Parallel flexible mechanism for precise assembly

Abstract

The invention discloses a parallel flexible mechanism for precise assembly. The parallel flexible mechanism for precise assembly comprises an upper platform, a lower platform and a middle platform which are coaxially arranged. A plurality of first flexible support chains are arranged between the upper platform and the middle platform. A plurality of second flexible support chains are arranged between the middle platform and the lower platform. One end of each first flexible support chain is hinged to the upper platform through a ball pair. The other end of each first flexible support chain ishinged to the middle platform through a rotating pair. One end of each second flexible support chain is hinged to the middle platform through a rotating pair. The other end of each second flexible support chain is hinged to the lower platform through a ball pair. The rotating pair and the ball pair at the two ends of each first flexible support chain can be interchanged. The rotating pair and theball pair at the two ends of each second flexible support chain can be interchanged. The first flexible support chains and the second flexible support chains are both spring sheets. The parallel flexible mechanism has the advantages of having certain axial bearing capacity, being simple and compact in structure, low in manufacturing cost and high in reliability and the like. The parallel flexiblemechanism for precise assembly can be installed between a robot and an end executor so as to achieve automatic compensation for pose positioning deviation of the end executor.

Description

technical field [0001] The invention relates to a parallel flexible mechanism, in particular to a flexible mechanism that can be used for precise assembly operations. Background technique [0002] With the development of industrial production and the continuous improvement of automation, robots or automation equipment are widely used in the manufacturing industry for assembly operations. The most typical one is the precision assembly of shaft and hole parts. Due to the low positioning accuracy of the robot, it is impossible to adjust adaptively with the change of the assembly force during the assembly operation. It is necessary to add a flexible mechanism between the robot and the end effector to realize the automatic compensation of the position and orientation deviation of the end effector. [0003] There are three main forms of current flexible mechanisms, one is a flexible mechanism that uses springs as flexible units, for example, the publication number is CN109048987A...

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Problems solved by technology

[0003] There are three main forms of current flexible mechanisms, one is a flexible mechanism that uses springs as flexible units, for example, the publication number is CN109048987A, the publication date is December 21, 2018, and the name is "A Parallel Flexible Wrist Mechanism", It mainly uses the deformation generated by the mutual cooperation of three sets of springs to enable the end effector to have error compensation capabilities, but this type of mechanism is less flexible and heavy, and is not suitable for light-load high-speed assembly of parts; one is to use pneumatic, magnetic levitation, etc. The method makes the two platforms of the flexible mechanism float to achieve flexibility, but this method has poor neutrality, and when the assembly inertia force is large, the assembly will be unstable and there is a risk of damage to the parts; one is to use rubber metal The Elastomer ShearPad (ESP) material is used as the flexible mechanism of the flexible unit, but due to the nonlinear characteristics of the ESP elastic member itself and the difficulty in ensuring the consistency of all product performance in ESP production, the compliance performance of the passive compliance mechanism has been limited. At the same time, the axial force that the passive compliance mechanism can bear is small, and it cannot complete the installation task that requires a large axial force

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