Utility model content
The purpose of this utility model is to provide pipeline machine people's precision assembly device of adaptive straightening compensation optimizing, withSolves above technical problem.
The purpose of this utility model will be realized by following technical measures：Including main drive rod, link transmission cantilever, powerSquare sensor, assembling straightening compensation device, adaptive flexible connecting rod, clutch plate, tool rack and work drive motor；Link transmission hangsArm front end coupling torque sensor, link transmission cantilever include one group of linkage, main driving are connected between the linkageThe front end of bar, torque sensor front side fixing assembling straightening compensation device, assembling straightening compensation device are uniform by least threeThe adaptive flexible connecting rod connection clutch plate of distribution, clutch plate front end installation tool frame, clutch plate middle part fixed working motor,The work drive motor is connected with tool rack.
Especially, link transmission cantilever rear end is arranged on connecting seat, while main driving rod rear end is arranged on connecting seat.
Especially, link transmission cantilever forms quadric chain with main drive rod.
Especially, it is be hinged in the middle part of the rear side of link transmission cantilever front end and torque sensor, in link transmission cantilever leading portionThree-dimensional telescopic attitude regulating mechanism is connected on outer wall between torque sensor posterior edges, the three-dimensional telescopic attitude regulating mechanismIncluding at least evenly around three shrinking connecting-rods being distributed in outside link transmission cantilever leading portion.
Especially, adaptive flexible connecting rod is prismatic cylinder.
Especially, straightening compensation device and clutch plate is assembled to be parallel to each other and spaced.
Especially, at least three adaptive flexible connecting rods are in assembling straightening compensation device and clutch plate axialityMandrel line is uniformly distributed.
Especially, equally distributed each adaptive flexible connecting rod centroclinal dip be connected to assembling straightening compensation device and fromBetween Moving plate outer rim, i.e., each adaptive flexible connecting rod is obliquely installed.
The advantages of the utility model and effect：The flexibility combined using torque sensor 5 and assembling straightening compensation device 6 is morePose adjustment bindiny mechanism is tieed up, effectively realizes the profiling to flexible waist mechanism, flexible adaptive functions are carried out by cooperatingPose adjustment, integrated level is high, is easy to maintenance upgrade, best in quality, stable performance, and reliability is high.
Embodiment
Found by research experiment, when there is no self-adapting flexible attachment structure in drive connection system, linear displacementRigging error refers to the rigging error of horizontal direction.The flexible central design of flexible waist is occurred in rod member end namely assemblingFace, then the rigging error of linear displacement eliminate when will not cause new rigging error, angle rigging error is in eliminationWhen will not also cause other new rigging errors.
The utility model embodiment, the flexible multidimensional posture combined using torque sensor 5 and assembling straightening compensation device 6Adjustment bindiny mechanism, effectively profiling of the realization to flexible waist mechanism, operation principle are as follows：
Because accessory to be installed has rigging error, instrument or part to be installed on tool rack 9 can not essencesReally fall into the upper-side hole of workpiece 11, it will fall in chamfering of the hole along side.As robot continues to assemble, at this moment torqueSensor 5 and assembling straightening compensation device 6 will utilize the adaptive flexible connecting rod 7 of itself uniform Discrete Symmetry distribution to produceElastic deformation, passively it is slipped on hole, so as to compensate for the rigging error of accessory to be installed and hole.Further, when slottingEnter Kong Zhonghou, if any the rigging error on angle direction, the adaptive flexible connecting rod 7 in adaptive flexible connecting rod 7 can againThe secondary angle that rod member to be assembled is adjusted by elastic deformation, so as to the error on offset angle direction, complete assembling.When tolerance compared withWhen big, three-dimensional telescopic attitude regulating mechanism 4 can also adjust torque sensor 5 by adjusting three length of telescopic bar with wide-angleThe direction of working face and angle.After assembling is completed to act on without external force, adaptive flexible connecting rod 7 can set back rapidly.
The utility model includes：Main drive rod 2, link transmission cantilever 3, torque sensor 5, assembling straightening compensation device 6,Adaptive flexible connecting rod 7, clutch plate 8, tool rack 9 and work drive motor 10.
The utility model is described in further detail with reference to the accompanying drawings and examples.
Embodiment 1：As shown in Figure 1, the front end coupling torque sensor 5 of link transmission cantilever 3, link transmission cantilever 3 wrapsOne group of linkage is included, the front end of main drive rod 2 is connected between the linkage, the front side fixing assembling of torque sensor 5 is adjustedStraight compensation device 6, assembling straightening compensation device 6 are connected driven by least three equally distributed adaptive flexible connecting rods 7Disk 8, the front end installation tool frame 9 of clutch plate 8, the middle part fixed working motor 10 of clutch plate 8, the work drive motor 10 connect with tool rack 9Connect.
In foregoing, the rear end of link transmission cantilever 3 is arranged on connecting seat 1, while the rear end of main drive rod 2 is arranged on connecting seatOn 1.
In foregoing, link transmission cantilever 3 forms quadric chain with main drive rod 2.
In foregoing, the front end of link transmission cantilever 3 is be hinged in the middle part of the rear side of torque sensor 5, before link transmission cantilever 3With connecting three-dimensional telescopic attitude regulating mechanism 4 between the posterior edges of torque sensor 5, the three-dimensional telescopic posture is adjusted on section outer wallRegulating device 4 is included at least evenly around three shrinking connecting-rods being distributed in outside the leading portion of link transmission cantilever 3.
In the present embodiment, torque sensor 5 is a kind of ATI multi-dimensional forces and torque sensor, is strained using low noise siliconPiece can dynamically measure as sensing element and gather, show in real time, x in record cartesian coordinate system, y, z-axis is positive and negative simultaneouslyThe power and moment values in totally six directions.The product measuring force scope of offer is 8N-400000N, and torgue measurement scope is 0.05Nm-6000Nm.This type sensor can automatic sensing robotic asssembly when the power and torque that run into, according to power and torqueThe posture of adjust automatically machine people is fed back, avoids defective work piece.ATI multi-dimensional forces and torque sensor measuring system should according to differenceWith demand, there is provided three kinds of measuring systems, be respectively:DAQ systems, NET systems and Controller systems.The difference of three systemsIt is：DAQ systems form：Sensor body, sensor cable, power supply case, data collecting card.Data collecting card is inserted in userOn computer, there is provided PCI, PCI-E, PCMCIA, USB, CPCI interface, coordinate ATI softwares, on user computer or robot controlsUpper collection in real time, display, preserve measurement result.
NET systems form：Sensor body, sensor cable, network box (built-in number adopts card).By netting twine orDeviceNET connection computers.
Controll systems form：Sensor body, sensor cable, (nano, mini series also have powers control boxBox).Control box can provide digital output (RS232), two kinds of analog output (voltage signals or original after resolvingVoltage signal), discrete I/O.
In the present embodiment, straightening compensation device 6 is assembled to inevitable tolerance, and straightening compensation device is assembled by ATIIt is adaptive, adjust automatically compensation scale error, improve assembly yield.Assemble straightening compensation device 6 and be applied to hole pin assemblingWhen, to build-up tolerance adaptivity, realize that sophisticated product assembles by compliant mechanism and build-up tolerance amount feedback signal.
In the present embodiment, for convenience of manufacture processing, control processing cost, at the same provide it is each to uniform Flexible Ability, fromAdaptation flexible connecting rod 7 is prismatic cylinder, and assembling straightening compensation device 6 and clutch plate 8 are parallel to each other and spaced, fromThe both ends for adapting to flexible connecting rod 7 are linked and packed straightening compensation device 6 and clutch plate 8 respectively, and at least three adaptive elasticity are evenExtension bar 7 is uniformly distributed around the central axis of assembling straightening compensation device 6 and the axiality of clutch plate 8.
The rear portion of torque sensor 5 is used for by main drive rod 2, link transmission cantilever 3 and three-dimensional telescopic attitude regulating mechanism 4It is fixed on connecting seat 1 on the mechanical arm of industrial robot, there is provided active drive ability.It is driven before precision assembly is carried outDisk 8 is used for the end effector for fixing industrial robot, drives mobile or rotation.When carrying out precision assembly, due to be assembledIt can be in contact between parts, cause the motion of accessory to be installed, drive the motion of end effector, and then drive clutch plate 8Move the adaptive deformation of flexible connecting rod 7 of linkage.When adaptive flexible connecting rod 7 is more than three, it can compensate for assembling and adjustThe directly site error between compensation device 6 and the outer rim of clutch plate 8 on 6 free degree directions.Connect when using two adaptive elasticityExtension bar 7, then this bindiny mechanism be changed into plane mechanism, the site error on some freedom direction can be compensated only for.
In the present embodiment, equally distributed each adaptive centroclinal dip of flexible connecting rod 7 is connected to assembling straightening compensation dressPut between 6 and the outer rim of clutch plate 8, i.e., each adaptive flexible connecting rod 7 is obliquely installed, and flexible central is replaced the spare parts positioned to be installedBetween assembling contact point at so that rigging error on each direction is during elimination all without introducing on other directionsNew rigging error.The inclination angle of the adaptive flexible connecting rod 7 will be used as design variable, the effect of controlling organization Flexible AbilityAmplification and fast quick-recovery.
The utility model at work, after manually intermediate is put in order, is placed in fixture on the conveyor line, fixture is setCount into and put anti-mimetic design, avoid artificial carelessness from misplacing intermediate.After robot pickup intermediate, the OCR for moving to side is sweptRetouch to be scanned and record beside instrument and upload data to control system, the automatic sequence number for examining intermediate whether with current systemWhether setting is consistent.It is consistent then carry out next station, it is inconsistent, intermediate is placed on NG pipelines, simultaneity factor is stoppedOnly run, artificial treatment of alarming.
Assembly parts production embodiment includes:
Started by middleware come stockline, be manually fitted together middleware and customization cable cutting ferrule, and cable is wound on and determinedFabrication is put, and to prevent interference of the cable to process below, is then placed middleware on positioning fixture on the conveyor line.
Manually framework KK is fixed on positioning fixture, starts AGV dollies and framework KK is transported to specified location automatically, andAnd secondary positioning is carried out to framework KK rigging position by secondary detent mechanism and rigidly fixed, ensure positioning accurate during assemblingDegree.
Robot picks up intermediate and scanned in specified location by OCR scanners, and the gathered data of scanning are remembered automaticallyRecord is preserved, and the rigging position of this intermediate is conveyed into laser measurement machine people.
Straight line module mechanism using pick device draw pad, be then automatically moved at extra quality detector to pad whetherDetected to be extra quality, if straight line module mechanism is automatically moved to be decoupled at extra quality partition if extra quality, lower sectionPick device is split to the pad of bottom, and the unnecessary pad split is automatically put into recycling box, then straight line mouldGroup mechanism goes at extra quality detection to detect whether to be extra quality again, and when being detected as thin material, straight line module mechanism kinematic arrivesThe position of assembling, now middleware be in vertical inactive state in robot, straight line module mechanism moves from top to bottom, by padIt is attached on intermediate, and is stuck in custom card and puts.
The intermediate assembled is put on secondary bit transitions platform by robot, and is automatically performed position positioning and is drawnTightly, the crawl of robot is waited.Now robot using cross laser measuring instrument according to pre-assembled intermediate entrucking positional information,Prepackage distribution detected apart from detection, hole location detecting and guide finger position and data are subjected to record storage and conversion, withJust robot uses when assembling middleware.
Robot accurately captures middleware from secondary positioning table with tool rack 9, the assembling hole position provided according to robotConfidence ceases, and moves to the front of the upside pilot hole of workpiece 11, and then robot carries cross laser measuring instrument measurement middlewareDistal end faces and the size of dowel hole and position secondary positioning is carried out to assembly, then data are transferred to robot, rootThe data come according to being transmitted back to, by adjusting the position of the main truing tool frame 9 of drive rod 2 and link transmission cantilever 3, make intermediateThe normal of normal and pilot hole is coaxial, then by automatic orbit algorithm, intermediate is slowly encased in pilot hole, filledThe error run into during entering passes through three-dimensional telescopic attitude regulating mechanism 4, torque sensor 5 and assembling straightening compensation device 6Mutual cooperation flexibility adaptive functions carry out pose adjustment, if deviation exceedes the moment values of setting, Force sensor feeds back toRobot, stop loading action, then adjust posture after again attempt to load, as load more than three times it is unsuccessful if system alarmManually intervened, ensure that whole assembling process does not damage intermediate part.