Two-stage parallel robot device applied to precision assembly

Abstract

The invention discloses a two-stage parallel robot device applied to precision assembly and belongs to the field of precise instrument apparatuses. The two-stage parallel robot device consists of a rope parallel mechanism and a Stewart parallel mechanism, wherein a rope platform of the rope parallel mechanism also serves as a static platform of the Stewart parallel platform, and a mobile platform of the Stewart parallel mechanism is arranged at the lower end of the static platform of the Stewart parallel mechanism and is connected with the static platform of the Stewart parallel mechanism through six telescopic legs; the rope platform can realize the regulation of pose in a large scale; however, the rigidity of a rope is low, so that the rope is likely to generate vibration under interference of assembly impaction and the like; the mobile platform of the Stewart parallel mechanism can effectively modify the pose offset under the drive of the telescopic legs; a measurement system consists of six stay wire encoders and a plurality of precise measurement points, and the measurement end points of the stay wire encoders are regularly connected with all the precise measurement points, so that the pose of the rope platform is measured in real time and calculated during assembly. The two-stage parallel robot device disclosed by the invention is applied to control on the rope parallel mechanism and the Stewart parallel mechanism, so that the precision assembly is realized.

Description

technical field [0001] The invention belongs to the field of precision instruments and equipment, in particular to a two-stage parallel robot device for precision assembly. Background technique [0002] Assembly technology is the core key technology of the manufacturing industry. In the process of spacecraft docking and aircraft assembly and manufacturing, assembly parts are often large in size and heavy in load. In addition, precision-processed parts have strict requirements on assembly accuracy. Not only that, the demand for operating efficiency and automation has increased the dependence of manufacturing equipment on robotics. Therefore, the development of robotic devices for precision assembly with a large workspace and heavy load capacity is of great significance to assembly technology and even manufacturing. [0003] The following assembly mechanisms are mainly used in aircraft manufacturing. The first type is assembly with a frame and a crane. It uses the workshop c...

AI Technical Summary

Problems solved by technology

However, the parallel mechanism has the disadvantages of small working space and poor flexibility.

[0004] Therefore, it is difficult for the above methods to complete assembly tasks with a large working space, large component mass and demanding precision requirements.

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