends of the telescopic connecting rod (10) are respectively hinged to the upper platform (9) and the lower platform (8) through Hooke joints; The upper platforms (9) of the two groups of six-DOF motion platforms (1) are fixedly connected with the mounting plate (2).

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