CN103128732A - Parallel type adaptive surface processing operating arm mechanism - Google Patents

Abstract

Translated fromChinese

一种并联式自适应表面加工操作手机构，包括三条相同的支链I、静平台、动平台等。机械手末端通过弹性气缸与静平台连接；三条支链I对称均布在静平台和动平台之间，支链I中，杆7一端通过转动副与静平台连接，另一端通过转动副与杆8相连，杆8与动平台间通过球副连接，球形滚子连接在杆8末端；杆9一端与静平台中心固定连接，另一端通过球副连接于动平台的中心，加工工具安装于动平台的中心。当球形滚子压紧在工件表面上时，动平台可根据位置特性调整姿态，使加工工具端面始终位于被加工工件曲面的法线方向上，从而保证复杂曲面的表面精确加工。该并联自适应操作手结构简单、易于控制，对非规则曲面的加工具有较好的自适应性，保证较高的加工精度。

A parallel self-adaptive surface processing operator mechanism includes three identical branch chains I, a static platform, a dynamic platform and the like. The end of the manipulator is connected to the static platform through an elastic cylinder; three branch chains I are symmetrically distributed between the static platform and the dynamic platform. In the branch chain I, one end of the rod 7 is connected to the static platform through a rotating pair, and the other end is connected to the rod 8 through a rotating pair. Connected, the rod 8 is connected to the moving platform through a ball pair, and the spherical roller is connected to the end of the rod 8; one end of the rod 9 is fixedly connected to the center of the static platform, and the other end is connected to the center of the moving platform through a ball pair, and the processing tools are installed on the moving platform. center of. When the spherical roller is pressed against the surface of the workpiece, the moving platform can adjust its posture according to the position characteristics, so that the end face of the processing tool is always located in the normal direction of the curved surface of the workpiece to ensure accurate processing of the surface of the complex curved surface. The parallel adaptive manipulator has a simple structure and is easy to control, has good adaptability to the processing of irregular curved surfaces, and ensures high processing accuracy.

Description

A kind of parallel adaptive surface process operation mobile phone structure

Technical field

The present invention relates to the self adaptation executing agency of a kind of irregular surface processing, specifically, for the operations such as the spraying of irregular surface, welding, polishing, polishing, laser cutting provide a kind of adaptive performance good parallel operator new mechanism.

Background technology

At present; industrial processes is made towards scale, intensivization development; a large amount of industrial robots are applied in processing manufacturing industry; mainly various import spray robots, welding robot; and in order to guarantee the crudy of the work such as Control During Paint Spraying by Robot, welding; operating personnel need to programme according to the curved surface characteristic of workpiece machining surface; for the different surface of curved surface characteristic; need repeatedly overprogram; not only increased the programming complexity, also improved the manipulator cost, extended the design cycle.On commercial Application, company of the external robot such as Tao Si Bill, storehouse card, An Chuan has developed some and has been used for the special purpose robot of spraying, welding, but the adaptivity of carrying out end is relatively poor, for processing such as the spraying of large tracts of land irregular surface, welding, also there is no adaptive performance stronger executing agency at present.

Therefore, need in engineering a kind ofly can adjust in real time the executing agency of machining posture according to the curvature of curved surface Changing Pattern, both can reduce the computer programming difficulty, can improve again the adaptive performance of processing equipment hand.

Description of drawings

Accompanyingdrawing 1 is structural scheme of mechanism of the present invention

Summary of the invention

The object of the invention is to provide a kind of self adaptation operator for Machining of Curved Surface, and its concrete technical scheme is: this operator mechanism is comprised of three identical side chains (I), silent flatform (upper mounting plate), moving platform (lower platform) etc.Arm end (1) is connected with silent flatform by elastic cylinder (2); Article three, side chain (I) symmetry is distributed between silent flatform and moving platform, and in side chain (I), bar (7) one ends are by revolute pair one (R₁) be connected with silent flatform, the other end is parallel to revolute pair one (R by axis of rotation₁) revolute pair two (R₂) be connected with bar (8), pass through the secondary (S of ball between bar (8) and moving platform (5)₁) connect spherical roller (S₂) be connected to bar (8) end, and the length of bar (7) equates with the circumradius of moving platform (5), revolute pair two (R₂) to the secondary (S of ball₁) between bar length equal revolute pair one (R₁) to the distance between astrosphere secondary (4), consist of deformable parallelogram; Bar (9) one ends are fixedly connected with the silent flatform center, and the other end is connected in the center of moving platform by astrosphere secondary (4), and machining tool (6) is installed on the center of moving platform.

The outstanding feature of this parallel connection self adaptation operator is: (1) operator has good adaptivity, and the line of force that is subjected to of operator remains by the Working position on surface of the work; (2) consist of parallelogram betweenbar 7,bar 8 and quiet, moving platform, make the active force that applies remain consistent with surface of the work application point normal direction; (3) can effectively realize the accurately processing of surface of large tracts of land irregular surface.

The specific embodiment

Under below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.

Fig. 1 is mechanism principle figure of the present invention, and mechanism body comprises the compositions such as three identical side chain I, silent flatform (upper mounting plate), moving platform (lower platform).Arm end 1 is connected with silent flatform byelastic cylinder 2; Article three, side chain I symmetry is distributed between silent flatform and moving platform, and in side chain I,bar 7 one ends are by revolute pair one R₁Be connected with silent flatform, the other end is parallel to revolute pair R by axis of rotation₁Revolute pair R₂Be connected withbar 8,5 ofbar 8 and moving platforms pass through secondary S of ball₁Connect spherical roller S₂Be connected tobar 8 ends, and the length ofbar 7 equates with the circumradius of moving platform, revolute pair R₂To secondary S of ball₁Between bar length equal revolute pair R₁Distance between astrosphere pair 4 consists of deformable parallelogram; Bar 9 one ends are fixedly connected with the silent flatform center, and the other end is connected in the center of moving platform by astrosphere pair 4, andmachining tool 6 is installed on the center of moving platform.

During work,mechanical arm 1 andcylinder 2 coordinates sends to the assigned work position with operator, and makes 3 secondary S of ball₂Be pressed on the workpiece to be machined surface, because three self adaptation side chain I, silent flatform, moving platform and astrosphere pairs 4 have consisted of three parallel-crank mechanisms, make the moving platform can be according to secondary S of ball₂The position automatically in real time adjust attitude,machining tool 6 is remained on the normal direction of surface of the work contact point, guaranteed Surface Machining precision and the quality of workpiece.This parallel connection self adaptation operator is simple in structure, reliable, be easy to control, and can adjust in real time the machining tool attitude to the processing of irregular surface, has good adaptive performance.

Claims (1)

Translated fromChinese

1.一种并联式自适应表面加工操作手机构，由三条相同的支链(I)、机械手(1)、静平台(3)、动平台(5)、加工工具(6)等组成。其特征在于机械手末端(1)通过弹性气缸(2)与静平台(3)连接；三条支链(I)对称均布在静平台(3)和动平台(5)之间，支链(I)中，杆(7)一端通过转动副一(R₁)与静平台(3)连接，另一端通过回转轴线平行于转动副一(R₁)的转动副二(R₂)与杆(8)相连，杆(8)与动平台(5)间通过球副(S₁)连接，球形滚子(S₂)连接在杆(8)末端，且杆(7)的长度与动平台(5)的外接圆半径相等，转动副二(R₂)到球副(S₁)之间的杆长等于转动副一(R₁)到中心球副(4)之间的距离；杆(9)一端与静平台(3)中心固定连接，另一端通过中心球副(4)连接于动平台(5)的中心，加工工具(6)安装于动平台(5)的中心。1. A parallel adaptive surface processing manipulator mechanism is composed of three identical branch chains (1), manipulator (1), static platform (3), dynamic platform (5), processing tool (6) and the like. It is characterized in that the end of the manipulator (1) is connected with the static platform (3) through an elastic cylinder (2); three branch chains (1) are symmetrically distributed between the static platform (3) and the dynamic platform (5), and the branch chain (1) ), one end of_the rod (7) is connected to the static platform (3) through the first rotating pair (R₁ ),_and the other end is connected to the rod (8 ), the rod (8) is connected to the moving platform (5) through a ball pair (S₁ ), the spherical roller (S₂ ) is connected to the end of the rod (8), and the length of the rod (7) is the same as that of the moving platform (5 ) are equal in radius to the circumscribed circles, the rod length between the second rotating pair (R₂ ) and the ball pair (S₁ ) is equal to the distance between the first rotating pair (R₁ ) and the center ball pair (4); the rod (9) One end is fixedly connected to the center of the static platform (3), the other end is connected to the center of the moving platform (5) through a center ball pair (4), and the processing tool (6) is installed in the center of the moving platform (5).

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