CN103433918A - Series-parallel industrial robot with five degrees of freedom - Google Patents

Series-parallel industrial robot with five degrees of freedom Download PDF

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Publication number
CN103433918A
CN103433918A CN2013104053605A CN201310405360A CN103433918A CN 103433918 A CN103433918 A CN 103433918A CN 2013104053605 A CN2013104053605 A CN 2013104053605A CN 201310405360 A CN201310405360 A CN 201310405360A CN 103433918 A CN103433918 A CN 103433918A
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freedom
wrist
robot
parallel
series
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CN103433918B (en
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刘辛军
李�杰
谢福贵
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Tsinghua University
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Tsinghua University
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Abstract

The invention relates to a series-parallel industrial robot with five degrees of freedom, which has large working space and is highly flexible. The series-parallel industrial robot with five degrees of freedom is composed of a vertical rotational joint, a vertical lifting joint, a wrist joint with double rotational degrees of freedom, a parallel operation mechanism and a tail-end quick-change tool. The series-parallel industrial robot with five degrees of freedom has the advantages of compact structure, large working range, flexible posture adjustment, high degree of automation, relatively simple control and wide range of application and can realize various engineer operations such as carrying, spraying, assembly and the like.

Description

A kind of five degree of freedom series-parallel connection industrial robot
Technical field
The invention belongs to machine-building design neck, be specifically related to a kind of working range large, there is high degree of flexibility and flexible a kind of five degree of freedom series-parallel connection industrial robot.
Background technology
Along with developing rapidly of China's process industry, industrial robot becomes and enhances productivity, and guarantees to generate the important technical of quality.In the production process of the typical industry such as automobile, aircraft equipment, robot is progressively replacing hand labor becomes the main force on production line.
Industrial robot mainly contains serial machine people, parallel robot and not only contains series connection but also contain three kinds of forms of series-parallel robot in parallel at present.It is large that the serial machine people has working range, and attitude is adjusted advantage flexibly, but its deficiency is that poor rigidity, control accuracy are lower.The characteristics of parallel robot are just in time contrary, and parallel robot rigidity is high, and control accuracy is high, easily realize High-speed Control, and its deficiency is that working range is less, and flexibility is relative with flexibility poor.Series-parallel robot, with the characteristics of serial machine people and parallel robot, has huge application prospect in the industrial robot field.
Industrial robot on the most production line has adopted the serial machine people of joint form, the typical structure of this kind of robot is by rotating fuselage, rotate large arm (or mobile large arm), rotate forearm (or mobile forearm) and form with the wrist joint with two or three rotational freedoms and end effector.This topological structure has determined that robot has flexibility and the flexibility of height in working range and attitude adjustment, but tediously long cantilever design makes load capacity and the dynamic property limited of robot.In packaging industry, the sorting machine people on a lot of production lines has selected parallel robot.The design feature of parallel institution is, a plurality of input side chains are common connects a moving platform, realizes the pose adjustment of moving platform by the coordinative role of a plurality of drivings, thereby has high rigidity, the characteristics such as quick and high dynamic accuracy.For example the Delta mechanism on baling line, with exclusive high speed characteristics and high dynamic accuracy, makes the sorting efficiency of bottle cap improve several times.But parallel robot is limited because of working range, flexible not enough, be difficult to be extended to more wide application.
In view of series and parallel robot pluses and minuses separately, in the enterprising professional etiquette of robot topological structure, to draw, it is large that formation has working range, high rigidity, high flexibility and flexibility, the series-parallel robot that dynamic property is superior will be the direction of futurity industry robot development.For this reason, this patent is used for reference the flexibility that serial machine people's wrist joint attitude is adjusted, the wrist joint that will have two quadrature rotational freedoms directly is connected with the large arm of linear joint, output in the wrist joint connects the parallel institution with two frees degree again, and the parallel institution moving platform is in order to the quick-change tool that is installed.So form to have working range concurrently large, flexibility and flexible high, rigidity is large, the mixed robot that dynamic accuracy is high can effectively make up the deficiency of unitary series of operations or parallel robot.
Summary of the invention
The object of the present invention is to provide a kind of five degree of freedom series-parallel connection industrial robot, this five degree of freedom series-parallel connection industrial robot has that working range is large, flexibility and flexible high, the characteristics such as rigidity is high, dynamic property is good, thereby can effectively make up the deficiency of unitary series of operations or parallel robot.
The claimed a kind of five degree of freedom series-parallel connection industry device people of the present invention, this spray robot is by vertical cradle head, the vertical lifting joint, dual-rotational freedom wrist joint, parallel operation mechanism and end quick-change tool form jointly, vertically cradle head drives turntable to complete by the turntable drive motors, and this cradle head enlarges the job area of described industrial robot in same level; The vertical lifting joint drives screw mandrel to drive the lifting of top shoe, sliding block, arc support arm, back shaft, F shape Connection Block by the lifting drive motors, enlarges the job area of described industrial robot in same vertical plane; Dual-rotational freedom wrist joint is comprised of wrist drive motors first and separately-driven two the quadrature cradle heads of wrist motor second, the multiple operating attitude of robot is realized in dual-rotational freedom wrist joint by the co-ordination of two rotational freedoms, thereby strengthens flexibility and the flexibility of robot; The plane two-freedom plane parallel mechanism that parallel operation mechanism is comprised of large arm drive motors, crank drive motors, large arm, forearm, crank, connecting rod, moving platform etc., this parallel institution has the function that keeps the moving platform attitude, and the co-ordination by large arm drive motors and crank drive motors realize mechanism the planar reciprocating motion of any direction under same attitude, the execution efficiency of extra-high-speed robot working in reciprocating mode; The moving platform of described industrial robot arranges the rapid-mounted interface, and the different quick-change tool that is installed on moving platform can be realized different engineering duties.
According to five degree of freedom series-parallel connection industrial robot of the present invention, the fuselage cradle head is respectively coaxial and orthogonality relation with two rotational freedoms in double freedom wrist joint, and turntable is coaxial with wrist rotating shaft first, turntable and wrist rotating shaft second quadrature.
According to five degree of freedom series-parallel connection industrial robot of the present invention, arc support arm and back shaft support F shape Connection Block jointly, and oscilaltion under the effect of top shoe and sliding block, make the mount pad in robot mechanism compactness and double freedom wrist joint there is stronger rigidity, the shutdown of double freedom wrist be take wrist rotation seat first as function transition part, both as the output of serial mechanism, simultaneously, again as the output of the basic pose of parallel institution, on topological structure, make robot have the characteristic of series and parallel mechanism concurrently.
According to five degree of freedom series-parallel connection industry device people of the present invention, the spraying of spray gun for mechanized equipment is installed on moving platform.
According to five degree of freedom series-parallel connection industry device people of the present invention, the welding gun that is installed on moving platform is for spot weld operation.
According to five degree of freedom series-parallel connection industry device people of the present invention, be installed to add on moving platform and hold device for carrying and piling.
According to the invention has the advantages that: the lifting of circular-rotation and upright guide rail by turntable has increased the range of movement of end effector of robot greatly; Attitude adjustment by double freedom wrist joint has strengthened flexibility and the flexibility of robot at working space greatly; Parallel operation mechanism has the attitude mechanism characteristics can strengthen robot greatly at local working in reciprocating mode efficiency and load stiffness.In addition, this five degree of freedom series-parallel connection industrial robot also has mechanism's compactness, and the modularization characteristics are obvious, control the characteristics such as easy, therefore has wide using value.
The accompanying drawing explanation
Fig. 1 is five degree of freedom series-parallel connection industrial robot overall schematic of the present invention.
Fig. 2 is five degree of freedom series-parallel connection industrial robot side direction work schematic diagram of the present invention (for capable corresponding with the label of each parts in Fig. 1, the label in Fig. 2 does not launch by permanent order).In figure: the 1-pedestal, the 2-wire casing, the 3-turntable, the 4-rotating cylinder, 5-lifting drive motors, 6-turntable drive motors, the 7-quick-change tool, 8-linkage platform, 9-forearm connecting rod, the 10-forearm, the large arm of 11-, the 12-triangular coupling rod, the large arm connecting rod of 13-, the bent connecting rod of 14-, the 15-crank, 16-wrist drive motors first, 17-E shape rotation seat, 18-wrist drive motors second, 19-wrist small synchronous pulley, the large synchronous pulley of 20-wrist, 21-wrist rotating shaft first, 22-wrist rotating shaft second, 23-F shape Connection Block, 24-wrist rotation seat first, the 25-cover plate, 26-arc support arm, the 27-back shaft, the 28-leading screw, the 29-column, the 30-top shoe, the 31-sliding block, 32-writing drive motors, 33-crank drive motors, the 34-lifting drives small synchronous pulley, the 35-lifting drives large synchronous pulley, the 36-turntable drives large synchronous pulley, the 37-turntable drives small synchronous pulley, the 38-seal base.
The specific embodiment
Accompanying drawing explanation and the detailed rules for the implementation of a kind of five degree of freedom series-parallel connection industrial robot of the present invention are described as follows:
Technical scheme of the present invention describes and illustration by shown in Fig. 1, Fig. 2.
A kind of five degree of freedom series-parallel connection industrial robot of the present invention is by vertical cradle head, the vertical lifting joint, dual-rotational freedom wrist joint, parallel operation mechanism and end quick-change tool form jointly, and concrete annexation and the detailed rules for the implementation of each part are as follows.
Pedestal 1 is the cylindrical interior empty round platform with four installation feet, and pedestal 1 is bolted with the earth fastening.Wire casing 2 is the arc tank circuit that the cable activity is provided, and wire casing 2 is bolted with pedestal 1 upper surface fastening, and the two keeps concentric relation.Turntable 3 is a turntable of the cylinder with multidiameter, and the multidiameter of turntable 3 forms revolute pair by the centre bore of bearing fit and pedestal 1 upper surface.The cylinder that rotating cylinder 4 is a upper surface sealing, being bolted of rotating cylinder 4 is fastenedly connected the upper surface of its lower surface and turntable 3.Turntable drive motors 6 is fastening by the upper surface of bolt and pedestal 1, and the motor shaft of turntable drive motors 6 drives small synchronous pulley 37 to be connected by general flat key and turntable.The multidiameter that turntable drives large synchronous pulley 36 to pass the circular hole inner bearing of pedestal 1 by general flat key and turntable 3 is connected, turntable drives large synchronous pulley 36 and turntable to drive small synchronous pulley 37 by the Timing Belt carry-over moment, thereby the moment of torsion of turntable driving motor 6 is passed to turntable 3 and top connection parts thereof.Seal base 38 is a disk with seam, seal base 38 is connected fastening with bolt with pedestal 1 by seam, thereby the synchronous belt pulley transmission system of base interior (can be also herein gear train assembly, or other functionally similar transmission system) is sealed.Lifting drive motors 5 is fastenedly connected by the upper surface of bolt and rotating cylinder 4, and the motor shaft of lifting drive motors 5 passes the circular hole of rotating cylinder 4 upper surfaces and drives small synchronous pulley 34 to be connected by general flat key and lifting.Column 29 is the arc heavy wall column of bottom with bolt hole, and the bottom of column 29 is fastenedly connected by the upper surface of bolt and rotating cylinder 4.The upper surface symmetry of rotating cylinder 4 is installed with on the inboard, upright plane of 29, two columns 29 of two columns and is respectively a straight line guide rail (or the form be bolted is fastened on column 29 medial surfaces by a guide rail).Top shoe 30 and sliding block 31 coordinate the formation moving sets by the dovetail groove of both sides respectively with the line slideway of two column 29 inboards.The middle part of sliding block 31 has screwed hole, and forms screw pair by screwed hole and leading screw 28.When leading screw 28 motion threads coordinate with sliding block 31 screwed holes, its lower end multidiameter is connected by bearing fit with the circular hole at rotating cylinder 4 middle parts, and its part of multidiameter through bearing drives large synchronous pulley 35 to be connected by general flat key and lifting.Lifting drives large synchronous pulley 35 and lifting to drive 34 of small synchronous pulleys to pass through the Timing Belt transferring power, thereby the torque axis of lifting drive motors 5 is turned to the power of slide block 31 liftings.Arc support arm 26 is the heavy wall circular arc support arm that a rigidity is larger, and its upper and lower side all has the joint face of level.The lower end joint face of arc support arm 26 is bolted effect, and upper surface and top shoe 30 are fastening, and lower surface and sliding block 31 are fastening; The upper end joint face of arc support arm 26 is bolted effect and is fastenedly connected with F shape Connection Block.Top shoe 30 upper surface middle part have through hole, and leading screw 28 can freely rotate through through hole.Each equal four screwed holes not of top shoe 30 upper surface left and right sides, the screwed hole pairing of top shoe 30 upper surface screwed holes and back shaft 27 lower surface ladder round platforms, then the effect that is bolted is fastened on two back shafts 27 upper surface of top shoe 30.Cover plate 25 is bolted with two columns 29 fastening, cover plate 25 left and right sides respectively have a smooth circular hole can coordinate with back shaft 27 peripheries the formation moving sets, bearing is housed in the circular hole at cover plate 25 middle parts and can coordinates with the multidiameter of leading screw 28 upper ends the formation revolute pair.Cover plate 25 is bolted the rigidity that effect can strengthen column 29 on the one hand, leading screw 28 and bolster 27 is played to the constraint positioning action on the other hand, and this outer cover plate 25 also plays guide effect to back shaft 27 in lifting process.The upper surface of two back shafts 27 is bolted with F shape Connection Block 23 fastening.The upper surface of the upper surface of back shaft 27 and arc support arm 26 must be in same level, thereby jointly supports F shape Connection Block 23 and guarantee that F shape Connection Block 23 is in level.The base support parts that F shape Connection Block 23 is double freedom wrist joint, the multidiameter at wrist rotating shaft second 22 two ends coordinates respectively the formation revolute pair with two vertical risers of F shape Connection Block 23 by bearing.Wrist rotating shaft second 22 outside multidiameters are through the bearing in F shape Connection Block 23 outer cant boards, and wrist rotating shaft second 22 outermost end multidiameters are connected by general flat key and the large synchronous pulley 20 of wrist.Wrist drive motors second 18 is bolted in the top of F shape Connection Block 23 outer cant boards, with the axis of wrist rotating shaft second 22 in same vertical plane.The motor shaft of wrist drive motors second 22 is connected by general flat key and wrist small synchronous pulley 19, wrist small synchronous pulley 19 is by Timing Belt and large synchronous pulley 20 transferring power of wrist, thereby the rotating torque of wrist drive motors second 22 is converted to the rotating torque of wrist rotating shaft second 22.It is fastening that wrist rotating shaft second 22 is passed through welding or bolted form and E shape rotation seat 17, the support that E shape rotation seat 17 is double freedom wrist joint the second rotational freedom.Wrist drive motors first 16 is bolted the riser (shown in Fig. 1) that is anchored on E shape rotation seat 17 upper ends, and the multidiameter at wrist rotating shaft first 21 two ends forms revolute pair by the circular hole of bearing and E shape rotation seat 17 middle parts and lower end riser.Wrist rotating shaft first 21 is coaxial with the motor shaft of wrist drive motors first 16, and the two connects by shaft coupling, thereby the moment of torsion of wrist drive motors first 16 is passed to wrist rotating shaft first 21.Wrist rotating shaft first 21 is connected by general flat key and wrist rotation seat first 24, further the rotation of wrist drive motors first 16 is passed to wrist rotation seat first 24.Wrist rotation seat first 24 is a U-shaped Connection Block, it plays the effect that transition connects in whole series-parallel robot, it is the output of serial mechanism, again the input of the basic pose of parallel operation mechanism unit simultaneously, thereby on topological structure, make robot have the characteristic of series and parallel mechanism concurrently, form and there is good mechanism characteristics series-parallel robot.
In parallel operation mechanism, the annexation of each parts is as follows.Crank 15 and large arm 11 form revolute pair by bearing fit respectively and connect with wrist rotation seat first 24, and by the large arm drive motors 32 be connected by general flat key with it and crank drive motors 33, are driven respectively.Large arm drive motors 32 and 33 outsides that are fastened on respectively wrist rotation seat first 24U type structure by mechanical screw of crank drive motors, and two motor shafts are coaxial.Forearm 10 middle parts form the passive rotation pair by bearing and large arm 11 ends, and forearm 10 front ends form revolute pair by bearing fit and connect with linkage platform 8, and forearm 10 rear ends form revolute pair by bearing fit and connect with bent connecting rod 14.The other end of bent connecting rod 14 forms revolute pair by bearing fit and connects with crank 15.Triangular coupling rod 12 place, summit, obtuse angle circular holes form revolute pair by bearing and connect with large arm 11, and this revolute pair is coaxial with forearm 10 and the large formed revolute pair of arm 11.Triangular coupling rod 12 profiles are triangle, and its long limit is the I connecting rod, and it is the II connecting rod in two minor faces.The I connecting rod forms revolute pair one end by bearing fit and is connected with forearm connecting rod 9, and the other end connects with large arm connecting rod 13.The other end of large arm connecting rod 13 forms revolute pair by bearing fit and connects with the ear shape connecting rod on wrist rotation seat first 24; The other end of forearm connecting rod 9 forms revolute pair by bearing fit and connects with linkage platform 8.The quick-change tool 7 that has been installed in the circular hole of linkage platform 8, the different quick-change tool that is installed can carry out different engineer operations.
The vertical cradle head of the industrial robot of five degree of freedom series-parallel connection in the present invention can enlarge robot end's the job area of quick-change tool 7 in same level, the lifting joint can enlarge the job area of robot end's quick-change tool in same vertical plane, vertically cradle head and the mating reaction of vertical lifting joint have enlarged the job space scope of robot, make robot have large-scale work capacity.Dual-rotational freedom wrist joint has the rotational freedom of two quadratures, can adjust robot end's quick-change tool attitude by the co-ordination of two rotational freedoms, in order to realize the requirement of various engineering task multi-pose, thereby flexibility and the flexibility of robot have been strengthened.Parallel operation mechanism not only has the function that keeps end quick-change tool athletic posture, the mating reaction can also two inputs by parallel institution driven realize mechanism the planar reciprocating motion of any direction, thereby greatly improved the execution efficiency of robot, thereby the characteristic that parallel institution has quick and high rigidity in addition hoisting machine people's load capacity and high-speed motion characteristic greatly.In addition, because parallel operation mechanism has the function that keeps end quick-change tool attitude, thereby make the kinematics coupling of serial mechanism and parallel institution reduce, control accordingly complexity and decrease.
The present invention is illustrated with an exemplary embodiments, those skilled in the art is not in the situation that exceed the scope of the invention, can the relative position relation of turntable and upright guide rail be changed, or the running part that turntable drives and lifting drives is done to the change in the common engineering scope.As turntable drive part and lifting drive part toothed belt transmission are changed to gear drive.Also can make apparent variation and modification to the size and dimension in some joint, to be used for adapting to different engineering duties.

Claims (6)

1. five degree of freedom series-parallel connection industry device people, this spray robot is by vertical cradle head, the vertical lifting joint, dual-rotational freedom wrist joint, parallel operation mechanism and end quick-change tool form jointly, vertically cradle head drives turntable to complete by the turntable drive motors, and this cradle head enlarges the job area of described industrial robot in same level; The vertical lifting joint drives screw mandrel to drive the lifting of top shoe, sliding block, arc support arm, back shaft, F shape Connection Block by the lifting drive motors, enlarges the job area of described industrial robot in same vertical plane; Dual-rotational freedom wrist joint is comprised of wrist drive motors first and separately-driven two the quadrature cradle heads of wrist motor second, the multiple operating attitude of robot is realized in dual-rotational freedom wrist joint by the co-ordination of two rotational freedoms, thereby strengthens flexibility and the flexibility of robot; The plane two-freedom plane parallel mechanism that parallel operation mechanism is comprised of large arm drive motors, crank drive motors, large arm, forearm, crank, connecting rod, moving platform etc., this parallel institution has the function that keeps the moving platform attitude, and the co-ordination by large arm drive motors and crank drive motors realize mechanism the planar reciprocating motion of any direction under same attitude, the execution efficiency of extra-high-speed robot working in reciprocating mode; The moving platform of described industrial robot arranges the rapid-mounted interface, and the different quick-change tool that is installed on moving platform can be realized different engineering duties.
2. five degree of freedom series-parallel connection industrial robot according to claim 1, the fuselage cradle head is respectively coaxial and orthogonality relation with two rotational freedoms in double freedom wrist joint, and turntable is coaxial with wrist rotating shaft first, turntable and wrist rotating shaft second quadrature.
3. five degree of freedom series-parallel connection industrial robot according to claim 1, arc support arm and back shaft support F shape Connection Block jointly, and oscilaltion under the effect of top shoe and sliding block, make the mount pad in robot mechanism compactness and double freedom wrist joint there is stronger rigidity, the shutdown of double freedom wrist be take wrist rotation seat first as function transition part, both as the output of serial mechanism, simultaneously, again as the output of the basic pose of parallel institution, on topological structure, make robot have the characteristic of series and parallel mechanism concurrently.
4. five degree of freedom series-parallel connection according to claim 1 industry device people, the spraying of spray gun for mechanized equipment is installed on moving platform.
5. five degree of freedom series-parallel connection according to claim 1 industry device people, the welding gun that is installed on moving platform is for spot weld operation.
6. five degree of freedom series-parallel connection industry device people according to claim 1 is installed to add and holds device for carrying and piling on moving platform.
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CN103737208A (en) * 2013-12-17 2014-04-23 广西大学 Multi-degree-of-freedom welding robot
CN103737209A (en) * 2013-12-17 2014-04-23 广西大学 Welding robot with symmetrical mechanisms
CN103802095A (en) * 2014-02-26 2014-05-21 温州职业技术学院 Four-degree-of-freedom servo manipulator
CN104476054A (en) * 2014-12-23 2015-04-01 广西大学 Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism
CN104551477A (en) * 2014-12-23 2015-04-29 广西大学 Method for carrying out welding construction by utilizing multi-degree of freedom controllable mechanism type connecting rod mechanism
CN104551468A (en) * 2014-12-17 2015-04-29 广西大学 Controllable mechanism-type mobile welding robot with five degrees of freedom
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CN103737208A (en) * 2013-12-17 2014-04-23 广西大学 Multi-degree-of-freedom welding robot
CN103737209A (en) * 2013-12-17 2014-04-23 广西大学 Welding robot with symmetrical mechanisms
CN103802095A (en) * 2014-02-26 2014-05-21 温州职业技术学院 Four-degree-of-freedom servo manipulator
CN103802095B (en) * 2014-02-26 2016-03-16 温州职业技术学院 Four-degree-of-freedom servo manipulator
CN104551468A (en) * 2014-12-17 2015-04-29 广西大学 Controllable mechanism-type mobile welding robot with five degrees of freedom
CN104476054A (en) * 2014-12-23 2015-04-01 广西大学 Welding construction method through utilizing six-degree-of-freedom five-rod moving type connecting rod mechanism
CN104551477A (en) * 2014-12-23 2015-04-29 广西大学 Method for carrying out welding construction by utilizing multi-degree of freedom controllable mechanism type connecting rod mechanism
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