US 11,724,344 B2
Flexible assembly system and method
Tao Chen, Suzhou (CN); Yuxiang Tian, Suzhou (CN); Xiandong Tian, Suzhou (CN); Lining Sun, Suzhou (CN); Kejian Ni, Suzhou (CN); and Zhiying Huang, Suzhou (CN)
Assigned to SOOCHOW UNIVERSITY, Suzhou (CN)
Appl. No. 17/909,188
Filed by SOOCHOW UNIVERSITY, Suzhou (CN)
PCT Filed Mar. 3, 2021, PCT No. PCT/CN2021/078811
§ 371(c)(1), (2) Date Sep. 2, 2022,
PCT Pub. No. WO2022/141787, PCT Pub. Date Jul. 7, 2022.
Claims priority of application No. 202011617592.3 (CN), filed on Dec. 31, 2020.
Prior Publication US 2023/0087847 A1, Mar. 23, 2023
Int. Cl. B23P 19/00 (2006.01); B23P 21/00 (2006.01)
CPC B23P 19/00 (2013.01) [B23P 21/00 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A flexible assembly system, comprising an industrial personal computer, a data collection card, a motion control card, a six-degree-of-freedom assembly platform, a first visual platform, a second visual platform and a supporting platform; wherein the data collection card and the motion control card are both connected with the industrial personal computer, the six-degree-of-freedom assembly platform comprises a four-degree-of-freedom motion platform and a two-degree-of-freedom adjustment device, the two-degree-of-freedom adjustment device comprises a two-degree-of-freedom motion platform and a clamping mechanism mounted on the two-degree-of-freedom motion platform, and the clamping mechanism comprises an outer frame, a flexible wrist rotatably connected in the outer frame, two clamping sheets mounted on the flexible wrist, two driving parts corresponding to the two clamping sheets, two first force sensors provided on the outer frame and two second force sensors provided on the flexible wrist; a first image collection apparatus is mounted on the first visual platform, and a second image collection apparatus is mounted on the second visual platform.