CN112873203B - Omnibearing part assembly error self-adaptive compensation system - Google Patents
Omnibearing part assembly error self-adaptive compensation system Download PDFInfo
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- CN112873203B CN112873203B CN202110043407.2A CN202110043407A CN112873203B CN 112873203 B CN112873203 B CN 112873203B CN 202110043407 A CN202110043407 A CN 202110043407A CN 112873203 B CN112873203 B CN 112873203B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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Abstract
The invention provides an omnibearing part assembly error self-adaptive compensation system which comprises a mounting base, a modularized XY parallel flexible motion platform, a six-degree-of-freedom flexible motion platform, a three-degree-of-freedom inclination error compensation device and a pneumatic self-adaptive manipulator, wherein the mounting base is provided with a plurality of X-Y parallel flexible motion platforms; the mounting base is positioned above the modular XY parallel flexible motion platform and connected with the modular XY parallel flexible motion platform; the six-degree-of-freedom flexible motion platform is positioned between the mounting base and the modular XY parallel flexible motion platform and is fixed on the modular XY parallel flexible motion platform; the three-degree-of-freedom inclination error compensation device is connected with the six-degree-of-freedom flexible platform through a straight rod penetrating through the modularized XY parallel flexible motion platform; and the self-adaptive manipulator is positioned on one side of the three-degree-of-freedom inclination angle error compensation device, which is far away from the six-degree-of-freedom flexible motion platform, and is connected with the three-degree-of-freedom inclination angle error compensation device. The invention has simple and compact structure and can eliminate the assembly error of parts in all directions.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to an all-dimensional part assembly error self-adaptive compensation system.
Background
Precision assembly is an assembly operation that requires very high precision of fit between assembled parts. For a long time, the precision assembly of parts is always an important link of precision manufacturing, and the quality of the assembly link has important influence on the performance of products. With the rapid development of science and technology, the automation level of part assembly is higher and higher, and the parts assembly method is mainly embodied in the aspects of large-batch part assembly, product quality and stability guarantee, labor productivity improvement, production cost reduction and the like. In the working mode of precision assembly of parts, the assembly operation of shaft hole parts occupies the main part in the whole assembly, for example, the assembly of a pin shaft and a shaft hole, the assembly of a bearing and a shaft and the like all belong to the shaft hole assembly. However, when the robot performs such a precision assembling operation, due to uncertainty of an assembling environment and even an unexpected situation, even a slight deviation between the assembling parts may cause the assembling parts to be unable to be assembled, and even the assembling parts and peripheral equipment to be damaged.
At present, the modes for realizing precision assembly mainly comprise an active mode and a passive mode. The former includes driver, transmission mechanism, sensors (visual, tactile and force sense sensors) and controller, etc. the assembling system uses various sensors to detect the assembling information and feed the information back to the controller, and the precise control of the driver is realized through control algorithm. The active assembly mode mainly depends on precision equipment to improve assembly precision and efficiency, and the performance of the equipment directly influences the assembly effect. This approach is technically difficult and not economically feasible. The passive assembly mode is a mode of eliminating assembly errors of parts by utilizing passive deformation generated by a flexible/elastic mechanism under the action of assembly force, and the self-adaptive assembly mode does not need precise equipment and a complex control algorithm, so that the passive assembly mode becomes a research hotspot in the assembly field at present.
The existing passive adaptive assembly system mainly has the following three problems: firstly, the self-adaptive error range is small, and particularly, the tilt error compensation capability along the three directions of x/y/z is limited, so that the application range of the device is limited; secondly, the assembly error in a certain direction can be compensated, so that the assembly system can only be used in a certain specific occasion and has no universality. For spatial six-degree-of-freedom motion (three translations and three rotations), only motion errors in the vertical direction do not need to be compensated, and the rest assembly errors in the five directions need to be eliminated by the adaptive compensation device, so that the compensation device has five passive degrees of freedom; and thirdly, the assembly system needs a mechanical hand grip to grab or release the part besides a compensation device for eliminating assembly errors. Gripper fingers are often used in the industry, which, although simple, are all gripping in a centered manner, i.e. the fingers move or stop at the same time and cannot move in coordination with each other. When grabbing the assembly part, even if there is a tiny position error between the manipulator and the part, it will result in a larger contact force, and further damage the part or the manipulator. Although a variety of adaptive manipulators have emerged, which can automatically adapt to the shape of a part and eliminate positional errors between the manipulator and the part, they generally have the disadvantages of complex structure, high cost, and the like. In addition, although the soft adaptive robot is simple and inexpensive, it cannot be used for precision assembly due to its redundant degree of freedom.
Disclosure of Invention
To achieve the above and other related objects, the present invention provides an adaptive compensation system for assembly error of all-directional parts, which is used to solve the above-mentioned problems of the adaptive assembly system in the prior art.
The invention provides an omnibearing part assembly error self-adaptive compensation system which comprises a mounting base, a modularized XY parallel flexible motion platform, a six-degree-of-freedom flexible motion platform, a three-degree-of-freedom inclination error compensation device and a pneumatic self-adaptive manipulator, wherein the mounting base is provided with a plurality of X-Y parallel flexible motion platforms; the mounting base is positioned above the modularized XY parallel flexible motion platform and connected with the modularized XY parallel flexible motion platform; the six-degree-of-freedom flexible motion platform is positioned between the mounting base and the modular XY parallel flexible motion platform and is fixed on the modular XY parallel flexible motion platform; the three-degree-of-freedom inclination error compensation device is connected with the six-degree-of-freedom flexible platform through a straight rod penetrating through the modular XY parallel flexible motion platform; and the pneumatic self-adaptive manipulator is positioned on one side of the three-degree-of-freedom inclination angle error compensation device, which is far away from the six-degree-of-freedom flexible motion platform, and is connected with the three-degree-of-freedom inclination angle error compensation device.
Optionally, the modularized XY parallel flexible motion platform comprises a disc and a plurality of embedded XY flexible moving modules, the plurality of embedded XY flexible moving modules are fixed on the periphery of the disc and are arranged at intervals along the circumferential direction of the disc, and a central through hole is formed in the disc; the mounting base is connected with the end face, away from the pneumatic self-adaptive manipulator, of the embedded XY flexible module; the six-degree-of-freedom flexible motion platform is positioned between the mounting base and the disc and is fixed on the disc; the straight rod penetrates through the central through hole.
Optionally, the mosaic XY flexible moving module includes a first flexible moving unit and a second flexible moving unit, the first flexible moving unit is mosaic to the lower end of the second flexible moving unit, and the moving directions of the first flexible moving unit and the second flexible moving unit are orthogonal; the first flexible moving unit and the second flexible unit respectively comprise two flexible reeds which are arranged in parallel at intervals.
Optionally, the six-degree-of-freedom series-parallel flexible motion platform comprises an outer circular ring, a plurality of flexible branched chains, an inner circular ring, a central ring and a plurality of short reeds; the inner ring is positioned at the periphery of the central ring, and the outer ring is positioned at the periphery of the inner ring; one end of the flexible branched chain is connected with the inner side of the outer circular ring, and the other end of the flexible branched chain is connected with the outer side of the inner circular ring; one end of the short spring leaf is connected with the inner side of the inner circular ring, and the other end of the short spring leaf is connected with the outer side of the center ring.
Optionally, the plurality of flexible branched chains include a first flexible branched chain, a second flexible branched chain and a third flexible branched chain, and the first flexible branched chain, the second flexible branched chain and the third flexible branched chain are uniformly distributed at intervals along the circumferential direction of the outer ring; the plurality of short reeds comprise a first short reed, a second short reed, a third short reed and a fourth short reed, and the first short reed, the second short reed, the third short reed and the fourth short reed are uniformly distributed at intervals along the circumferential direction of the inner ring.
Optionally, the three-degree-of-freedom inclination error compensation device includes a joint head, a joint socket, the straight rod, a first air inlet nozzle and an air outlet hole; the joint head is spherical, the joint socket is positioned on one side of the joint head far away from the pneumatic self-adaptive manipulator, one side of the joint socket close to the joint head is a spherical concave surface, the center of the joint socket is superposed with the center of the joint head, and a gap is formed between the joint socket and the joint head; an annular cavity is formed in one side, away from the joint head, of the joint socket; one end of the straight rod is connected with the joint head, and the other end of the straight rod penetrates through the joint socket and extends to one side, far away from the joint head, of the joint socket; the first air inlet nozzle is positioned on the side surface of the joint socket and communicated with the annular cavity; the air outlet is located on the bottom surface of the annular cavity and communicates the annular cavity with the gap.
Optionally, the annular cavity has an annular groove on both the inside and outside; the three-degree-of-freedom inclination angle error compensation device further comprises a first O-shaped ring and a second O-shaped ring, and the first O-shaped ring and the second O-shaped ring are respectively located in the annular grooves on the inner side and the outer side of the annular cavity.
Optionally, the pneumatic adaptive manipulator comprises a first finger, a second finger, a first spring, a second spring, a shell, a second air inlet nozzle, a first sealing ring, a first supporting ring, a second sealing ring, a third sealing ring, a second supporting ring and a fourth sealing ring; a cavity is formed in the shell; the first finger and the second finger are respectively partially inserted into two opposite ends of the cavity so as to form a U-shaped cavity in the shell; the first spring secures the first finger to the housing and the second spring secures the second finger to the housing; the second air inlet nozzle is communicated with the U-shaped cavity body; the first support ring is mounted on the first finger between a portion of the first finger inserted into the cavity and the housing; the second support ring is mounted on the second finger between the portion of the second finger inserted into the cavity and the housing; the first sealing ring and the second sealing ring are located between the part of the first finger inserted into the cavity and the shell and are respectively located on two opposite sides of the first supporting ring, and the third sealing ring and the fourth sealing ring are located between the part of the second finger inserted into the cavity and the shell and are respectively located on two opposite sides of the second supporting ring.
Optionally, the pneumatic adaptive manipulator further comprises a first installation plug, a second installation plug, a third installation plug, a fourth installation plug and a fifth installation plug; the first installation plug, the second installation plug, the third installation plug, the fourth installation plug and the fifth installation plug are distributed along the circumferential direction of the shell.
As described above, the adaptive compensation system for the assembly error of the omnidirectional part of the invention has the following beneficial effects: the self-adaptive compensation system for the assembly error of the omnibearing part has the advantages of simple and compact structure, low cost, easiness in disassembly, no-friction large-range movement along the x/y axis, large-angle rotation of the x/y/z axis, self-adaption lossless part grabbing and omnibearing part assembly error elimination.
Drawings
Fig. 1 is a schematic view of a component assembly.
Fig. 2 is a schematic perspective view of an adaptive compensation system for assembly errors of omni-directional components according to the present invention.
Fig. 3 is an exploded view of the adaptive compensation system for the assembly error of the omni-directional component of the present invention.
FIG. 4 is a schematic diagram of the adaptive compensation system for the assembly error of the omnidirectional parts.
Fig. 5 is a schematic structural diagram of a modular XY parallel flexible motion platform in the adaptive compensation system for assembly errors of omnidirectional parts according to the present invention.
FIG. 6 is a schematic structural diagram of an embedded XY flexible moving module in the modular XY parallel flexible motion platform according to the present invention; fig. 6 (a) is a schematic structural view of the mounted XY flexible mobile module, and fig. 6 (b) is a schematic structural view of the mounted XY flexible mobile module before mounting.
Fig. 7 is a schematic structural diagram of a six-degree-of-freedom series-parallel flexible motion platform of the present invention.
FIG. 8 is a working schematic diagram of a flexible branched chain in a six-degree-of-freedom series-parallel flexible motion platform of the present invention.
FIG. 9 is a schematic diagram of a six-DOF series-parallel flexible motion platform of the present invention moving in different DOFs; wherein, the diagram (a) in fig. 9 is a schematic diagram of the six-degree-of-freedom serial-parallel flexible motion platform moving along the left-right direction, the diagram (b) in fig. 9 is a schematic diagram of the six-degree-of-freedom serial-parallel flexible motion platform moving along the front-back direction, and the diagram (c) in fig. 9 is a schematic diagram of the six-degree-of-freedom serial-parallel flexible motion platform rotating along the circumferential direction.
Fig. 10 is an exploded view of the three-degree-of-freedom tilt angle error compensation apparatus according to the present invention.
Fig. 11 is a cross-sectional view of the three-degree-of-freedom tilt error compensation apparatus of the present invention.
Fig. 12 is a schematic perspective view of the pneumatic adaptive robot of the present invention.
Fig. 13 is a cross-sectional view of the pneumatic adaptive robot of the present invention.
Element number description: 1. error compensation device, 2, gripper robot, 3, assembly part, 4, base, 5, assembly hole, 11, mounting base, 12, modular XY parallel flexible motion platform, 121, mosaic XY flexible motion module, 122, disk, 1211, first flexible moving unit, 1212, second flexible moving unit, 1213, first connection position, 1214, second connection position, 1215, flexible reed, 13, six-degree-of-freedom flexible motion platform, 1300, mechanism gap, 1301, outer circular ring, 1302, first flexible branched chain, 1303, second flexible branched chain, 1304, third flexible branched chain, 1305, inner circular ring, 1306, central ring, 1307, first short reed, 1308, second short reed, 1309, third short reed, 1310, fourth short reed, 14, inclination error compensation device, 1401, joint head, 1402, joint socket, 1403, straight rod, first air inlet nozzle, 1406. the pneumatic self-adaptive mechanical arm comprises a first O-shaped ring, 1407, a second O-shaped ring, 1408, an annular cavity, 1409, an air outlet, 1410, an air film, 15, a pneumatic self-adaptive mechanical arm, 501, a first finger, 502, a second finger, 503, a first spring, 504, a second spring, 505, a shell, 506, a first mounting plug, 507, a second mounting plug, 508, a third mounting plug, 509, a fourth mounting plug, 510, a fifth mounting plug, 511, a U-shaped cavity, 512, a second air inlet nozzle, 513, a first sealing ring, 514, a first supporting ring, 515, a second sealing ring, 516, a third sealing ring, 517, a second supporting ring, 518, a fourth sealing ring, 20 and assembling parts.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
A part assembling system is shown in figure 1, a gripper mechanical arm 2 arranged at the tail end of an error compensation device 1 is utilized to grab an assembling part 3, the assembling part 3 is inserted into an assembling hole 5 in a base 4, and a chamfer is arranged on the assembling hole 5 to play a guiding role. For cylindrical parts, the assembly system only needs to have four-direction degrees of freedom (x, y, thetax and thetay) to complete the shaft hole assembly task; for square parts or other variants, the assembly system needs to have five passive degrees of freedom (x, y, thetax, thetay, thetaz) to be able to adaptively eliminate assembly errors in order to insert them into the assembly holes 5.
Example one
Referring to fig. 2 and 3, the present invention provides an omnibearing part assembly error adaptive compensation system, including a mounting base 11, a modular XY parallel flexible motion platform 12, a six-degree-of-freedom flexible motion platform 13, a three-degree-of-freedom inclination error compensation device 14 and a pneumatic adaptive manipulator 15; the mounting base 11 is positioned above the modularized XY parallel flexible motion platform 12 and is connected with the modularized XY parallel flexible motion platform 12; the six-degree-of-freedom flexible motion platform 13 is positioned between the mounting base 11 and the modular XY parallel flexible motion platform 12 and is fixed on the modular XY parallel flexible motion platform 13; the three-degree-of-freedom inclination error compensation device 14 is connected with the six-degree-of-freedom flexible platform 13 through a straight rod 1403 penetrating through the modular XY parallel flexible motion platform 13; the pneumatic adaptive manipulator 15 is located on one side of the three-degree-of-freedom inclination angle error compensation device 14, which is far away from the six-degree-of-freedom flexible motion platform 13, and is connected with the three-degree-of-freedom inclination angle error compensation device 14.
The self-adaptive compensation system for the assembly error of the omnibearing part has the advantages of simple and compact structure, low cost, easiness in disassembly, no-friction large-range movement along the x/y axis, large-angle rotation of the x/y/z axis, self-adaption lossless part grabbing and omnibearing part assembly error elimination.
It should be noted that the three-degree-of-freedom tilt angle compensation device 14 is actually a three-degree-of-freedom spherical joint when viewed from a motion state.
It should be further noted that, as shown in fig. 4, there is a mechanism gap 1300 between the six-degree-of-freedom flexible motion platform 13 and the three-degree-of-freedom inclination error compensation device 14.
Referring to fig. 4 in conjunction with fig. 2 and fig. 3, a working schematic diagram of the adaptive compensation system for assembly error of omnidirectional element according to the present invention is shown, wherein the O point is the spherical center of the spherical joint with three degrees of freedom. When the fitting part 20 is inserted into the fitting hole, the fitting part 20 may be subjected to a contact force or moment applied from the fitting hole due to the presence of the fitting error. When the contact force is Fx along the x axis, the three-degree-of-freedom spherical joint does not rotate, so that the six-degree-of-freedom flexible motion platform 13 does not generate any deformation, and the modularized XY parallel flexible motion platform 12 generates deformation along the x axis under the action of the contact force to eliminate assembly errors; when the contact moment is My along the y axis, the three-degree-of-freedom spherical joint generates a rotation angle along the y axis around the spherical center O of the three-degree-of-freedom spherical joint so as to eliminate assembly errors, and the six-degree-of-freedom flexible motion platform generates 13 passive deformation, while the modular XY parallel flexible motion platform 12 does not generate any deformation.
Example two
Referring to fig. 5 to 6 in conjunction with fig. 3, the modular XY parallel flexible motion platform 12 includes a circular disc 122 and a plurality of embedded XY flexible moving modules 121, the plurality of embedded XY flexible moving modules 121 are fixed on the periphery of the circular disc 122 and are arranged at intervals along the circumferential direction of the circular disc 122, and a central through hole (not shown) is formed in the circular disc 122; the mounting base 11 is connected with the end face, away from the pneumatic adaptive manipulator 15, of the embedded XY flexible module 121; the six-degree-of-freedom flexible motion platform 13 is positioned between the mounting base 11 and the disc 122 and is fixed on the disc 122; the straight bar 1403 penetrates the central through hole (not shown).
As an example, as shown in fig. 6, the mosaic XY flexible movement module 121 includes a first flexible movement unit 1211 and a second flexible movement unit 1212, the first flexible movement unit 1211 is mosaic to the lower end of the second flexible unit 1212, and the movement directions of the first flexible movement unit 1211 and the second flexible movement unit 1212 are orthogonal; the first flexible moving unit 1211 and the second flexible unit 1212 each include two flexible reeds 1215 arranged in parallel at a distance. The arrangement direction of the two flexible reeds 1215 of the first flexible moving unit 1211 is orthogonal to the arrangement direction of the two flexible reeds 1215 of the second moving unit 1212.
Referring to fig. 7 to fig. 9 in conjunction with fig. 3, the six-degree-of-freedom serial-parallel flexible motion platform 13 includes an outer circular ring 1301, a plurality of flexible branched chains, an inner circular ring 1305, a central ring 1306, and a plurality of short reeds; the inner ring 1305 is located at the periphery of the central ring 1306, and the outer ring 1301 is located at the periphery of the inner ring 1305; one end of the flexible branched chain is connected with the inner side of the outer ring 1301, and the other end of the flexible branched chain is connected with the outer side of the inner ring 1305; the short spring is connected to the inside of the inner ring 1305 at one end and to the outside of the central ring 1306 at the other end.
As an example, the plurality of flexible branched chains include a first flexible branched chain 1302, a second flexible branched chain 1303 and a third flexible branched chain 1304, where the first flexible branched chain 1302, the second flexible branched chain 1303 and the third flexible branched chain 1304 are uniformly distributed at intervals along the circumferential direction of the outer ring 1301; the plurality of short reeds comprise a first short reed 1307, a second short reed 1308, a third short reed 1309 and a fourth short reed 1310, and the first short reed 1307, the second short reed 1308, the third short reed 1309 and the fourth short reed 1310 are uniformly distributed at intervals along the circumferential direction of the inner ring 1305.
Further, the six-degree-of-freedom series-parallel flexible motion platform 13 is formed by processing a single material. The flexible branched chains have the same structure, and in this embodiment, there are three flexible branched chains, and the three flexible branched chains are arranged at 120 ° intervals, that is, the first flexible branched chain 1302, the second flexible branched chain 1303, and the third flexible branched chain 1304 are arranged at 120 ° intervals.
As shown in fig. 8, taking the first flexible branched chain 1302 as an example, the first flexible branched chain 1302 includes a flexible short beam a1B1Diamond flexible structure B1B2B3B4Heluo RouShort sexual girder B4C1. The two flexible short beams generate bending deformation under the action of an external moment M, and can be equivalent to a revolute pair (R) according to a pseudo-rigid body model method; the diamond-shaped flexible structure can generate linear motion under the action of an external force F and can be equivalent to a moving pair (P). Therefore, the outer ring mechanism is in a 3-RPR configuration, so that the inner ring 1305 can generate three-degree-of-freedom planar motion (x, y, θ z), as shown in fig. 9. Center ring 1306 is coupled to inner ring 1305 by first short spring 1307, second short spring 1308, third short spring 1309, and fourth short spring 1310, each of which can be deformed in bending or torsion, and center ring 1306 can be moved out of plane in three degrees of freedom (z, thetax, thetay) (not shown). Considering that the outer ring 1301 is connected in series with the inner ring 1305, eventually the central ring 1306 has six degrees of freedom of movement.
Referring to fig. 10 and fig. 11 in conjunction with fig. 3, the three-degree-of-freedom tilt angle error compensation apparatus 14 includes a joint head 1401, a socket 1402, a straight rod 1403, a first air inlet nozzle 1405 and an air outlet hole 1409; the articulated head 1401 is a spherical surface, the articulated socket 1402 is positioned on the side of the articulated head 1401 far away from the pneumatic adaptive manipulator 15, the side of the articulated socket 1402 adjacent to the articulated head 1401 is a spherical concave surface, the center of the articulated socket 1402 is coincided with the center of the articulated head 1401, and a gap is arranged between the articulated socket 1402 and the articulated head 1401; the side of the socket 1402 away from the joint head 1401 is provided with an annular cavity 1408; one end of the straight rod 1403 is connected with the joint head 1401, and the other end of the straight rod penetrates through the joint socket 1402 and extends to one side, away from the joint head 1401, of the joint socket 1402; the first inlet nozzle 1405 is located on the side of the socket 1402 and communicates with the annular cavity 1408; the air outlet holes 1409 are located on the bottom surface of the annular cavity 1408, and the air outlet holes 1409 communicate the annular cavity 1408 with the gap.
Illustratively, the annular cavity 1408 has annular grooves on both the inside and outside; the three-degree-of-freedom tilt angle error compensation device 14 further includes a first O-ring 1406 and a second O-ring 1407, wherein the first O-ring 1406 and the second O-ring 1407 are respectively located in the annular grooves inside and outside the annular cavity 1408 for sealing. Gas enters the annular cavity 1408 from the first inlet nozzle 1405 and then reaches the gap between the joint head 1401 and the socket 1402 through the outlet holes 1409, and an air film 1410 is formed at the gap, wherein the thickness of the air film 1410 is usually several tens of micrometers. The articulating head 1401 may rotate about its center without friction due to the presence of the air film 1410.
Referring to fig. 12 and 13 in conjunction with fig. 3, the pneumatic adaptive robot 15 includes a first finger 501, a second finger 502, a first spring 503, a second spring 504, a housing 505, a second inlet nozzle 512, a first sealing ring 513, a first supporting ring 514, a second sealing ring 515, a third sealing ring 516, a second supporting ring 517, and a fourth sealing ring 518; a cavity is formed in the housing 505; the first finger 501 and the second finger 502 are partially inserted into two opposite ends of the cavity, respectively, so as to form a U-shaped cavity 511 in the housing 505; the first spring 503 fixes the first finger 502 to the housing 505, and the second spring 504 fixes the second finger 502 to the housing 505; the second air inlet nozzle 512 is communicated with the U-shaped cavity body 511; the first support ring 514 is mounted on the first finger 501 between the portion of the first finger 501 inserted into the cavity and the housing 505; the second support ring 517 is mounted on the second finger 502 between the portion of the second finger 502 inserted into the cavity and the housing 505; the first sealing ring 513 and the second sealing ring 515 are located between the portion of the first finger 501 inserted into the cavity and the housing 505 and located on two opposite sides of the first support ring 514, respectively, and the third sealing ring 516 and the fourth sealing ring 518 are located between the portion of the second finger 502 inserted into the cavity and the housing 505 and located on two opposite sides of the second support ring 517, respectively.
As an example, the pneumatic adaptive manipulator 15 further includes a first installation plug 506, a second installation plug 507, a third installation plug 508, a fourth installation plug 509, and a fifth installation plug 510; the first mounting plug 506, the second mounting plug 507, the third mounting plug 508, the fourth mounting plug 509, and the fifth mounting plug 510 are distributed along the circumferential direction of the housing 505.
By way of example, the first support ring 514 is mounted on the first finger 501 and functions as a support and linear motion guide, the second seal ring 515 functions as a dust seal to prevent dust from entering the U-shaped cavity 511, the second support ring 517 is mounted on the second finger 502 and functions as a support and linear motion guide, the third seal ring 516 functions as a dust seal in general, and the first seal ring 513 and the fourth seal ring 518 function to seal the gas inside the U-shaped cavity 511. When the pneumatic manipulator 15 is not supplied with gas, the first finger 501 and the second finger return to the initial positions under the tensile forces of the first spring 503 and the second spring 504, respectively. The adaptive grabbing of the pneumatic manipulator 15 mainly comprises the following three processes: firstly, when neither finger of the pneumatic manipulator 15 touches the gripped part, gas enters the U-shaped cavity 511 through the second gas inlet nozzle 512, and pushes the first finger 501 and the second finger 502 to move synchronously; secondly, if the first finger 501 first touches the workpiece and the gas is blocked at the end of the first finger 501, the pneumatic robot 15 will continue to push the second finger 502 until both the first finger 501 and the second finger 502 touch the workpiece, because the fingers cannot touch the workpiece at the same time due to positioning or part machining tolerance, etc.; thirdly, when the first finger 501 and the second finger 502 touch the component, the first finger 501 and the second finger 502 grip the component simultaneously under the action of gas, and since the gas pressure in the U-shaped cavity is the same, the gripping force applied by the first finger 501 and the second finger 502 is the same, and uniformity and consistency of the gripping force are realized. The pneumatic self-adaptive manipulator 15 is of a two-finger structure, the structure can cause unstable grasping (namely, the part slides relative to the manipulator) when grasping the special-shaped part, and according to the design principle of the manipulator, the two-finger manipulator is easily changed into a three-finger manipulator, so that the unstable grasping condition of the two-finger manipulator is eliminated, and a three-finger manipulator model in the invention is not shown.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. An omnibearing part assembly error self-adaptive compensation system is characterized by comprising an installation base, a modularized XY parallel flexible motion platform, a six-degree-of-freedom flexible motion platform, a three-degree-of-freedom inclination error compensation device and a pneumatic self-adaptive manipulator; the mounting base is positioned above the modularized XY parallel flexible motion platform and connected with the modularized XY parallel flexible motion platform; the six-degree-of-freedom flexible motion platform is positioned between the mounting base and the modular XY parallel flexible motion platform and is fixed on the modular XY parallel flexible motion platform; the three-degree-of-freedom inclination error compensation device is connected with the six-degree-of-freedom flexible platform through a straight rod penetrating through the modular XY parallel flexible motion platform; the pneumatic self-adaptive manipulator is positioned on one side of the three-degree-of-freedom inclination angle error compensation device, which is far away from the six-degree-of-freedom flexible motion platform, and is connected with the three-degree-of-freedom inclination angle error compensation device; the modularized XY parallel flexible motion platform comprises a disc and a plurality of embedded XY flexible moving modules, the plurality of embedded XY flexible moving modules are fixed on the periphery of the disc and are arranged at intervals along the circumferential direction of the disc, and a central through hole is formed in the disc; the mounting base is connected with the end face, away from the pneumatic self-adaptive manipulator, of the embedded XY flexible moving module; the six-degree-of-freedom flexible motion platform is positioned between the mounting base and the disc and is fixed on the disc; the straight rod penetrates through the central through hole.
2. The adaptive compensation system for assembly error of omni-directional parts according to claim 1, wherein: the embedded XY flexible moving module comprises a first flexible moving unit and a second flexible moving unit, the first flexible moving unit is embedded at the lower end part of the second flexible moving unit, and the motion directions of the first flexible moving unit and the second flexible moving unit are orthogonal; the first flexible moving unit and the second flexible moving unit respectively comprise two flexible reeds which are arranged in parallel at intervals.
3. The adaptive compensation system for assembly error of omni-directional parts according to claim 1, wherein: the six-degree-of-freedom flexible motion platform comprises an outer circular ring, a plurality of flexible branched chains, an inner circular ring, a central ring and a plurality of short reeds; the inner ring is positioned at the periphery of the central ring, and the outer ring is positioned at the periphery of the inner ring; one end of the flexible branched chain is connected with the inner side of the outer circular ring, and the other end of the flexible branched chain is connected with the outer side of the inner circular ring; one end of the short spring leaf is connected with the inner side of the inner circular ring, and the other end of the short spring leaf is connected with the outer side of the center ring.
4. The adaptive compensation system for assembly error of omni-directional component according to claim 3, wherein the plurality of flexible branched chains comprises a first flexible branched chain, a second flexible branched chain and a third flexible branched chain, and the first flexible branched chain, the second flexible branched chain and the third flexible branched chain are uniformly distributed at intervals along the circumferential direction of the outer ring; the plurality of short reeds comprise a first short reed, a second short reed, a third short reed and a fourth short reed, and the first short reed, the second short reed, the third short reed and the fourth short reed are uniformly distributed at intervals along the circumferential direction of the inner ring.
5. The adaptive compensation system for assembly error of omni-directional parts according to claim 1, wherein: the three-degree-of-freedom inclination error compensation device comprises a joint head, a joint socket, the straight rod, a first air inlet nozzle and an air outlet hole; the joint head is spherical, the joint socket is positioned on one side of the joint head far away from the pneumatic self-adaptive manipulator, one side of the joint socket close to the joint head is a spherical concave surface, the center of the joint socket is superposed with the center of the joint head, and a gap is formed between the joint socket and the joint head; an annular cavity is formed in one side, away from the joint head, of the joint socket; one end of the straight rod is connected with the joint head, and the other end of the straight rod penetrates through the joint socket and extends to one side, far away from the joint head, of the joint socket; the first air inlet nozzle is positioned on the side surface of the joint socket and communicated with the annular cavity; the air outlet is located on the bottom surface of the annular cavity and communicates the annular cavity with the gap.
6. The adaptive compensation system for assembly error of omni-directional parts according to claim 5, wherein: the inner side and the outer side of the annular cavity are both provided with annular grooves; the three-degree-of-freedom inclination angle error compensation device further comprises a first O-shaped ring and a second O-shaped ring, and the first O-shaped ring and the second O-shaped ring are respectively located in the annular grooves on the inner side and the outer side of the annular cavity.
7. The adaptive compensation system for assembly error of omni-directional parts according to claim 1, wherein: the pneumatic self-adaptive manipulator comprises a first finger, a second finger, a first spring, a second spring, a shell, a second air inlet nozzle, a first sealing ring, a first supporting ring, a second sealing ring, a third sealing ring, a second supporting ring and a fourth sealing ring; a cavity is formed in the shell; the first finger and the second finger are respectively partially inserted into two opposite ends of the cavity so as to form a U-shaped cavity in the shell; the first spring secures the first finger to the housing and the second spring secures the second finger to the housing; the second air inlet nozzle is communicated with the U-shaped cavity body; the first support ring is mounted on the first finger between a portion of the first finger inserted into the cavity and the housing; the second support ring is mounted on the second finger between the portion of the second finger inserted into the cavity and the housing; the first sealing ring and the second sealing ring are located between the part of the first finger inserted into the cavity and the shell and are respectively located on two opposite sides of the first supporting ring, and the third sealing ring and the fourth sealing ring are located between the part of the second finger inserted into the cavity and the shell and are respectively located on two opposite sides of the second supporting ring.
8. The adaptive compensation system for assembly error of omni-directional parts according to claim 7, wherein: the pneumatic self-adaptive manipulator further comprises a first mounting plug, a second mounting plug, a third mounting plug, a fourth mounting plug and a fifth mounting plug; the first installation plug, the second installation plug, the third installation plug, the fourth installation plug and the fifth installation plug are distributed along the circumferential direction of the shell.
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