CN103769859A - Assembling platform and method of parallel robot - Google Patents
Assembling platform and method of parallel robot Download PDFInfo
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- CN103769859A CN103769859A CN201410054860.3A CN201410054860A CN103769859A CN 103769859 A CN103769859 A CN 103769859A CN 201410054860 A CN201410054860 A CN 201410054860A CN 103769859 A CN103769859 A CN 103769859A
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- slide block
- mounting plate
- parallel robot
- follower lever
- limited block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
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Abstract
The invention relates to an assembling platform of rod pieces of a parallel robot and a method for using the platform to assemble driving rods and driven rods of the parallel robot. The assembling platform comprises a base, a turntable, two guide rails, a sliding block, a stop block and a measuring instrument, wherein the base is provided with an upper flat surface A; the turntable which is assembled in a positioning hole of the upper flat surface A can horizontally rotate around a rotating shaft M1 relative to the base; the two guide rails are parallelly mounted on the upper flat surface A of the base; the sliding block can slide along the guide rails, and a positioning part which is mounted on the sliding block can horizontally rotate around a rotating shaft M2 relative to the sliding block; the stop block is used for positioning the sliding block; the measuring direction of the measuring instrument is the same as the extension direction of the guide rails, and the measuring instrument is used for measuring the distance between the rotating shaft M1 and the rotating shaft M2. The assembling platform is simple in structure, convenient to mount, high in assembling precision, and good in consistency.
Description
Technical field
The application relates to a kind of mounting plate and assembly method, especially relates to a kind of rod member mounting plate for parallel robot, and utilizes the method for this mounting plate assembling parallel robot drive rod, follower lever.
Background technology
It is strong that parallel robot has bearing capacity, and rigidity is large, precision advantages of higher, is therefore widely used in production line, as the simple repeated work of vanning, sorting and so on, to reduce human cost, and can enhance productivity.Especially in some high-speed automated production lines, because the pay(useful) load of parallel robot is along with the rising of speed reduces, therefore, in order to promote the pay(useful) load of parallel manipulator, a lot of manufacturers of robot, as ABB, ADEPT, FANUC etc., the carbon fibre material that many service property (quality)s are light, intensity is high is as the arm body part of robot.
Wherein, Delta parallel robot is a kind of typical four-freedom parallel device people, is to commercially produce at present the most successfully one of parallel robot of application on line.Company of each large-scale robot produces the parallel robot having based on Delta mechanism, and its rod member is all the carbon fiber pipes that adopt.But in prior art, also these rod members are not assembled, also can be guaranteed the instrument of each rod member assembly precision.
Summary of the invention
In view of the problems referred to above that exist in current high speed parallel robot assembling process, the object of the invention is: a kind of simple in structure, parallel robot rod member mounting plate that positioning precision is high, easy to use is provided and utilizes the method for this mounting plate assembling parallel robot drive rod, follower lever.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of parallel robot rod member mounting plate, is characterized in that comprising:
Pedestal, described pedestal has upper flat surface A;
Turntable, described turntable is assemblied in a locating hole of described upper flat surface A, and can with respect to pedestal around the shaft M1 horizontally rotate;
Guide rail, described guide rail is two, and on the parallel upper flat surface A that is installed on pedestal;
Slide block, described slide block can slide along described guide rail, and on described slide block, positioning element is installed, described positioning element with respect to described slide block around the shaft M2 horizontally rotate;
Limited block, described limited block is for locating the position of described slide block;
Measuring instrument, the direction of measurement of described measuring instrument is identical with the bearing of trend of described guide rail, for measuring the distance between described rotating shaft M1 and described rotating shaft M2.
According to one embodiment of the present invention, described measuring instrument is grating scale, and the movable block of described grating scale is connected with described slide block.
According to one embodiment of the present invention, described positioning element is bearing pin.
The present invention also provides a kind of method of assembling parallel robot drive rod, it is characterized in that: utilize above-mentioned mounting plate of the present invention, and comprise the following steps:
(1) described mounting plate is carried out to initialization of calibration;
(2) according to the length of required drive rod, described slide block (7) and described limited block (10) are adjusted to after assigned address, described limited block (10) is fixed on described pedestal (1);
(3) described drive rod (4) is connected with the first adapter (3), and is together fixed on described turntable (2);
(4) the described slide block (7) that slides, is fixed on the second adapter (5) on described positioning element;
(5) the described slide block (7) that again slides makes it near described limited block (10), described drive rod (4) other end is inserted in described the second adapter (5), and be fastenedly connected.
The present invention also provides a kind of method of assembling parallel robot follower lever, it is characterized in that: utilize above-mentioned mounting plate of the present invention, and comprise the following steps:
(1) described mounting plate is carried out to initialization of calibration;
(2) fixture (14) is installed on described turntable (2);
(3) medium position of described follower lever (13) is clamped in to described fixture (14) above, described follower lever (13) is near one end jointing (17) of described slide block (7);
(4) the described slide block (7) that slides, makes described positioning element coordinate with described joint (17), records the now reading e of measuring instrument;
(5) according to the length of required follower lever, and the gage readings e recording in (4) step, the position that limited block (10) should move to described in reverse; Slide described limited block (10) to described position, and be fixed on described pedestal (1);
(6) adapter (16) is connected with described positioning element, and the described slide block (7) that slides makes it near described limited block (10);
(7) after described follower lever (13) is rotated to 180 ° around rotating shaft M1, described follower lever (13) is inserted in described adapter (16) near one end of described slide block (7), and be fastenedly connected.
According to technical scheme of the present invention, can realize following beneficial effect:
(1) mounting plate is simple in structure, and precision is high;
(2) can adapt to the installation requirement of different rod members;
(3) fitting operation is convenient, and speed is fast, and assembly precision is high;
(4) assembling rod member high conformity.
Accompanying drawing explanation
Fig. 1 is Delta parallel robot schematic diagram;
Fig. 2 A, 2B are parallel robot drive rod assembling process schematic diagram;
Fig. 3 A, 3B are parallel robot follower lever assembling process schematic diagram.
The specific embodiment
In conjunction with the following drawings embodiments of the present invention are described and are understood technical scheme of the present invention is become more obviously and easily.
With reference to accompanying drawing 1, the structure of Delta parallel robot is as follows:
This mechanism comprises a silent flatform 11, a moving platform 12 and three side chains that are connected these two platforms.These three branched structures are identical, and are 120 ° and are arranged symmetrically with.Every side chain is made up of drive rod 4 and follower lever 13.Drive rod 4 is upper and lower revolute pair with silent flatform 11, and drive rod 4 thinks that with follower lever 13 Hooke's hinge is connected, follower lever 13 with moving platform 12 also for Hooke's hinge is connected.
Because the length direction of L1 does not overlap with carbon fiber pipe center, more difficult measurement when assembling, therefore precision is difficult to guarantee; And the length of L2 is large, while therefore measurement, be also difficult to guarantee its precision.
To sum up reason, utilizes parallel robot rod member mounting plate of the present invention can well guarantee its installation accuracy.
With reference to accompanying drawing 2 and accompanying drawing 3, parallel robot rod member mounting plate structure of the present invention is as follows: comprise pedestal 1, described pedestal 1 has upper flat surface A, and the machining accuracy of this surfaces A and upper locating hole thereof is all higher, for other parts of location and installation; Turntable 2, is assemblied in the locating hole of flat surface A on pedestal 1, described turntable 2 and described locating hole interference fits, and, turntable 2 can with respect to pedestal 1 around the shaft M1 on upper flat surface A, do to horizontally rotate; Described turntable 2 can be fixed rod member and the adapter thereof of parallel robot, and horizontally rotates with rod member.In addition, also can be by the size of replacing turntable 2 to adapt to the matching requirements of different big or small rod members.Two guide rails that are parallel to each other 9 are also installed on upper flat surface A, the slide block 7 that can slide along guide rail is also housed on described guide rail 9, bearing pin 6 is housed on slide block 7, this bearing pin 6 and slide block 7 interference fits, and described bearing pin 6 can be done to horizontally rotate along rotating shaft M2 with respect to described slide block 7.Described bearing pin 6 can fixed beam adapter, and horizontally rotates with adapter; The direction translational that described slide block 7 can drive described bearing pin 6 and rod member adapter to extend along described guide rail 9.The center of described two guide rails 9 overlaps with the projection of rod member to be assembled on upper flat surface A.Limited block 10, for locating the position of described slide block 7, in the time of needs rod member length how long, just this limited block 10 is moved to this assigned address, and be fixed on pedestal 1, when assembling, only slide block 7 need be close to this limited block 10 length accuracy that can guarantee rod member is installed.Described mounting plate also comprises grating scale, and its movable block is connected with described slide block 7, for measuring the distance of the central rotating shaft M2 of described slide block 7 with respect to the central rotating shaft M1 of turntable 2; The direction of measurement of grating scale is parallel with described guide rail 9, to guarantee that the measurement length of grating scale is exactly the physical length of rod member to be assembled.Other keeper also can be installed on described slide block 7, to adapt to different rod member installation requirements, for example, in the time of assembling follower lever, can alignment pin 15 be installed on slide block 7 and replace bearing pin 6.
Just elaborate this working platform process as an example of the assembling process of drive rod 4 and follower lever 13 example below:
Before assembling, must carry out initialization of calibration to this platform, calibration steps is as follows:
As shown in Figure 2, its assembling process is as follows for the assembling process of drive rod 4:
First according to the position of the length adjustment slide block 7 of required drive rod 4 and limited block 10, now must utilize the reading of grating scale to carry out auxiliary positioning.Limited block 10 can be fixed on pedestal when being adjusted to after assigned address.
Then drive rod 4 is connected with the first adapter 3, and the first adapter 3 and drive rod 4 are together fixed on turntable 2, and connects with screw, it is identical that its connected mode and drive rod are connected to connected mode on silent flatform.
Then the second adapter 5 is fixed on bearing pin 6, now can sliding slider 7, can not have influence on the installation accuracy of drive rod 4.
Follow sliding slider 7 and be close to limited block 10, drive rod 4 is inserted in the second adapter 5, can complete assembling by fastening part.
In this assembling process, also can measure the perpendicularity of axis M3 and the rotating shaft M2 of drive rod 4, and finely tune the perpendicularity with assurance M3 and M2 that is connected of adaptor and drive rod 4 in when assembling.
After having assembled, adapter is taken out from assembly bench.
As shown in Figure 3, its assembling process is as follows for the assembling process of follower lever 13:
First the fixture of follower lever 13 14 is arranged in the installing hole of turntable 2, and replaces bearing pin 6 with alignment pin 15.
Before assembling, one end of follower lever 13 and joint 17 can be connected.
Then follower lever 13 is clamped on fixture 14, position, at the near middle of rod member, does not need accurate position.
Then, moving slider 7, makes alignment pin 15 coordinate with joint 17, records the now reading e of grating scale, and distance b+e-a of convert acquisition rotating shaft M1 and rotating shaft M2.
After supposing that follower lever 13 rotates 180 ° along turning cylinder M1, the reading of grating scale is f, distance b+f-a of rotating shaft M1 and rotating shaft M2 so, and the length L 2 that can obtain like this follower lever 13 is 2b+e+f-2a.Thus, according to the length L 2 of required follower lever 13, can reverse go out the reading f of grating scale, that is, and the position F that limited block 10 should move.
Then, slide block 7 and limited block 10 are moved to this assigned address F, and fixing limited block 10.
Then, follower lever 13 is rotated to 180 ° along turning cylinder M1, and adapter 16 is connected with alignment pin 15, moving slider 7 makes it be close to limited block 10, and follower lever 13 is connected and can completes assembling with adapter 16.
Although by reference to the accompanying drawings preferred embodiment of the present invention is described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not departing from the scope situation of aim of the present invention and claim protection, can also make the concrete conversion of a lot of forms, within these all belong to protection scope of the present invention.
Claims (5)
1. a parallel robot rod member mounting plate, is characterized in that comprising:
Pedestal (1), described pedestal (1) has upper flat surface A;
Turntable (2), described turntable (2) is assemblied in a locating hole of described upper flat surface A, and can with respect to pedestal (1) around the shaft M1 horizontally rotate;
Guide rail (9), described guide rail (9) is two, and on the parallel upper flat surface A that is installed on described pedestal (1);
Slide block (7), described slide block (7) can slide along described guide rail (9), and on described slide block (7), positioning element is installed, described positioning element with respect to described slide block (7) around the shaft M2 horizontally rotate;
Limited block (10), described limited block (10) is for locating the position of described slide block (7);
Measuring instrument, the direction of measurement of described measuring instrument is identical with the bearing of trend of described guide rail (9), for measuring the distance between described rotating shaft M1 and described rotating shaft M2.
2. a kind of parallel robot rod member mounting plate as claimed in claim 1, is characterized in that: described measuring instrument is grating scale, and the movable block of described grating scale is connected with described slide block (7).
3. a kind of parallel robot rod member mounting plate as claimed in claim 1, is characterized in that: described positioning element is bearing pin (6).
4. a method of assembling parallel robot drive rod, is characterized in that: utilize the described mounting plate of one of claim 1-3, and comprise the following steps:
Described mounting plate is carried out to initialization of calibration;
According to the length of required drive rod, described slide block (7) and described limited block (10) are adjusted to after assigned address, described limited block (10) is fixed on described pedestal (1);
Described drive rod (4) is connected with the first adapter (3), and is together fixed on described turntable (2);
The described slide block (7) that slides, is fixed on the second adapter (5) on described positioning element;
The described slide block (7) that again slides makes it near described limited block (10), described drive rod (4) other end is inserted in described the second adapter (5), and be fastenedly connected.
5. a method of assembling parallel robot follower lever, is characterized in that: utilize the described mounting plate of one of claim 1-2, and comprise the following steps:
(1) described mounting plate is carried out to initialization of calibration;
(2) fixture (14) is installed on described turntable (2);
(3) medium position of described follower lever (13) is clamped in to described fixture (14) above, described follower lever (13) is near one end jointing (17) of described slide block (7);
(4) the described slide block (7) that slides, makes described positioning element coordinate with described joint (17), records the now reading e of measuring instrument;
(5) according to the length of required follower lever, and the gage readings e recording in (4) step, the position that limited block (10) should move to described in reverse; Slide described limited block (10) to described position, and be fixed on described pedestal (1);
(6) adapter (16) is connected with described positioning element, and the described slide block (7) that slides makes it near described limited block (10);
(7) after described follower lever (13) is rotated to 180 ° around rotating shaft M1, described follower lever (13) is inserted in described adapter (16) near one end of described slide block (7), and be fastenedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410054860.3A CN103769859B (en) | 2014-02-18 | 2014-02-18 | A kind of parallel robot mounting plate and assembly method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410054860.3A CN103769859B (en) | 2014-02-18 | 2014-02-18 | A kind of parallel robot mounting plate and assembly method |
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| CN103769859A true CN103769859A (en) | 2014-05-07 |
| CN103769859B CN103769859B (en) | 2016-04-20 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104942582A (en) * | 2015-06-30 | 2015-09-30 | 安徽埃夫特智能装备有限公司 | Industrial robot wrist assembling auxiliary device |
| CN106640889A (en) * | 2017-01-06 | 2017-05-10 | 芜湖瑞思机器人有限公司 | Assembling platform and assembling method thereof for high-speed parallel robot |
| CN113199434A (en) * | 2021-05-11 | 2021-08-03 | 深圳若贝特智能机器人科技有限公司 | Assembly tool of parallel robot and assembly method thereof |
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| JPH1058249A (en) * | 1996-08-23 | 1998-03-03 | Mitsubishi Heavy Ind Ltd | Tube hole insertion device |
| CN200960597Y (en) * | 2006-11-03 | 2007-10-17 | 江津增压器厂 | Device for assembling mechanical product |
| CN202317647U (en) * | 2011-11-18 | 2012-07-11 | 陈运军 | Automatic assembling machine for rockers of automobiles |
| CN203804541U (en) * | 2014-02-18 | 2014-09-03 | 威海正棋机电技术有限公司 | Assembly platform of parallel robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06182633A (en) * | 1992-12-22 | 1994-07-05 | Honda Motor Co Ltd | Engine part assembling method and auxiliary jig therefor |
| JPH1058249A (en) * | 1996-08-23 | 1998-03-03 | Mitsubishi Heavy Ind Ltd | Tube hole insertion device |
| CN200960597Y (en) * | 2006-11-03 | 2007-10-17 | 江津增压器厂 | Device for assembling mechanical product |
| CN202317647U (en) * | 2011-11-18 | 2012-07-11 | 陈运军 | Automatic assembling machine for rockers of automobiles |
| CN203804541U (en) * | 2014-02-18 | 2014-09-03 | 威海正棋机电技术有限公司 | Assembly platform of parallel robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104942582A (en) * | 2015-06-30 | 2015-09-30 | 安徽埃夫特智能装备有限公司 | Industrial robot wrist assembling auxiliary device |
| CN106640889A (en) * | 2017-01-06 | 2017-05-10 | 芜湖瑞思机器人有限公司 | Assembling platform and assembling method thereof for high-speed parallel robot |
| CN106640889B (en) * | 2017-01-06 | 2018-12-21 | 芜湖瑞思机器人有限公司 | A kind of high speed parallel robot mounting plate and its assembly method |
| CN113199434A (en) * | 2021-05-11 | 2021-08-03 | 深圳若贝特智能机器人科技有限公司 | Assembly tool of parallel robot and assembly method thereof |
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| CN103769859B (en) | 2016-04-20 |
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Owner name: WEIHAI XINBEIYANG ZHENGQI ROBOT CO., LTD. Free format text: FORMER OWNER: WEIHAI ZHENGQI ELECTROMECHANICAL TECHNOLOGY CO., LTD. Effective date: 20150629 |
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Effective date of registration: 20150629 Address after: 264203 Kunlun Road, Huancui District, Shandong City, Weihai Province Road No. 126-7 Applicant after: WEIHAI NEWBEIYANG ZHENGQI ROBOT CO., LTD. Address before: 264209 Shandong city of Weihai province high technology Shenyang Road No. 108 room apartment 201 Applicant before: Weihai Zhengqi Electromechanical Technology Co., Ltd. |
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