CN100348386C - Multi-coordinate serioparallel robot with redundant freedom - Google Patents
Multi-coordinate serioparallel robot with redundant freedom Download PDFInfo
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- CN100348386C CN100348386C CNB2005100150955A CN200510015095A CN100348386C CN 100348386 C CN100348386 C CN 100348386C CN B2005100150955 A CNB2005100150955 A CN B2005100150955A CN 200510015095 A CN200510015095 A CN 200510015095A CN 100348386 C CN100348386 C CN 100348386C
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Abstract
The present invention relates to a multi-coordinate serioparallel robot with redundant freedom, which comprises a fixing bracket, a moveable platform, a positioning head and four length regulating devices, wherein the middle of the fixing bracket is provided with a first hinge, and the upper part of the first length regulating device is arranged on the fixing bracket by the first hinge and a slipping pair which forms by the first hinge. The positioning head is arranged at the bottom of the first length regulating device, and the fixing bracket is circumferentially and uniformly provided with a second, a third and a fourth hinges by using the first hinge as the center. Each end of the second, the third and the fourth length regulating devices is connected with the second, the third and the fourth hinges, the other end of the second, the third and the fourth length regulating devices is respectively hinged with the moveable platform, and the moveable platform is sheathed at the outer side of the first length regulating device by the slipping pair. The present invention has the advantages that a redundant freedom is provided for the operating state of robots, and the present invention has the characteristic of large working space.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to the multi-coordinate series-parallel robot of being with positioning head.
Background technology
According to patent GB2173472 (or EP0200369, US4790718), SE8502327 (or US4732525), EP0674969 (or US6336375), CN1524662 (or WO2005025816) as can be known, the multi-coordinate series-parallel robot of existing band positioning head comprises at least three length adjustment devices that can longitudinally elongate or shorten.One of them end driven or adjusting device initiatively is connected and is connected with fixed mount by hinge with a movable positioning head, with certain several free degree of restriction positioning head.Other each adjusting device then is that an end is anchored on the fixed mount by hinge, so that it can rotate around all directions with respect to fixed mount, the other end is connected with the described other end driven or the active adjustment device by hinge.
This robotlike, because all the connected mode of length adjustment devices adopts parallel-connection structure, its deficiency is: when requiring robot to have big working space, its whole adjusting devices all need long adjustment stroke.
Summary of the invention
The objective of the invention is to overcome above the deficiencies in the prior art, a kind of redundant degree of freedom that contains is provided, both had big working space, and made the required adjustment stroke of adjusting device less again, and kept the reconfigurable modular multi-coordinate series-parallel robot of certain rigidity and precision simultaneously.
The multi-coordinate series-parallel robot that contains redundant degree of freedom of the present invention, its technical scheme comprises: fixed mount, first length adjustment device, second length adjustment device, the 3rd length adjustment device, the 4th length adjustment device, moving platform and positioning head, the middle part of described fixed mount is provided with first hinge, the top of described first length adjustment device is arranged on the described fixed mount by first hinge with slippage pair that this hinge constitutes, described positioning head is installed in the bottom of described first length adjustment device, on the described fixed mount with first hinge be the center also circumference uniform distribution be provided with second, third and fourth hinge, described second, one end of third and fourth length adjustment device is respectively with described second, third and fourth hinge is connected, their other end is then hinged with described moving platform respectively, and described moving platform is sleeved on the outside of first length adjustment device by the slippage pair.
Described first length adjustment device comprises pipe, middle pipe, manages three tubular structural members down, the described outer wall of going up pipe and middle pipe is provided with pair of guide rails, the pipe back side has the groove window in described, the inside of middle pipe is provided with the electric ball-screw that is made of servomotor and ball-screw, and described pipe down both sides have keyway; The guide rail that is provided with on the outer wall of pipe and middle pipe on a pair of slide block of described moving platform upper end and first length adjustment device constitutes the slippage pair, and the fairlead of moving platform lower end and pair of keys piece constitute the slippage pair with the keyway that first length adjustment device is managed down on outer wall and the outer wall respectively; The axle head of ball-screw is fixedlyed connected with moving platform by the leading screw locking nut.
Described second, third, the 4th length adjustment device adopts the drives structure of motor-threaded splined shaft, also can adopt hydraulic pressure, structure such as pneumatic as type of drive.
The multi-coordinate series-parallel robot that contains redundant degree of freedom of the present invention, compare with the series-parallel robot of disclosed prior art, its beneficial effect is: the end of one of them length adjustment device links to each other with moving platform by the slippage pair, a redundant degree of freedom is provided, other length adjustment device links to each other with fixed mount and moving platform by hinge and constitutes parallel institution, thereby structurally has the big characteristics of working space.Though promptly the adjustment stroke of the length adjustment device of formation parallel institution is less, the working space of moving platform is limited, but by driving redundant degree of freedom, make the relative moving platform of the length adjustment device of winning produce sliding motion, therefore can make the positioning head that is positioned at the first length adjustment device end produce big spatial movement.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the lateral plan of Fig. 1;
Fig. 4 partly cuts open structural representation for first length adjustment device in the embodiments of the invention and moving platform;
Fig. 5 (A) is the reset condition schematic diagram of first length adjustment device in the embodiment of the invention;
The extreme position that Fig. 5 (B) can reach for first length adjustment device in the embodiment of the invention;
The space that Fig. 6 and Fig. 7 can reach when moving to extreme position for first, second, third and fourth length adjustment device in the embodiment of the invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in detail.
As Fig. 1～shown in Figure 3, the multi-coordinate series-parallel robot that contains redundant degree of freedom of the present invention comprises fixed mount 1, first length adjustment device 2, second length adjustment device 3, the 3rd length adjustment device 4, the 4th length adjustment device 5, moving platform 6 and positioning head 7.Fixed mount 1 is provided with the first, second, third and the 4th hinge 21,31,41,51 with double rotation freedom degrees, in the present embodiment, first hinge 21 is positioned at the middle part of fixed mount 1, and second, third and the 4th hinge 31,41,51 are that center circumferential is distributed on around it with first hinge 21.The top of first length adjustment device 2 is arranged on the fixed mount 1 by first hinge 21 with slippage pair that first hinge 21 is constituted, can provide the positioning head 7 of double rotation freedom degrees to be installed in the bottom of described first length adjustment device 2.One end of second, third and the 4th length adjustment device 3,4,5 links to each other with the 4th hinge 31,41,51 with second, third respectively, the hinge 21,31,41,51 of described double rotation freedom degrees can adopt the Hooke's hinge of concentric ring form or the equivalent construction of other form, so that each coupled length adjustment device all can rotate to all directions with respect to fixed mount 1.The other end of second, third and the 4th length adjustment device 3,4,5 is connected with moving platform 6 by the hinge 32,42,52 with three-rotational-freedom respectively, and the hinge 32,42,52 of described three-rotational-freedom also can adopt the equivalent construction of spherical hinge or other form.Moving platform 6 is enclosed within the outside of first length adjustment device 2 by the slippage pair.
Positioning head 7 has the rotational freedom of two actives for submodule designs, and its end can be installed various actuators, as cutter, welding gun, clamping device etc.In the present embodiment, positioning head 7 ends have been installed an electric main shaft.
In this mechanism, four length adjustment devices 2,3,4,5 all can rotate to all directions with respect to fixed mount 1, and can do initiatively stretching motion vertically; Positioning head 7 rigidity are installed in the end of first length adjustment device 2, make positioning head 7 when space displacement takes place, its spatial attitude also changes simultaneously, and two rotational freedoms that it had can be adjusted end effector at any time and change because of it changes caused attitude in motion process.
As shown in Figure 4, first length adjustment device 2 comprises pipe, middle pipe, manages three tubular structural members 23,24,25 down, pipe 24 back sides have groove window 24 ' wherein, under manage 25 both sides and have keyway 25 ', the described outer wall of going up pipe 23 and middle pipe 24 is provided with pair of guide rails 26, and the inside of described middle pipe 24 is provided with the electric ball-screw that is made of servomotor 28 and ball-screw 29.The a pair of slide block 61 of described moving platform 6 upper ends constitutes the slippage pair with guide rail 26, and the fairlead 62 of lower end and pair of keys piece 63 constitute the slippage pair with the keyway 25 ' of managing down on 25 outer walls and the outer wall respectively; The axle head 29 of ball-screw 29 is fixedlyed connected with moving platform 6 by leading screw locking nut 30.Under this kind set-up mode, feed screw nut 30 places servomotor 28 inside, and fixedly connected (electric ball-screw operation principle) with rotor, when servomotor 28 drive motors rotor banding movable wire thick stick nuts 30 rotate, because leading screw 29 relative moving platforms 6 keep static, therefore make servomotor 28 drive first length adjustment device, 2 whole moving platforms 6 relatively and do sliding motion vertically.
Hence one can see that, and first length adjustment device 2 has two kinds of functions:
One, when servomotor 28 was in on-position, adjusting device 2 constituted 3-freedom parallel mechanism with other three adjusting devices 3,4,5 and moving platform 6; The terminal space of mechanism's this moment is identical with the disclosed robot end's space of patent SE8502327 (or US4732525).
Its two, when servomotor 28 was in running order, first length adjustment device 2 drove that positioning heads 7 are flexible vertically to make it have redundant degree of freedom; This redundant degree of freedom has significant amplification for the space of positioning head 7.
Therefore, the motion of positioning head 7 can be decomposed into: at first keep first length adjustment device 2 constant with the relative position of moving platform 6, drive second, third and the 4th length adjustment device 3,4,5, change the spatial attitude of moving platform 6 and positioning head 7; Drive first length adjustment device 2 then and adjust the locus of positioning head 7.
In the present embodiment, the type of drive of first length adjustment device 2 has adopted electric ball screw arrangement, and the type of drive of other three length adjustment devices 3,4,5 has then adopted motor-threaded spline shaft structure.Under certain conditions, each length adjustment device 2,3,4,5 also can adopt the version of hydraulic structure, pneumatic structure or other any realized same movement function as its type of drive.
Fig. 5 (A) and Fig. 5 (B) show the reset condition of first length adjustment device 2 in the embodiment of the invention and the extreme position that can reach respectively; The working space 8 that Fig. 6 and Fig. 7 can reach when showing first, second, third and fourth length adjustment device extreme position in the embodiment of the invention respectively.
In sum, the multi-coordinate series-parallel robot that contains redundant degree of freedom of the present invention comprises fixed mount 1, moving platform 6, positioning head 7 and four length adjustment devices 2,3,4,5.Wherein, the middle part of fixed mount 1 is provided with first hinge 21, and this hinge 21 is made of two concentric rings, around fixed mount 1, again with hinge 21 be the center uniform be provided with second, third, the 4th hinge 31,41,51; On the fixed mount 1 that the top of first length adjustment device 2 is arranged on by first hinge 21 with slippage pair that first hinge 21 constitutes, can provide the positioning head 7 of two rotational freedoms to be installed in the bottom of first length adjustment device 2.Second, third, the top of the 4th length adjustment device 3,4,5 is connected with fixed mount 1 by the hinge 31,41,51 of two-freedom respectively, their end is connected with the hinge 32,42,52 of moving platform by Three Degree Of Freedom respectively; Moving platform 6 is sleeved on the outside of first length adjustment device 2 by the slippage pair.This setup, make second length adjustment device 3, the 3rd length adjustment device 4 and the 4th length adjustment device 5 realize rotation with respect to fixed mount 1 around all directions, and do stretching motion vertically, first length adjustment device 2 can be rotated around all directions with respect to fixed mount 1, and do redundant stretching motion vertically.
The present invention compared with prior art, its advantage is: for the duty of robot provides a redundant degree of freedom, one of them length adjustment device is connected the serial mechanism that is constituted by hinge and screw pair with fixed mount and moving platform, makes this robot have the characteristics of big working space.Simultaneously, the present invention is modularized design, can be connected use with fixing gantry structure, big distance or wide-angle feed mechanism and movable machine frame etc. by the mechanical interface on the fixed mount, also the robot that some playscripts with stage directions are invented can be installed in continuous productive process on the same structure.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in the accompanying drawing is one of embodiments of the present invention also, and practical structure is not limited thereto.So; if those of ordinary skill in the art is enlightened by it; under the situation that does not break away from the invention aim; adopt other fixed mount layout, length adjustment device, hinge and positioning head without creationary frame mode similar and the embodiment of designing, all should belong to protection scope of the present invention to this technical scheme.
Claims (6)
1. multi-coordinate series-parallel robot that contains redundant degree of freedom, comprise fixed mount, first length adjustment device, second length adjustment device, the 3rd length adjustment device, the 4th length adjustment device, moving platform and positioning head, the middle part of described fixed mount is provided with first hinge, the top of described first length adjustment device is arranged on the described fixed mount by first hinge with slippage pair that this hinge constitutes, described positioning head is installed in the bottom of described first length adjustment device, it is characterized in that: be center circumferential uniform second with first hinge on the described fixed mount, third and fourth hinge, described second, one end of third and fourth length adjustment device is respectively with described second, third and fourth hinge is connected, their other end is hinged with described moving platform respectively, and described moving platform is sleeved on the outside of first length adjustment device by the slippage pair.
2. the multi-coordinate series-parallel robot that contains redundant degree of freedom according to claim 1, it is characterized in that: first length adjustment device by last pipe, middle pipe, manage three tubular structural members down and constitute, the described outer wall of going up pipe and middle pipe is provided with pair of guide rails, the pipe back side has the groove window in described, the inside of middle pipe is provided with the electric ball-screw that is made of servomotor and ball guide screw nat, and described pipe down both sides have keyway.
3. the multi-coordinate series-parallel robot that contains redundant degree of freedom according to claim 2, it is characterized in that: the guide rail that is provided with on the outer wall of pipe and middle pipe on a pair of slide block of described moving platform upper end and first length adjustment device constitutes the slippage pair, and the fairlead of moving platform lower end and pair of keys piece constitute the slippage pair with the keyway that first length adjustment device is managed down on outer wall and the outer wall respectively; The axle head of ball-screw is fixedlyed connected with moving platform by the leading screw locking nut.
4. the multi-coordinate series-parallel robot that contains redundant degree of freedom according to claim 1 is characterized in that: described second, third, the 4th length adjustment device is the drives structure of motor one threaded splined shaft.
5. the multi-coordinate series-parallel robot that contains redundant degree of freedom according to claim 1 is characterized in that: described second, third, the 4th length adjustment device adopts the hydraulic-driven structure.
6. the multi-coordinate series-parallel robot that contains redundant degree of freedom according to claim 1 is characterized in that: described second, third, the 4th length adjustment device adopts pneumatic driving structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100150955A CN100348386C (en) | 2005-09-15 | 2005-09-15 | Multi-coordinate serioparallel robot with redundant freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100150955A CN100348386C (en) | 2005-09-15 | 2005-09-15 | Multi-coordinate serioparallel robot with redundant freedom |
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| CN1739926A CN1739926A (en) | 2006-03-01 |
| CN100348386C true CN100348386C (en) | 2007-11-14 |
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| CNB2005100150955A Expired - Fee Related CN100348386C (en) | 2005-09-15 | 2005-09-15 | Multi-coordinate serioparallel robot with redundant freedom |
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| CN100410029C (en) * | 2006-08-03 | 2008-08-13 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN100410028C (en) * | 2006-08-03 | 2008-08-13 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101830272B (en) * | 2010-05-13 | 2012-07-04 | 天津大学 | Spatial redundant drive swinging experiment table with two degrees of freedom |
| CN102431031A (en) * | 2011-12-28 | 2012-05-02 | 广西大学 | Six-mobility grabbing robot mechanism |
| CN102672714B (en) * | 2012-03-21 | 2014-05-21 | 天津大学 | High-rigidity high-precision five-coordinate parallel power head |
| CN102615642B (en) * | 2012-03-27 | 2014-04-30 | 天津大学 | Parallel manipulator capable of realizing five-coordinate machining capacity |
| CN102601795B (en) * | 2012-03-29 | 2014-03-26 | 天津大学 | Power head capable of realizing five-shaft linkage operation |
| CN102699900B (en) * | 2012-06-06 | 2015-05-27 | 天津大学 | Over-constraint hybrid robot with double platforms and five degrees of freedom |
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| CN105058376B (en) * | 2015-08-17 | 2017-03-01 | 天津大学 | A kind of Planar Mechanisms high rigidity robot with three symmetric motion performances |
| CN106473809B (en) * | 2016-10-24 | 2023-11-14 | 北京华巍中兴电气有限公司 | Three-degree-of-freedom parallel type hingeless surgical robot |
| CN106926219A (en) * | 2016-12-31 | 2017-07-07 | 重庆大学 | The Three Degree Of Freedom device of the adjustable three side chains parallel drive of rigidity |
| CN108789358B (en) * | 2018-06-05 | 2020-10-27 | 清华大学 | Mobile series-parallel processing robot based on three-degree-of-freedom force control parallel module |
| CN108748086B (en) * | 2018-06-05 | 2020-10-27 | 清华大学 | Large-stroke hybrid processing robot device for complex curved surface |
| CN108544475B (en) * | 2018-06-05 | 2020-10-27 | 清华大学 | Large-stroke force-control machining robot based on planar two-degree-of-freedom series-parallel mechanical arm |
| CN108789357B (en) * | 2018-06-05 | 2020-10-27 | 清华大学 | Large-scale structural part machining device based on force-controlled series-parallel robot |
| CN111843171A (en) * | 2019-04-30 | 2020-10-30 | 天津大学 | Three-degree-of-freedom parallel machine head for friction stir welding |
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|---|---|---|---|---|
| US4732525A (en) * | 1985-05-10 | 1988-03-22 | Neos Product Hb | Robot |
| US4790718A (en) * | 1985-03-27 | 1988-12-13 | The English Electric Company Plc | Manipulators |
| US6336375B1 (en) * | 1994-03-02 | 2002-01-08 | Renishaw, Plc | Coordinate positioning machine |
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| CN1524662A (en) * | 2003-09-16 | 2004-09-01 | 天津大学 | Asymmetric space 5-degree of freedom series-parallel robot |
-
2005
- 2005-09-15 CN CNB2005100150955A patent/CN100348386C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4790718A (en) * | 1985-03-27 | 1988-12-13 | The English Electric Company Plc | Manipulators |
| US4732525A (en) * | 1985-05-10 | 1988-03-22 | Neos Product Hb | Robot |
| US6336375B1 (en) * | 1994-03-02 | 2002-01-08 | Renishaw, Plc | Coordinate positioning machine |
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| CN1524662A (en) * | 2003-09-16 | 2004-09-01 | 天津大学 | Asymmetric space 5-degree of freedom series-parallel robot |
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| CN1739926A (en) | 2006-03-01 |
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