CN100480003C - Series parallel robot in five degrees of freedom - Google Patents
Series parallel robot in five degrees of freedom Download PDFInfo
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- CN100480003C CN100480003C CNB200710057178XA CN200710057178A CN100480003C CN 100480003 C CN100480003 C CN 100480003C CN B200710057178X A CNB200710057178X A CN B200710057178XA CN 200710057178 A CN200710057178 A CN 200710057178A CN 100480003 C CN100480003 C CN 100480003C
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Abstract
A 5-freedom robot with serial-parallel connection structure is composed of a fixed frame, a movable platform, a locating unit and three branches between said fixed frame and movable platform and with symmetrically and uniformly arranged space axles. Each branch consists of the first and the second hinges, connecting rod, straight-line guide track, and driver unit with motor, leading screw and carriage. It has high rigidity, precision and load bearing power.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of multi-coordinate series-parallel robot with positioning head.
Background technology
The multi-coordinate series-parallel robot of existing patent GB2173472 (or EP0200369, US4790718), SE8502327 (or US4732525), EP0674969 (or US6336375), the disclosed band positioning head of CN1524662 (or WO2005025816) comprises at least three length adjustment devices that can longitudinally elongate or shorten.One of them end driven or adjusting device initiatively is affixed with a movable positioning head and be connected with fixed mount by hinge, to limit certain several free degree of 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 the hinge that is connected with the driven of affixed positioning head or active length adjustment device is the three-rotational-freedom hinge, its deficiency is: the integral rigidity of mechanism is lower, and load capacity is relatively poor, thereby is unsuitable for the processed and applied occasion of high-speed overload.
The disclosed another kind of existing patent SE0402824 (or WO2006054935) is with the multi-coordinate series-parallel robot of positioning head, comprises three length adjustment devices that can longitudinally elongate or shorten of fixed mount, moving platform, positioning head and Connection Bracket and moving platform.Wherein, two length adjustment devices have same structure, and are in the space in the face of claiming layout with respect to the 3rd length adjustment device.Each length adjustment device one end is anchored on the fixed mount by hinge, and the other end is connected with moving platform by the hinge that only has a rotational freedom.This robotlike, because the hinge that is connected with described moving platform only has a rotational freedom, thereby make that the integral rigidity of system is higher, its deficiency is: arrange that in the face of claiming its kinematics and dynamic performance differ greatly with position shape and do not possess axisymmetric characteristic because three length adjustment devices are the space.In addition, because two identical length adjustment devices of structure adopt the hinge with two rotational freedoms to be connected respectively with fixed mount, wherein the nearly frame shaft axis of two hinges must strictly keep conllinear, the frame shaft axis far away of each hinge must with the strict keeping parallelism of the pivot center of the hinge that is connected each length adjustment device and moving platform, otherwise can't assemble, therefore higher to making with the required precision of assembling.
Summary of the invention
Problem to be solved by this invention, overcome above the deficiencies in the prior art and defective exactly, and provide a kind of by three side chain spatial axes symmetric arrangement, have higher complete machine rigidity, precision and load capacity and be convenient to the series parallel robot in five degrees of freedom making and assemble.
Series parallel robot in five degrees of freedom of the present invention comprises fixed mount, moving platform, is connected the positioning head and uniform three side chains that are arranged between described fixed mount and the moving platform of spatial axes symmetry of described moving platform bottom; Described three branched structures are identical, and its formation comprises first hinge, second hinge, connecting rod, line slideway and is arranged on the drive unit of described connecting rod one end;
Described first hinge comprises: by the hinge with a rotational freedom connect described fixed mount the outer ring, connect the hinge of described outer ring and the planker that connects described hinge by hinge by hinge with a rotational freedom with a rotational freedom; The pivot center that connects described outer ring and the hinge of fixed mount and the pivot center that is connected described hinge and the hinge of outer ring be conllinear and meet at a bit with the pivot center of the hinge that is connected described planker and hinge not, and the pivot center that connects the hinge of described planker and hinge is parallel to the straight line at described line slideway place;
Described second hinge is the revolute pair with a rotational freedom that bearing pin and bearing constitute;
One end of described connecting rod is arranged on the described fixed mount by first hinge with moving sets that this hinge constitutes, the other end of described connecting rod is connected with described moving platform by second hinge, and described line slideway is fixedly installed on the described connecting rod; In the described drive unit that is fixedly installed on connecting rod one end, be provided with leading screw, one end of described leading screw connects motor shaft, the other end of described leading screw connects the other end of described connecting rod, described leading screw pass in described first hinge planker and by being fixedly installed on the feed screw nut on the hinge is connected with described first hinge in described first hinge, described planker and described line slideway constitute moving sets.
The hinge with a rotational freedom that connects described fixed mount and outer ring is the revolute pair that bearing pin and bearing constitute;
The hinge with a rotational freedom that connects described outer ring and hinge is the revolute pair that bearing pin and bearing constitute;
The hinge with a rotational freedom that connects described hinge and planker is the revolute pair that axle sleeve and bearing constitute;
The pivot center coplane of second hinge and intersect in twos and be mutually 60 ° of angles in described three side chains;
Described drive unit adopts servomotor---the version of ball-screw, also can adopt the type of drive of linear electric motors.
Series parallel robot in five degrees of freedom of the present invention compared with prior art, its beneficial effect is 3 points:
(1), thereby make complete machine have higher rigidity because the hinge that is connected with moving platform all has a rotational freedom;
(2), thereby help in its working space, obtaining axisymmetric kinematics and dynamic performance because three side chains are the spatial axes symmetrical arrangement;
(3), thereby be convenient to make and assemble owing to the geometry site between the nearly fixed mount axis in first hinge to three each bar side chains of connection and fixed mount does not have specific (special) requirements.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Fig. 2 be of the present invention in the structural representation of a side chain.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in detail.
As shown in Figure 1 and Figure 2, series parallel robot in five degrees of freedom of the present invention comprises fixed mount 1, moving platform 2, is connected uniform three side chains that structure is identical that are arranged between described fixed mount 1 and the moving platform 2 of the positioning head 3 of described moving platform 2 bottoms and spatial axes symmetry.
The formation of described side chain comprises first hinge 4, second hinge 6, connecting rod 5, line slideway 7 and the drive unit 8 that is arranged on described connecting rod 5 one ends.
Described first hinge 4 has three rotational freedoms, and it is made of outer ring 41, hinge 42 and planker 43; Described outer ring 41 connects described fixed mount 1 by the hinge with a rotational freedom, hinge with a rotational freedom described herein makes it to realize with adopting the form that described outer ring 41 is connected by the revolute pair that is made of bearing pin and bearing on the bearing block 411 and 412 that is fixedly installed on the described fixed mount 1 being connected of described fixed mount 1, also can adopt the equivalent construction of other form to make it to realize; Described hinge 42 connects described outer ring 41 by the hinge with a rotational freedom, and the hinge with a rotational freedom described herein can adopt bearing pin and the revolute pair of bearing formation or the equivalent construction of other form; Described planker 43 connects described hinge 42 by the hinge with a rotational freedom, and the hinge with a rotational freedom described herein can adopt axle sleeve and the revolute pair of bearing formation or the equivalent construction of other form; Its pivot center of the hinge 4a that connects described outer ring 41 and fixed mount 1 and the pivot center 4b that is connected described hinge 42 and the hinge of outer ring 41 be conllinear and meet at a bit with being connected the pivot center 4c of described planker 43 with the hinge of hinge 42 not, and its pivot center of the hinge 4c that connects described planker 43 and hinge 42 is parallel to described line slideway 7 place straight lines; Described second hinge 6 has a rotational freedom, and its version can adopt the revolute pair of bearing pin and bearing formation, also can adopt the equivalent construction of other form; The pivot center 6a coplane of second hinge 6 in described three side chains and intersect in twos and be mutually 60 ° of angles.
One end of described connecting rod 5 is arranged on the described fixed mount 1 by described first hinge 4 with moving sets that this hinge constitutes, the other end of described connecting rod 5 is connected with moving platform 2 by described second hinge 6, described line slideway 7 is fixedly installed on the described connecting rod 5, described drive unit 8 is fixedly installed on an end of described connecting rod 5, in described drive unit 8, one end connect leading screw 81 that motor shaft and its other end connect described connecting rod 5 other ends pass in described first hinge 4 planker 43 and by being fixedly installed on the feed screw nut 421 on the hinge 42 is connected with described first hinge 4 in described first hinge 4, described planker 43 and described line slideway 7 formation moving sets.
In technical scheme of the present invention: because described first hinge 4 has three rotational freedoms, so can make connecting rod 5 described in each side chain rotate and connecting rod 5 described in each side chain is rotated around its axis around all directions with respect to described fixed mount 1; Because have an one-movement-freedom-degree between described planker 43 and the described connecting rod 5, so, can make connecting rod 5 described in each side chain axially do stretching motion along it; Owing to only have a rotational freedom between described connecting rod 5 and the described moving platform 2, connecting rod 5 described in each side chain is rotated with respect to moving platform 2.
When each side chain under the driving of described drive unit 8 during self-movement, space displacement takes place in described moving platform 2, and the spatial attitude of mechanism also changes simultaneously, the described positioning head 3 that is installed in described moving platform 2 bottoms can be in motion process be adjusted at any time because the attitude that the change in location of moving platform 2 causes changes, thus the formation series parallel robot in five degrees of freedom.
Drive unit 8 in the present embodiment has adopted servomotor---and the version of ball-screw, wherein feed screw nut 421 is fixedly installed on the hinge 42, for an one-movement-freedom-degree is provided between connecting rod 5 and the planker 43.In order to reach same purpose, can also adopt the type of drive of linear electric motors, for an one-movement-freedom-degree is provided between connecting rod 5 and the planker 43.Certainly, in the specific implementation, adopt other any one can realize that the version of same movement function all is fine as type of drive.
Positioning head 3 in the present embodiment is for having the submodule design of two active rotation frees degree, and being installed in its terminal actuator can be electric main shaft, welding gun, clamping device etc.
Series parallel robot in five degrees of freedom of the present invention is compared with the multi-coordinate series-parallel robot of the band positioning head of prior art, and its difference is:
(1) second hinge 6 that is connected with described moving platform 2 is for having the hinge of a rotational freedom;
(2) connect described fixed mount 1 and have identical structure with three side chains of moving platform 2, and in the space axisymmetricly mode arrange.
Series parallel robot in five degrees of freedom of the present invention can be modularized design; this modularized design can make series parallel robot in five degrees of freedom of the present invention be connected and fixed gantry structure, big distance or wide-angle feed mechanism and movable machine frame etc. by the mechanical interface on the fixed mount 1, also the series parallel robot in five degrees of freedom of some playscript with stage directions inventions can be installed in and carry out extensive or fairly large continuous productive process on the same frame for movement.
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 form fixed mount of (comprising shape and layout), drive unit and hinge connected mode 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 (7)
1. series parallel robot in five degrees of freedom, comprise fixed mount, moving platform, be connected the positioning head and uniform three side chains that are arranged between described fixed mount and the moving platform of spatial axes symmetry of described moving platform bottom, it is characterized in that, described three branched structures are identical, and its formation comprises first hinge, second hinge, connecting rod, line slideway and is arranged on the drive unit of described connecting rod one end; The formation of described first hinge comprises the outer ring that connects described fixed mount by the hinge with a rotational freedom, the hinge that connects described outer ring by hinge with a rotational freedom, and the planker that connects described hinge by hinge with a rotational freedom, the pivot center that connects described outer ring and the hinge of fixed mount and the pivot center that is connected described hinge and the hinge of outer ring be conllinear and meet at a bit with the pivot center of the hinge that is connected described planker and hinge not, and its pivot center of hinge that connects described planker and hinge is parallel to described line slideway place straight line; The formation of described second hinge comprises bearing pin and constitutes the bearing of revolute pair with described bearing pin; One end of described connecting rod is arranged on the described fixed mount by first hinge with moving sets that this hinge constitutes, the other end of described connecting rod is connected with described moving platform by second hinge, and described line slideway is fixedly installed on the described connecting rod; In the described drive unit that is fixedly installed on connecting rod one end, be provided with leading screw, one end of described leading screw connects motor shaft, the other end of described leading screw connects the other end of described connecting rod, described leading screw pass in described first hinge planker and by being fixedly installed on the feed screw nut on the hinge is connected with described first hinge in described first hinge, described planker and described line slideway constitute moving sets.
2. series parallel robot in five degrees of freedom according to claim 1 is characterized in that, the hinge with a rotational freedom that connects described fixed mount and outer ring is the revolute pair that bearing pin and bearing constitute.
3. series parallel robot in five degrees of freedom according to claim 1 is characterized in that, the hinge with a rotational freedom that connects described outer ring and hinge is the revolute pair that bearing pin and bearing constitute.
4. series parallel robot in five degrees of freedom according to claim 1 is characterized in that, the hinge with a rotational freedom that connects described hinge and planker is the revolute pair that axle sleeve and bearing constitute.
5. series parallel robot in five degrees of freedom according to claim 1 is characterized in that, the pivot center coplane of second hinge and intersect in twos and be mutually 60 ° of angles in described three side chains.
6. series parallel robot in five degrees of freedom according to claim 1 is characterized in that, described drive unit adopts servomotor to connect the version of ball-screw.
7. series parallel robot in five degrees of freedom according to claim 1 is characterized in that, described drive unit adopts the type of drive of linear electric motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710057178XA CN100480003C (en) | 2007-04-20 | 2007-04-20 | Series parallel robot in five degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710057178XA CN100480003C (en) | 2007-04-20 | 2007-04-20 | Series parallel robot in five degrees of freedom |
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| CN101049692A CN101049692A (en) | 2007-10-10 |
| CN100480003C true CN100480003C (en) | 2009-04-22 |
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| CN102601795A (en) * | 2012-03-29 | 2012-07-25 | 天津大学 | Power head capable of realizing five-shaft linkage operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102601795A (en) * | 2012-03-29 | 2012-07-25 | 天津大学 | Power head capable of realizing five-shaft linkage operation |
| CN102601795B (en) * | 2012-03-29 | 2014-03-26 | 天津大学 | Power head capable of realizing five-shaft linkage operation |
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| CN101049692A (en) | 2007-10-10 |
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