Technical realization elements of attitude adjustment device based on 6-PSS parallel mechanism

Technical realization elements:

4. In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present utility model is how to overcome the low adjustment precision, single function, low production efficiency and high comprehensive cost of the existing equipment.

5. In order to achieve the above purpose, the utility model provides a method based on 6

The attitude adjustment device of pss parallel mechanism, including base, series robot, 6

pss parallel mechanism, the serial robot is arranged on the base, and the 6

The pss parallel mechanism is fixed to the end of the series robot, and the 6

The pss parallel mechanism includes a static platform and a moving platform. The static platform and the moving platform are spaced apart and are substantially concentric. The static platform includes a ring-shaped base and three protrusions extending radially outward along the base. The three lugs are symmetrically distributed along the outer circumference of the ring base, and each lug is provided with two lifting platforms spaced apart in parallel, each lifting platform is fixedly installed with an adapter plate, and the adapter plate A first ball joint pair is installed, the first ball joint pair is connected to a second ball joint pair installed at a corresponding position of the movable platform through a connecting rod, the connecting rod is configured as a telescopic control, the lifting platform , The adapter plate, the first ball joint pair, and the second ball joint pair are configured to form a pss kinematic branch, and the movable platform is suitable for installing an end effector.

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

7. Further, the adapter plate includes an l-shaped first plate, the first surface of the first plate is fixedly installed on the upper surface of the lifting platform, and the second surface of the first plate is away from the The lifting platform extends, and the inner side of the first plate is provided with reinforcing ribs.

8. Further, the adapter plate further includes a T-shaped second plate, the bottom surface of the second plate is fixedly mounted on the outside of the second surface of the first plate, and one of the mounting parts of the second plate A guide tube is installed on the side, which is slidably arranged relative to the guide column installed on the static platform.

9. Further, a transition plate is provided between the guide column and the static platform.

10. Further, the first ball hinge pair is fixedly arranged on the other side of the mounting portion of the second plate, and the adapter plate is connected to one end of the connecting rod through the first ball hinge pair, The other end of the connecting rod is connected to the second spherical hinge pair installed at the corresponding position of the movable platform.

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

12. Further, it further includes a frame in the shape of a regular hexagon, the frame is made of a rigid material, and is fixed to the static platform by the three lugs.

13. Further, the frame further includes a top plate with a central hole, and the inner diameter of the central hole matches the outer diameter of the movable platform.

14. Further, it also includes a vision system installed on the frame.

15. The beneficial effects of the utility model:

16.1. Adopt the method of combining the parallel mechanism at the end of the series robot to complete the high-precision end pose adjustment while ensuring the working space. The accuracy can reach the micron level, which cannot be achieved by the series robot alone.

17.2 Adopt 6

The pss parallel attitude adjustment device fixes the form of the external rigid frame, which can switch freely between rigidity and flexibility: when 6

When the pss moving platform extends outside the rigid frame, the end system is flexible; when the end effector is fixed to the rigid frame, the end system is rigid.

18.3, end 6

The pss parallel attitude adjustment device can adjust the driving form according to the demand. When the demand is precise attitude adjustment, the electric cylinder can be used as the drive, and the attitude adjustment accuracy can reach the micron level; when the demand is constant force floating, the air cylinder can be used as the drive , The end output can be corrected by adjusting the air pressure to achieve the purpose of constant force floating.

19.4, the end adopts 6

The form of pss parallel device greatly improves the dynamic response ability of the terminal, and can make accurate posture adjustment in a very short time with the vision system.

20. In the following, the concept, specific structure and technical effects of the utility model will be further explained in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of the utility model.

Description of the drawings

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

22. Figure 2 is a 6 of a preferred embodiment of the utility model

Schematic diagram of the structure of the pss parallel mechanism;

23. Figure 3 is a preferred embodiment of the utility model installed with the end effector 6

The front view of the pss parallel mechanism;

24. Figure 4 is a preferred embodiment of the utility model 6 with a frame installed

The top view of the pss parallel mechanism;

25. Figure 5 is a preferred embodiment of the utility model installed with the frame and end effector 6

The front view of the pss parallel mechanism.

26. Among them, 1

pss parallel mechanism, 2

Pedestal, 3

Tandem robot, 4

Frame, 5

End effector, 6

Vision camera, 11

Static platform, 12

Moving platform, 13

Lifting table, 14

Guide post, 15

Adapter board, 16

Connecting rod, 17

The first ball joint, 18

The second ball joint.

detailed description

27. The following describes a number of preferred embodiments of the present utility model with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present utility model can be embodied by many different forms of embodiments, and the protection scope of the present utility model is not limited to the embodiments mentioned in the text.

28. In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

29. As shown in Figure 1, this embodiment provides a 6-based

Pss parallel mechanism attitude adjustment device, including base 2, serial robot 3, frame 4, 6

pss parallel mechanism 1, end effector 5. The tandem robot 3 is set on the base 2, 6

The pss parallel mechanism 1 is fixed to the end of the serial robot 3.

30. As shown in Figure 2, 6

The pss parallel mechanism 1 is a six-degree-of-freedom parallel platform, where p represents a prismatic joint, and s represents a spherical joint. 6

The pss parallel mechanism 1 mainly includes 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.

31. The static platform 11 includes a circular base and three lugs extending radially outward along the base. The three lugs are symmetrically distributed along the outer circumference of the circular base, and each lug is provided with two lifters in parallel and spaced apart. Platform 13, the lower surface of the lifting platform 13 is fixedly installed on the lugs, the upper surface of the lifting platform 13 is used as the installation surface, and the adapter plate 15 is fixedly installed. Preferably, the lifting platform 13 adopts a horizontal electric lifting platform with stepping The motor and the communication interface can be automatically controlled by the motion controller, so that the adapter plate 15 can move up and down relative to the static platform 11. The adapter plate 15 includes an l-shaped first plate and a T-shaped second plate. The inner side of the second plate is also provided with reinforcing ribs to improve the rigidity of the adapter plate 15. The bottom surface of the second plate is fixedly installed on the outside of the second surface of the first plate. The guide column 14 on the static platform 11 is relatively slidable to improve the stability of the rise and fall of the adapter plate 15. Optionally, a transition plate is fixedly arranged between the guide column 14 and the static platform 11, and the provision of the transition plate can effectively reduce the height of the guide element (the guide column 14 and the guide tube) to increase the height of the guide element (the guide column 14 and the guide tube).

The stability of pss parallel mechanism 1. Preferably, the guide column 14 is further provided with an adjustment handle, and the stroke of the guide element can be adjusted by the adjustment handle. A first spherical hinge pair 17 is installed on the top of the installation part of the second plate, and is connected to one end of the connecting rod 16 through the first spherical hinge pair 17.

32. The movable platform 12 is a ring with a mounting hole in the center, which is located at a different height from the static platform 11 and is substantially concentric. A second spherical hinge pair 18 is installed at a corresponding position of the movable platform 12 and is 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 the overall size of the static platform 11.

33. In this embodiment, the lifting platform 13, the guide column 14 and the adapter plate 15 constitute a moving pair (p pair), and the first ball joint pair 17 (s pair) and the second ball joint pair 18 (s pair) Together they form a pss movement branch chain.

34. Preferably, the connecting rod 16 can also achieve telescopic control through a motion controller.

35. In some embodiments, the connecting rod 16 is driven by an electric cylinder, which is conducive to the need for precise attitude adjustment, and the accuracy of the attitude adjustment can reach the micron level; in other embodiments, the connecting rod 16 is driven by an air cylinder, which can be adjusted by adjusting the air pressure. The end output can be corrected, which is conducive to the demand for constant force fluctuation.

36. As shown in Fig. 3, the end effector 5 is detachably fixed to 6 through the center hole of the movable platform 12 and the mounting hole provided on the movable platform 12

The pss parallel mechanism 1 may also have different functional components to realize the processing, assembling, and transferring functions of different high-precision workpieces.

37. In some embodiments, as shown in Figure 4, it also includes a frame 4 in the shape of a regular hexagon. The frame 4 is made of a rigid material and is fixed to the static platform 11 by three lugs, which serves as a fixation and protection. .

38. In some embodiments, as shown in FIG. 5, the frame 4 further includes a top plate with a center hole. The inner diameter of the center hole matches the outer diameter of the movable platform 12, and the end effector 5 is installed in the center of the movable platform 12. When the movable platform 12 extends out of 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, when the end effector 5 is rigidly connected to the frame 4, the end system is rigid. It can switch freely between rigidity and flexibility, which can meet the processing, assembly and transfer requirements of high-precision workpieces with different rigidities. Preferably. Reinforcing ribs are also arranged between the side walls of the frame 4 and the top plate to increase the rigidity of the frame 4.

39. In some embodiments, as shown in Figure 1, it also includes a vision system (usually a vision camera) mounted on the frame 4

6) The offset is fed back through the images collected by the vision camera 6, which can achieve a more precise control effect.

40. The specific workflow is as follows:

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

42.2. The vision camera 6 shoots and feedbacks the offset;

43.3, 6

The pss parallel mechanism 1 performs posture adjustment;

44.4. The end effector 5 starts to complete the workpiece processing/assembly.

45. The preferred embodiments of the present utility model are described in detail above. It should be understood that ordinary technologies in this field can make many modifications and changes based on the concept of the present utility model without creative work. Therefore, all technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present utility model on the basis of the existing technology should fall within the scope of protection determined by the claims. .

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