阅读说明：本技术 一种基于6-pss并联机构的调姿装置 (Posture adjusting device based on 6-PSS parallel mechanism ) 是由 李湉 侯立果 于 2021-07-29 设计创作，主要内容包括：本发明公开了一种基于6-PSS并联机构的调姿装置,包括基座、串联机器人、并联机构,并联机构固定至串联机器人的末端,并联机构包括静平台和动平台,分别间隔开设置并且大体上同心,静平台包括圆环形底座和沿底座径向向外延伸的三个凸耳,三个凸耳沿圆环底座的外周对称分布,每个凸耳上分别平行间隔开设置两个升降台,每个升降台上固定安装有转接板,转接板上安装有第一球铰副,第一球铰副通过连杆连接至安装在动平台对应位置的第二球铰副,连杆被配置为可伸缩控制,升降台、转接板、第一球铰副、第二球铰副被配置为形成PSS运动支链,动平台适于安装末端执行器。本发明实现了设备紧凑化,提高了调整精度,满足了个性化要求。(The invention discloses a posture adjusting device based on a 6-PSS parallel mechanism, which comprises a base, a serial robot and a parallel mechanism, the parallel mechanism is fixed to the tail end of the serial robot, the parallel mechanism comprises a static platform and a movable platform which are respectively arranged at intervals and are substantially concentric, the static platform comprises a circular base and three lugs extending outwards along the radial direction of the base, the three lugs are symmetrically distributed along the periphery of the circular base, two lifting platforms are respectively arranged on each lug at intervals in parallel, an adapter plate is fixedly installed on each lifting platform, a first spherical hinge pair is installed on each adapter plate and is connected to a second spherical hinge pair installed at the corresponding position of the movable platform through a connecting rod, the connecting rod is configured to be controlled in a telescopic mode, the lifting platforms, the adapter plates, the first spherical hinge pairs and the second spherical hinge pairs are configured to form a PSS motion branch chain, and the movable platform is suitable for installing a tail end actuator. The invention realizes the equipment compactness, improves the adjustment precision and meets the individual requirements.)

1. A posture adjusting device based on a 6-PSS parallel mechanism is characterized by comprising a base, a serial robot and the 6-PSS parallel mechanism, wherein the serial robot is arranged on the base, the 6-PSS parallel mechanism is fixed at the tail end of the serial robot, the 6-PSS parallel mechanism comprises a static platform and a movable platform, the static platform and the movable platform are arranged at intervals and are substantially concentric, the static platform comprises a circular base and three lugs extending outwards along the radial direction of the base, the three lugs are symmetrically distributed along the periphery of the circular base, two lifting platforms are respectively arranged on each lug at intervals in parallel, an adapter plate is fixedly arranged on each lifting platform, a first spherical hinge pair is arranged on each adapter plate, and the first spherical hinge pair is connected to a second spherical hinge pair arranged at the corresponding position of the movable platform through a connecting rod, the connecting rod is configured to be telescopic and controlled, the lifting platform, the adapter plate, the first spherical hinge pair and the second spherical hinge pair are configured to form a PSS motion branched chain, and the movable platform is suitable for mounting an end effector.

2. An attitude adjustment apparatus based on 6-PSS parallel mechanism as claimed in claim 1, wherein the elevating platform is a horizontal motorized elevating platform.

3. The attitude adjustment apparatus based on 6-PSS parallel mechanism as claimed in claim 1, wherein the adapter plate comprises an L-shaped first plate, a first surface of the first plate is fixedly mounted on the upper surface of the elevating platform, a second surface of the first plate extends away from the elevating platform, and reinforcing ribs are provided on the inner side of the first plate.

4. The attitude adjusting apparatus according to claim 3, wherein the adapter plate further comprises a T-shaped second plate, the bottom surface of the second plate is fixedly mounted on the outer side of the second surface of the first plate, and a guide cylinder is mounted on one side of the mounting portion of the second plate and slidably disposed opposite to the guide post mounted on the stationary platform.

5. An attitude adjustment apparatus based on 6-PSS parallel mechanism as claimed in claim 4, wherein a transition plate is provided between the guide post and the static platform.

6. The attitude adjusting device based on the 6-PSS parallel mechanism as claimed in claim 4, wherein the first spherical hinge pair is fixedly arranged at the other side of the mounting part of the second plate, the adapter plate is connected to one end of the connecting rod through the first spherical hinge pair, and the other end of the connecting rod is connected to the second spherical hinge pair arranged at the corresponding position of the movable platform.

7. An attitude adjustment apparatus based on 6-PSS parallel mechanism as claimed in claim 1, wherein the connecting rod is driven by a pneumatic cylinder or an electric cylinder.

8. The attitude modifier based on 6-PSS parallel mechanism, according to claim 1, further comprising a frame in the shape of regular hexagon, made of rigid material, fixed to said static platform by said three lugs.

9. The attitude modifier based on 6-PSS parallel mechanism as claimed in claim 8, wherein said frame further comprises a top plate with a central hole, the inner diameter of said central hole matches with the outer diameter of said movable platform.

10. A gesture adjustment apparatus based on 6-PSS parallel mechanism as claimed in claim 8, further comprising a vision system mounted on the frame.

Technical Field

The invention relates to the technical field of machining devices, in particular to a posture adjusting device based on a 6-PSS parallel mechanism.

Background

In the processes of processing, assembling and transferring high-precision workpieces, the pose of the tail end needs to be precisely adjusted, and the pose cannot be achieved by a common serial robot. The processing, assembly and transportation of high-precision workpieces have diversified and differentiated requirements, and the rigidity and flexibility of the workpieces need to be freely switched. In different application scenes, different purposes of precise posture adjustment and constant force floating are required to be achieved. The traditional single equipment has insufficient expansibility and low universality, and cannot adapt to working condition diversity in the processing, assembling and transferring processes of different high-precision workpieces.

Therefore, those skilled in the art are dedicated to develop a posture adjusting device based on a 6-PSS parallel mechanism, so that the equipment is compact, the adjusting precision is improved, and the personalized requirement is met.

Disclosure of Invention

In view of the above defects in the prior art, the technical problem to be solved by the present invention is how to overcome the disadvantages of low adjustment precision, single function, low production efficiency and high comprehensive cost of the existing equipment.

In order to achieve the above purpose, the invention provides a posture adjusting device based on a 6-PSS parallel mechanism, comprising a base, a serial robot and a 6-PSS parallel mechanism, wherein the serial robot is arranged on the base, the 6-PSS parallel mechanism is fixed at the tail end of the serial robot, the 6-PSS parallel mechanism comprises a static platform and a movable platform, the static platform and the movable platform are arranged at intervals and are substantially concentric, the static platform comprises a circular base and three lugs extending outwards along the radial direction of the base, the three lugs are symmetrically distributed along the periphery of the circular base, two lifting platforms are respectively arranged on each lug at intervals in parallel, a switching plate is fixedly arranged on each lifting platform, a first spherical hinge pair is arranged on the switching plate, the first spherical hinge pair is connected to a second spherical hinge pair arranged at the corresponding position of the movable platform through a connecting rod, the connecting rod is configured to be telescopic and controlled, the lifting platform, the adapter plate, the first spherical hinge pair and the second spherical hinge pair are configured to form a PSS motion branched chain, and the movable platform is suitable for mounting an end effector.

Further, the lifting platform is a horizontal electric lifting platform.

Further, the adapter plate comprises an L-shaped first plate, a first surface of the first plate is fixedly mounted on the upper surface of the lifting platform, a second surface of the first plate is far away from the lifting platform and extends, and reinforcing ribs are arranged on the inner side of the first plate.

Furthermore, the adapter plate further comprises a T-shaped second plate, the bottom surface of the second plate is fixedly installed on the outer side of the second surface of the first plate, and a guide cylinder is installed on one side of the installation portion of the second plate and is arranged on the static platform in a relatively sliding mode.

Further, a transition plate is arranged between the guide post and the static platform.

Furthermore, the first spherical hinge pair is fixedly arranged on the other side of the mounting part of the second plate, the adapter plate is connected to one end of the connecting rod through the first spherical hinge pair, and the other end of the connecting rod is connected to the second spherical hinge pair arranged at the corresponding position of the movable platform.

Further, the connecting rod is driven by a cylinder or an electric cylinder.

Further, a frame in the shape of a regular hexagon is included, the frame being made of a rigid material and being fixed to the stationary platform by the three lugs.

Further, the frame also comprises a top plate with a central hole, and the inner diameter of the central hole is matched with the outer diameter of the movable platform.

Further, a vision system is mounted on the frame.

The invention has the beneficial effects that:

1. the mode of combining the tail ends of the serial robots with the parallel mechanisms is adopted, the working space is ensured, and meanwhile, the high-precision tail end pose adjustment is completed, the precision can reach the micron level, and the precision can not be achieved by the serial robots alone.

2. The form of fixing an external rigid frame by adopting a 6-PSS parallel posture adjusting device can realize free switching between rigidity and flexibility: when the 6-PSS movable platform extends out of the rigid frame, the tail end system is flexible; when the end effector is secured to the rigid frame, the end system is rigid.

3. The tail end 6-PSS parallel posture adjusting device can adjust a driving form according to requirements, when the requirements are precise posture adjustment, an electric cylinder form can be adopted as driving, and the posture adjustment precision can reach a micron level; when the constant force is required to float, the air cylinder can be used as a drive, and the tail end output force can be corrected by adjusting the air pressure, so that the purpose of constant force floating is achieved.

4. The tail end adopts a 6-PSS parallel device form, the dynamic response capability of the tail end is greatly improved, and accurate pose adjustment can be carried out in a very short time by matching with a vision system.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of the 6-PSS parallel mechanism according to a preferred embodiment of the present invention;

FIG. 3 is a front view of the 6-PSS parallel mechanism with the end effector attached, in accordance with a preferred embodiment of the present invention;

FIG. 4 is a top view of the frame mounted 6-PSS parallel mechanism of a preferred embodiment of the present invention;

FIG. 5 is a front view of the 6-PSS parallel mechanism with the frame and end effector attached, in accordance with a preferred embodiment of the present invention.

The system comprises a 1-6-PSS parallel mechanism, a 2-base, a 3-series robot, a 4-frame, a 5-end actuator, a 6-vision camera, a 11-static platform, a 12-movable platform, a 13-lifting platform, a 14-guide column, a 15-adapter plate, a 16-connecting rod, a 17-first spherical hinge pair and a 18-second spherical hinge pair.

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

As shown in FIG. 1, the present embodiment provides a posture adjusting device based on a 6-PSS parallel mechanism, which comprises a base 2, a serial robot 3, a frame 4, a 6-PSS parallel mechanism 1 and an end effector 5. A tandem robot 3 is provided on a base 2, and a 6-PSS parallel mechanism 1 is fixed to the end of the tandem robot 3.

As shown in FIG. 2, the 6-PSS parallel mechanism 1 is a six-DOF parallel platform, wherein P represents a kinematic joint (kinematic joint) and S represents a spherical hinge (spherical joint). The 6-PSS parallel mechanism 1 mainly comprises a static platform 11, a movable platform 12, a lifting platform 13, a guide column 14, an adapter plate 15 and a connecting rod 16.

Quiet platform 11 includes ring shape base and the three lug that radially outwards extends along the base, three lug is along the periphery symmetric distribution of ring shape base, parallel interval sets up two elevating platform 13 on every lug respectively, the lower fixed surface of elevating platform 13 is installed on the lug, the upper surface of elevating platform 13 is as the installation face, fixed mounting has keysets 15, preferably, elevating platform 13 adopts horizontal electric elevating platform, be furnished with step motor and communication interface, can realize automated control to it through motion control ware, make keysets 15 reciprocate for quiet platform 11. The keysets 15 includes the first board of L type and the second board of T type, the first face fixed mounting of first board is on the upper surface of elevating platform 13, the second face of first board upwards extends, the inboard of first board still is provided with the strengthening rib, in order to improve keysets 15's rigidity, the bottom surface fixed mounting of second board is in the second face outside of first board, the guide cylinder is installed to the bottom of the installation department of second board, with the guide post 14 relative slidable setting of installing on quiet platform 11, in order to improve the stability that keysets 15 goes up and down. Optionally, a transition plate is fixedly arranged between the guide post 14 and the static platform 11, and the height of the guide elements (the guide post 14 and the guide cylinder) can be effectively reduced by the transition plate, so that the stability of the 6-PSS parallel mechanism 1 is improved. Preferably, the guide post 14 is also provided with an adjustment handle by means of which the stroke of the guide element can be adjusted. The top of the mounting part of the second plate is provided with a first spherical hinge pair 17, and the first spherical hinge pair 17 is connected to one end of the connecting rod 16.

The movable platform 12 is a circular ring with a mounting hole in the center, is located at a different height from the stationary platform 11, and is substantially concentric therewith. A second spherical hinge pair 18 is installed at a corresponding position of the movable platform 12 and connected to the other end of the connecting rod 16 through the second spherical hinge pair 18. The overall size of the movable platform 12 is smaller than that of the stationary platform 11.

In this embodiment, the lifting platform 13, the guide post 14 and the adapter plate 15 form a moving pair (P pair), and together with the first spherical hinge pair 17 (S pair) and the second spherical hinge pair 18 (S pair), a PSS moving branched chain is formed.

Preferably, the linkage 16 is also telescopically controlled by a motion controller.

In some embodiments, the connecting rod 16 is driven by an electric cylinder, which is beneficial to the requirement of precise posture adjustment, and the posture adjustment precision can reach micron level; in other embodiments, the connecting rod 16 is driven by a cylinder, and the tail end force can be corrected by adjusting air pressure, so that the requirement of constant force floating is facilitated.

As shown in FIG. 3, the end effector 5 is detachably fixed on the 6-PSS parallel mechanism 1 through a central hole of the movable platform 12 and a mounting hole arranged on the movable platform 12, and can also be provided with different functional components to realize the processing, assembling and transferring functions of different high-precision workpieces.

In some embodiments, as shown in fig. 4, it further comprises a frame 4 in the shape of a regular hexagon, the frame 4 being made of a rigid material and fixed to the stationary platform 11 by three lugs, which serve as a fixing and protection.

In some embodiments, as shown in fig. 5, the frame 4 further comprises a top plate with a central hole having an inner diameter matching the outer diameter of the movable platen 12, and the end effector 5 is mounted in the center of the movable platen 12. When the movable platform 12 extends outside the frame 4, the end system is flexible; when the movable platform 12 and the top plate of the frame 4 are at the same height, and the end effector 5 is rigidly connected with the frame 4, the end system is rigid, so that the rigidity and flexibility can be freely switched, and the requirements of processing, assembling and transferring high-precision workpieces with different rigidities can be met. Preferably. Reinforcing ribs are further arranged between the side walls and the top plate of the frame 4 to increase the rigidity of the frame 4.

In some embodiments, as shown in fig. 1, a vision system (usually a vision camera 6) is further included and mounted on the frame 4, and the offset is fed back through the image captured by the vision camera 6, so that a finer control effect can be achieved.

The specific working process is as follows:

1. the tandem robot 3 moves to the vicinity of the workpiece to be processed/assembled;

2. shooting by a visual camera 6 and feeding back offset;

3. the 6-PSS parallel mechanism 1 performs attitude adjustment;

4. and starting the end effector 5 to finish the processing/assembly of the workpiece.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.