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发明授权
CN106505399B 装配系统和装配方法 有权

装配系统和装配方法
摘要：
本发明公开一种装配系统，包括：并联机器人机构，具有一个支撑平台，壳体保持在支撑平台上；串联机器人机构，其上安装有一个末端执行器，该末端执行器连接至支撑平台；和端子插入机构，适于将端子插装到壳体中。在将端子插装到壳体之前，串联机器人机构驱动并联机器人机构移动，使得壳体上的端子插孔与待插装的端子对齐。在将端子插装到壳体的过程中，并联机器人机构的至少一部分关节被锁定，使得并联机器人机构不能移动，从而使得支撑平台保持不动。这样，插入力完全由刚性较大的并联机器人机构承受，而不会施加到刚性较小的串联机器人机构上，从而保证了壳体的位置精度，提高了端子的装配精度。
摘要（英）：

An assembly system for inserting a terminal into a housing comprises a parallel robot mechanism, a serial robot mechanism, and an insertion mechanism. The parallel robot mechanism has a support platform on which the housing is held and a plurality of joints. The serial robot mechanism has an end effector connected to the support platform and is adapted to drive the parallel robot mechanism to move. The insertion mechanism is configured to insert the terminal into the housing. The parallel robot mechanism is moved by the serial robot mechanism to an insertion position in which an insertion hole of the housing is aligned with the terminal prior to the insertion mechanism inserting the terminal into the housing. At least a portion of the plurality of joints are locked while the insertion mechanism inserts the terminal into the housing to keep the parallel robot mechanism and the support platform stationary.

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