CN101633166A - Restructurable industrial robot - Google Patents
Restructurable industrial robot Download PDFInfo
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- CN101633166A CN101633166A CN200910108483A CN200910108483A CN101633166A CN 101633166 A CN101633166 A CN 101633166A CN 200910108483 A CN200910108483 A CN 200910108483A CN 200910108483 A CN200910108483 A CN 200910108483A CN 101633166 A CN101633166 A CN 101633166A
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Abstract
The invention discloses a restructurable industrial robot mechanism which relates to an industrial robot with changeable freedom types. The mechanism is characterized by realizing the reconstruction of freedom types through a collaborating mechanism or a detachable parallel mechanism or both. The collaborating mechanism uses the relative rigid movement of end manipulators of two independent mechanisms to give movement tasks for the robot, and the detachable parallel mechanism is a special parallel mechanism of which the branched chain can be automatically connected with or detached from a mobile platform. The collaborating mechanism can conveniently combine mechanisms of different freedom types to obtain different rigid movements, while the branched chain of the detachable parallel mechanism can be detached from or connected with the same mobile platform, so the mechanism can work in a serial or parallel mechanism state to obtain multiple movements of different freedom types. The restructurable industrial robot mechanism can comprise a plurality of collaborating mechanisms and detachable parallel mechanisms according to the needs of actual tasks, part of the freedom of the restructurable industrial robot in work can be repeatedly used for many times, thus fewer degrees of freedom can realize more functions, and the restructurable industrial robot is suitable for working places of multi-job tasks and working places where the job task has various performance requirements.
Description
Technical field
The present invention is under the jurisdiction of the industrial robot field, relates to parallel institution, serial mechanism, cooperation institute and detachable parallel institution.
Background technology
Serial mechanism is meant the open loop chain mechanism that joint of robot or kinematic pair are formed by connecting with connecting rod successively.Parallel institution is meant by two or more serial mechanisms are parallel and is connected to a common base and a public moving platform, and mechanism has two or more frees degree, and the mechanism that drives with parallel way.Parallel robot mechanism is owing to have characteristics such as stiffness/weight ratio is big, bearing capacity is strong, error accumulation is little, dynamic property is good, compact conformation, be widely used in numerous technical fields in recent years, but compare with serial mechanism, its available work space is smaller, there is more unusual morpheme, for part high-freedom degree parallel institution, its installation accuracy is had relatively high expectations, and these shortcomings have further limited the range of application of parallel institution again.And the characteristics of serial mechanism are to obtain bigger working space, but its rigidity is poor, and side chain is generally longer, and terminal site error is adding up of each connecting rod and joint error, thereby deviation accumulation is bigger.Parallel institution and the serial mechanism pluses and minuses on performance are complementary.
Cooperation institute is meant by two mechanisms independently, these two independently mechanism can be parallel institution or serial mechanism, utilize the relative rigid motion of these two mechanism's end-effectors to finish the train of mechanism of given robot working motion task.Its advantage is to realize given motion to two mechanisms that multivariant complex mechanism becomes lower-mobility, can simplify complex mechanism, and long-chain branch shortens, thereby improves the rigidity and the reliability of system; By such train of mechanism, the combination of the different independent agencies of realization that can be convenient and reliable obtains different free degree types, to satisfy the needs of different machines people job task, thereby realize the degree-of-freedom reconfigurable of system easily and reliably, can also realize that in most cases the free degree is from reconstruct.
Detachable parallel institution is meant that the side chain of a parallel institution can be dynamically connected with the moving platform realization or split certainly, when a task needs the parallel institution of high rigidity to finish, it is operated in the parallel institution state, when system need obtain bigger space, and during to rigidity less demanding, the side chain of mechanism separates automatically with moving platform, is operated in the serial mechanism state.Detachable parallel institution is applicable to that the multiplex (MUX) makes task and the multifarious occasion of job task performance requirement, the realization free degree that can be convenient and reliable from reconstruct.
So far, aspect parallel institution research, the lower-mobility parallel institution has become the focus of research.With respect to six-degree-of-freedom parallel connection mechanism, the lower-mobility parallel institution has its distinctive character: it is simple in structure, designs, makes and control cost relatively low.Its application is constantly expanded, as the automatic production line of light industry, medicine, food and electron trade, and processing manufacturing industry, automation assembling, the paster mechanism of PCB (printed substrate), free form surface polishing mechanism etc.The present invention is based on simple in structure and lower-mobility parallel institution dependable performance, the various combination of the lower-mobility parallel institution by having different free degree types forms the cooperation institute of multiple function, and the part parallel institution can be designed to detachable parallel institution according to actual needs, realize the further variation of function, and can give full play to the advantage of parallel institution and serial mechanism, avoid their shortcoming.
Characteristic of the present invention shows: Restructurable industrial robot mechanism is provided, and such train of mechanism can be carried out the reconstruct of free degree type according to actual needs, realizes the mission requirements of multiple motor function.
The technical scheme that adopts of the present invention is: cooperation institute and detachable parallel institution.
Its operation principle is to form cooperation institute by the combination of different lower-mobility parallel connections or serial mechanism, can fast realize the reconstruct of different free degree types reliably, is applicable to the needs of different robot manipulating task tasks; Can realize another automatic reconfiguration by detachable parallel institution again, be applied to occasion the different needs of mechanism's rigidity and working space.
Mechanism structure compactness of the present invention, the feasible system multifunctionality, part body is repeatedly reused in the overall work process, thereby realizes more function with less free degree number, meet green design and renewable design philosophy, have good environment-friendly function.Its restructuring procedure is fast reliable, and motion of mechanism is controlled simple and is easy to motion platform is carried out FEEDBACK CONTROL, can be applicable to occasions such as modern industry multitask processing, manufacturing, assembling, detection.
Description of drawings
Fig. 1: the invention process sample 1 schematic diagram of mechanism.
Fig. 2: mechanism shown in Figure 1 cad model.
Fig. 3: the invention process sample 2 schematic diagram of mechanisms.
Fig. 4: mechanism shown in Figure 3 cad model.
Fig. 5: the different installation illustraton of model of sample 2 of the present invention.
Among Fig. 1,2: 1. rotary joint, 2. motion platform, 3. rotary joint, 4. rotary joint, 5. end-effector, 6. rotary joint, 7. linear joint, 8. rotary joint, 9. linear joint, 10. rotary joint, 11. rotary joint, 12. electromagnet connecting interfaces, 13. rotary joints, 14. grabbers.
Among Fig. 3,4: 1. grabber, 2. rotary joint, 3. rotary joint, 4. rotary joint, 5. rotary joint 6. rotates and closes, 7. ball-joint, 8. linear drives, 9. linear drives, 10. moving platform, 11. pedestals, 12. linear drives, 13 rotary joints, 14. linear drives, 15. ball-joints, 16. rotary joints, 17. ball-joint, 18. locating platform linear drives, 19. guide rails, 20. locating platforms, 21. guide rail, 22. locating platform linear drives, 23. install frame.
The specific embodiment
Further narrate the present invention below in conjunction with embodiment and accompanying drawing thereof.
Implement sample 1:
Fig. 1 is first embodiment schematic diagram of mechanism of the reconstruction robot among the present invention.This mechanism is made up of three side chains, is respectively: the 3DOF side chain of being made up of joint 1,3,4 and connecting rod 1; The 3DOF side chain of forming by joint 6,7,8 and connecting rod 2; The 4DOF side chain of forming by joint 9,10,11,13 and connecting rod 3.Side chain 3 can be realized extracting-placement motion, it is responsible for grasping the workpiece that needs processing and navigating on the moving platform 2 of side chain 1 in the course of the work, realize stepping up by the automatic fixture on the moving platform 2 to workpiece, after the workpiece extracting finishes with placement, side chain 1 is bonded together by electromagnet interface 12 with side chain 3, side chain 1 and side chain 3 are formed 5 connecting rod 2DOF parallel institutions, at this moment, this 2DOF parallel institution and side chain 2 be by cooperating mutually, utilizes relative motion between the end-effector 5 on moving platform 2 and the side chain 2 needing to realize the motion task of processing.Side chain 2 is replaceable mechanisms, can be according to different processing needs, and replace to 1 free degree translation, 1 and rotate 1 and move and 1 mechanism that moves free degree types such as 2 rotation, also can be with the parallel institution replacement of the free degree that needing to realize type.To be processed finishing, 12 outages of electromagnet interface, side chain 1 and side chain 3 separate, and side chain 1 is sent to down the station of processing together to the workpiece of finishing processing, and side chain 3 continues the extracting unprocessed workpiece, enters next fabrication cycles.
In this embodiment, mechanism is by the electromagnet interface, 2 serial mechanisms are connected on the public moving platform 2 and form parallel institution, other characteristics are to have made full use of the bigger advantage of serial mechanism working space, and utilized good rigidly at parallel institution, advantage of high precision, and avoided serial mechanism poor rigidity and the little shortcoming of parallel institution working space.And the entire mechanism part free degree in the course of the work is repeated to utilize, comparing with traditional pipelining can energy savings, the realization greenization is made, its structure is also compact, the user can be according to different processing needs, needs change side chain 2 and get final product, therefore can realize the multi-functional needs different with adaptation.
Implement sample 2:
Fig. 3 utilizes the various combination of high-performance lower-mobility parallel institution to become different cooperation institutes among the present invention, realizes the application example of free degree reconstruct.This mechanism comprises independently parallel institution module of three functions, is respectively: module 1 is to be used to grasp the plane 2DOF 5 connecting rod parallel institutions of placing operation shown in Fig. 3 (a); Module 2 is to be used for 1 of process operation to move 2 rotation 3PRS parallel institutions shown in Fig. 2 (b); Module 3 is the plane 2DOF locating platform in parallel that is used to add workpiece location in man-hour shown in Fig. 3 (c).Module 3 is a kind of locating platforms in parallel, and its advantage is that reasonable rigidity can be arranged on the direction perpendicular to the locating platform plane, and is a kind of decoupling mechanism, convenient Position Control and the realization hi-Fix realized.The operation principle of this train of mechanism is to be realized the workpiece of needs processing is grasped and is placed on the module 3 by module 1, behind realization clamping and the location, is cooperated mutually with module 3 by module 2, forms cooperation institute, realizes working motion.To be processed finishing, module 1 are responsible for a workpiece handling of finishing to assigned address, then grasp next workpiece to be processed.Be that module 1 is formed cooperation institute with module 3, realize the clamping and the unloading of workpiece, module 2 is formed cooperation institute with module 3, finishes working motion, and module 3 is repeated to utilize in entire work process, realizes the reconstruct of free degree type.
In this embodiment, obtain cooperation institute with dissimilar frees degree by the various combination that utilizes the high performance parallel institution of lower-mobility, compare with multiple freedom parallel mechanism, it can obtain better kinematics and dynamic performance, working space improves, and lower-mobility is compared with multiple degrees of freedom, can simplified design, obtain better rigidity and reliability.By different combinations, part of module is repeated to utilize in the course of the work, realizes most optimum distribution of resources.This systematic unity is applicable to the industrial operations of multi-processing task.
Implement sample 3:
Fig. 5 is that the difference in functionality of the different installation realization in the enforcement sample 2 among the present invention and the difference of sample 2 are 1 level of the module in the sample 2 is installed.This sample is mainly used in the multitask assembling work, such as product needed of assembling N part is assembled together, can grasp corresponding part by module 1 so, module 1 is cooperated with module 2 then, at first be that the workpiece that module 1 is installed needs is placed on the operator of module 2, cooperate with module 3 by module 2, realization is assembled to part on the product, utilizing module 2 to assemble mainly is because module 2 can realize the installation under any attitude, treat that all parts install, module 1 is transported to assigned address to the product of finishing.
In this embodiment, mainly be that module 1 and module 3 are cooperated, finish that the part of needs assembling is sent on the clamp device of module 2, cooperate with module 3 by module 2 again, finish the assembling action, to be assembled finishing, module 1 is cooperated with module 3 again, realizes the Product Uninstallation of finishing.
Patent of the present invention is not limited to above enforcement sample.
Claims (3)
1. Restructurable industrial robot mechanism, this robot mechanism comprises the mechanism that two classes can realize the reconstruct of free degree type: a class is the interaction by two independent agencies, utilizes the relative rigid motion of its end-effector to realize the cooperation institute of given robot motion's task; Two classes are that side chain can be realized the parallel institution that oneself is dynamically connected or splits with moving platform, cooperation institute can be quickly and easily making up the mechanism of different free degree types, thereby obtain different rigid motions, and the side chain of detachable parallel institution can be by splitting and being connected to common moving platform, make mechanism can be operated in serial mechanism state or parallel institution state, thereby obtain multiple different free degree kinds of athletic.
2. according to the described restructural industrial machine of claim 1 robot mechanism, it is characterized in that: such restructural industrial robot has it concurrently by cooperation institute or detachable parallel institution or this two kinds of mechanisms, robot can realize that automatic reconfiguration or people are reconstruct according to different job task needs, thereby obtains the needed different free degree types of robot manipulating task; Two independent agencies in the cooperation institute can comprise identical free degree type or diverse free degree type, but the relative rigid motion of its end-effector can realize the freedom of motion of needs; Detachable parallel institution can be operated in the serial mechanism state or be linked to a common moving platform and be operated in the parallel institution state, this mechanism can give full play to the advantage of in parallel and serial mechanism and avoid their shortcoming, such reconstruction robot mechanism is applicable to many job tasks or the multifarious workplace of job task performance requirement, adapts to the needs of several work task by the mode of robot reconstruct.
3. according to the described Restructurable industrial robot of claim 2 mechanism, such mechanism can be according to the needs of real work task, comprise a plurality of cooperation institutes and detachable parallel institution, such restructural industrial robot part free degree in the course of the work can repeatedly be repeated to utilize, thereby realizes more function with less number of degrees of freedom.
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| CN200910108483.6A CN101633166B (en) | 2009-07-13 | 2009-07-13 | Restructurable industrial robot |
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| CN200910108483.6A CN101633166B (en) | 2009-07-13 | 2009-07-13 | Restructurable industrial robot |
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| CN101633166B CN101633166B (en) | 2014-12-03 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103429401A (en) * | 2010-10-18 | 2013-12-04 | Tecnalia法国公司 | A self-reconfigurable mobile manipulator |
| CN104029218A (en) * | 2013-03-05 | 2014-09-10 | 深圳富泰宏精密工业有限公司 | Mechanical arm |
| CN105171091A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Novel variable input reorganizable mechanical ox-head planer main motion mechanism |
| CN111538294A (en) * | 2019-11-15 | 2020-08-14 | 武汉理工大学 | Industrial robot manufacturing system reconfigurable system and method based on digital twinning |
| CN115213885A (en) * | 2021-06-29 | 2022-10-21 | 达闼科技（北京）有限公司 | Robot skill generation method, device and medium, cloud server and robot control system |
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| DE3918587A1 (en) * | 1988-06-13 | 1989-12-14 | Westinghouse Electric Corp | Reconfigurable articulated robot arm |
| CN1281769A (en) * | 2000-08-03 | 2001-01-31 | 河北工业大学 | Parallel machine tool capable of recombining three, four and five shafts |
| CN1634684A (en) * | 2003-12-25 | 2005-07-06 | 电子科技大学 | Precisely micro-operated robot structure |
| CN1673016A (en) * | 2005-04-05 | 2005-09-28 | 北京航空航天大学 | Portable reconfigurable crawler robot |
| CN1788899A (en) * | 2005-12-28 | 2006-06-21 | 哈尔滨工业大学 | Five freedom degree numerically controlled fraise machine |
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2009
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE3918587A1 (en) * | 1988-06-13 | 1989-12-14 | Westinghouse Electric Corp | Reconfigurable articulated robot arm |
| CN1281769A (en) * | 2000-08-03 | 2001-01-31 | 河北工业大学 | Parallel machine tool capable of recombining three, four and five shafts |
| CN1634684A (en) * | 2003-12-25 | 2005-07-06 | 电子科技大学 | Precisely micro-operated robot structure |
| CN1673016A (en) * | 2005-04-05 | 2005-09-28 | 北京航空航天大学 | Portable reconfigurable crawler robot |
| CN1788899A (en) * | 2005-12-28 | 2006-06-21 | 哈尔滨工业大学 | Five freedom degree numerically controlled fraise machine |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103429401A (en) * | 2010-10-18 | 2013-12-04 | Tecnalia法国公司 | A self-reconfigurable mobile manipulator |
| CN104029218A (en) * | 2013-03-05 | 2014-09-10 | 深圳富泰宏精密工业有限公司 | Mechanical arm |
| CN105171091A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Novel variable input reorganizable mechanical ox-head planer main motion mechanism |
| CN105171091B (en) * | 2015-10-27 | 2017-06-27 | 北华航天工业学院 | New change is input into the mechanical shaping machine main motion mechanism of restructural |
| CN111538294A (en) * | 2019-11-15 | 2020-08-14 | 武汉理工大学 | Industrial robot manufacturing system reconfigurable system and method based on digital twinning |
| CN111538294B (en) * | 2019-11-15 | 2021-08-24 | 武汉理工大学 | Industrial robot manufacturing system reconfigurable system and method based on digital twinning |
| CN115213885A (en) * | 2021-06-29 | 2022-10-21 | 达闼科技（北京）有限公司 | Robot skill generation method, device and medium, cloud server and robot control system |
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| CN101633166B (en) | 2014-12-03 |
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Address after: 518055 Nanshan District Xili Shenzhen University, Shenzhen, Guangdong, Harbin Industrial University Campus Patentee after: Harbin Institute of Technology (Shenzhen) Address before: 518055 Nanshan District Xili Shenzhen University, Shenzhen, Guangdong, Harbin Industrial University Campus Patentee before: Harbin Institute of Technology Shenzhen Graduate School |
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