CN104057442B - Series parallel robot in five degrees of freedom - Google Patents
Series parallel robot in five degrees of freedom Download PDFInfo
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- CN104057442B CN104057442B CN201410255722.1A CN201410255722A CN104057442B CN 104057442 B CN104057442 B CN 104057442B CN 201410255722 A CN201410255722 A CN 201410255722A CN 104057442 B CN104057442 B CN 104057442B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
Abstract
The invention provides a kind of series parallel robot in five degrees of freedom, comprise power-driven system, navigation system and orientation system, power-driven system is arranged at the top of navigation system, described orientation system comprises supporting mechanism and power steering mechanism, supporting mechanism comprises three groups of commutation clamp mechanisms, three groups of commutation clamp mechanisms are linearly symmetrically distributed on silent flatform and between moving platform, and the rotation torque of power-driven system is delivered in power steering mechanism by three groups of commutation clamp mechanisms; Power steering mechanism comprises rotating mechanism and swing mechanism, and the rotation torque that supporting mechanism transmission is got off is converted to rotating and the swing of orientation system around Z axis of orientation system by rotating mechanism and swing mechanism.The present invention is in the mode of series-parallel, the free degree of robot is increased to 5DOF, the translation of 3 reference axis can be realized, and around the rotation of Z axis, also have the swing of operational tip, can be used for high rigidity, high accuracy or large load and need not the field of very large working space.
Description
Technical field
The present invention relates to industrial robot field, particularly, relate to a kind of series parallel robot in five degrees of freedom, in parallel, serial manipulator controls, motion, dynamics research, and industrial circle can be applied to by further genralrlization, carry out packaging, sorting, welding, assembling etc.
Background technology
Parallel robot is a kind of brand-new robot, it has, and rigidity is large, bearing capacity is strong, error is little, precision is high, deadweight duty ratio is little, power performance good, control the series of advantages such as easy, on applying, form complementary relationship with the serial manipulator of current extensive use, thus expand the application of whole robot.
At present the control of parallel robot, kinematics analysis and dynamic analysis aspect are mainly concentrated on to the research of parallel robot.The appearance of parallel institution can date back the thirties in 20th century, 1931, and Gwinnett proposes a kind of entertainment device based on sphere parallel mechanism in its patent; 1940, Pollard proposed a kind of space industry parallel institution in its patent, spraying paint for automobile; Afterwards, Gough invented a kind of six degree of freedom tyre detection device based on parallel institution in 1962; Nineteen sixty-five, German Stewart has carried out the research in theory of mechanisms meaning first to this mechanism of Gough invention, and is applied the motion-generating device into flight simulator, is used for training flight person as flight simulator; 1978, Hunt proposed a six-degree-of-freedom parallel connection mechanism first as robotic manipulator, pulled open the prelude of parallel robot research thus, but in nearly 10 years subsequently, parallel robot research seems to stagnate.Until the beginning of the nineties at the end of the eighties, parallel manipulator the talent attract wide attention, and becomes the focus of international research.At home, University On The Mountain Of Swallows professor Huang Zhen professor developed China's First six-degree-of-freedom parallel robot model machine in 1991, developed a flexible hinge parallel six degrees of freedom robot inaccuracy compensator in 1994.
Present industrial most widely used parallel robot is exactly Delta parallel robot, there are three branches in this robot, 120 degree of distributions are become in space, be divided into moving platform and silent flatform, but due to the restriction of mechanism itself, moving platform only has 3 frees degree: the translation along X-axis, the translation along Y-axis and the translation along Z axis, and machine human body posture is strictly limited; After have again people to add a rotating shaft in the middle of the moving platform, Delta robot is added a rotational freedom, make robot manipulation's end can adjust rotation attitude, this just substantially increases the range of application of Delta robot, is generally used for industrial sorting, assembling, carrying etc.
But along with the extensive popularization of Delta robot, only four frees degree can not meet more complicated operating mode.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of series parallel robot in five degrees of freedom, this robot is in the mode of series-parallel, the free degree of robot is increased to 5DOF, the translation of 3 reference axis can be realized, and around the rotation of Z axis, also have the swing of operational tip.
For realizing above object, the invention provides a kind of series parallel robot in five degrees of freedom, comprising power-driven system, navigation system and orientation system, wherein:
Described power-driven system, is positioned at the top of described navigation system, for providing power drive for navigation system and orientation system, is provided with silent flatform simultaneously;
Described navigation system comprises:
Actuating arm mechanism is the space symmetr structure being mutually 120 degree be made up of three actuating arms, and wherein: actuating arm is connected with power-driven system, and power-driven system drives actuating arm to rotate;
Slave arm mechanism, is the space symmetr mechanism be made up of three groups of parallelogram sturcutres, and is connected to actuating arm mechanism and moving platform mechanism with the form of spherical hinge;
Moving platform mechanism, comprises a moving platform end cap and a moving platform, and moving platform end cap connects slave arm mechanism, is provided with the power steering mechanism of orientation system in the cavity of moving platform;
Described orientation system comprises:
Supporting mechanism, comprises three groups of commutation clamp mechanisms, and three groups of commutation clamp mechanisms are linearly symmetrically distributed on silent flatform and between moving platform, and the rotation torque of power-driven system is delivered in power steering mechanism by three groups of commutation clamp mechanisms;
Power steering mechanism, comprises rotating mechanism and swing mechanism, rotating mechanism and and swing mechanism the rotation torque that supporting mechanism transmission is got off is converted to rotating and the swing of orientation system around Z axis of orientation system.
Preferably, described slave arm mechanism comprises: slave arm joint, oscillating bearing and follower lever, wherein: slave arm joint is connected with the actuating arm of actuating arm mechanism, slave arm joint is connected by oscillating bearing with follower lever, the both sides of follower lever connect oscillating bearing respectively by metal joint, and then follower lever is connected with the actuating arm of actuating arm mechanism with one end of oscillating bearing entirety again, the other end is connected with the moving platform end cap of moving platform mechanism.
Preferably, three groups of parallelogram in described slave arm mechanism, wherein each parallelogram is a parallelogram sturcutre branch of the moving platform end cap formation of two follower levers, slave arm joint and moving platform mechanism, and whole robot always has three branches, 120 degree, space is symmetrical, four summits often organizing parallel-crank mechanism are all connected with four oscillating bearings, above one group of oscillating bearing be connected with actuating arm, below one group of oscillating bearing be connected with moving platform.
Preferably, described rotating mechanism comprises hollow gear shaft, the first gear, the first rotating shaft and rotates chamber; Swing mechanism comprises the first bevel gear shaft, the first bevel gear, the second bevel gear shaft, the second bevel gear and swing span; Wherein: power steering mechanism hollow core gear the tip of the axis is connected with rotation chamber; First gear is fixed in the first rotating shaft, with the gear external toothing on hollow gear shaft; First bevel gear is connected to the first bevel gear the tip of the axis, second bevel gear is connected to the second bevel gear the tip of the axis and becomes 90 degree to engage with the first bevel gear, be connected with swing span at the other end of the second bevel gear shaft, swing span rotates with the rotation of the second bevel gear shaft.
In described power steering mechanism: in the first rotating shaft rotation drive the first pinion rotation, the first gear drives hollow gear shaft to rotate by external toothing effect, thus the rotation chamber making to be fixed on hollow wheel gear shaft end realizes the rotation at any angle around Z axis; The rotation of the first bevel gear shaft drives the first bevel gear to rotate, rotated with the second bevel gear that the first bevel gear is mutually 90 degree by bevel gear external toothing drive, thus driving the second bevel gear shaft to rotate, the rotation of the second bevel gear shaft then drives the swing span of its end to swing; Whole power steering mechanism is by utilizing hollow gear shaft, the first bevel gear, the second bevel gear, cleverly by rotary motion that supporting mechanism transmission is got off, change into the rotation of orientation system, and the swing of swing span, thus make the free degree of whole robot be 5.
Preferably, described orientation system comprises balanced controls further, described balanced controls comprise the second rotating shaft, the second gear, and the second gear is connected with the second rotating shaft and engages with hollow gear shaft, and balanced controls and the first gear are symmetrically distributed in the two ends of hollow gear shaft.
Preferably, in the moving platform mechanism of described navigation system, the top of moving platform end cap is distributed with three boss, and two end faces of each boss are equipped with internal thread, for being connected with the follower lever in slave arm mechanism; The middle of moving platform is linearly distributed with 3 through holes, for the distribution of the first rotating shaft, the first bevel gear shaft, the second rotating shaft.
Preferably, each described commutation clamp mechanism includes two universal joints, hollow ball spline shaft, a ball spline axle sleeve and a loop bar; Wherein: universal joint is candan universal joint and arranges in pairs, in paired two universal joints, be wherein connected to the end of hollow ball spline shaft near universal joint one end of silent flatform, the other end is connected with power-driven system; Be threaded connection on the loop bar of ball spline axle sleeve end near universal joint one end of moving platform, three other ends near the universal joint of moving platforms are from left to right connected to the second rotating shaft in the first rotating shaft in power steering mechanism, the first bevel gear shaft and balanced controls.
Preferably, what the supporting mechanism in described orientation system adopted is diesis universal joint, and one of them universal joint is connected with hollow ball spline shaft, and another universal joint is connected with the loop bar in supporting mechanism.
Preferably, in described orientation system, three groups of commutation clamp mechanisms of supporting mechanism linearly distribute, and symmetrical, wherein: the clamp mechanism be connected with the first rotating shaft and the first bevel gear shaft has driving propagation function, another clamp mechanism be connected with the second rotating shaft only plays a supportive role.
Preferably, in described supporting mechanism: power-driven system rotation torque drives the universal joint be attached thereto namely to rotate near the universal joint of silent flatform, thus drive ball spline shaft, loop bar to rotate, final drive is rotated near the universal joint of the hollow ball spline axle head of moving platform, thus the rotation of power-driven system is delivered to be connected with universal joint the first rotating shaft, the first bevel gear shaft, the second axis of rotation, thus drive three axles to rotate.
Preferably, described power-driven system comprises three AC servo motors for driving actuating arm in navigation system, drive the stepper motor of the first rotating shaft in orientation system, the first bevel gear shaft, and the circular silent flatform of a fixing above-mentioned motor, three AC servo motors are fixed on silent flatform lower surface, are mutually 120 degree.
Preferably, the actuating arm in the actuating arm mechanism of described navigation system adopts carbon fiber pipe, and in slave arm mechanism, follower lever adopts carbon fiber pipe.
Preferably, in the slave arm mechanism of described navigation system, oscillating bearing adopts L-type bulb spherical plain bearing rod end, L-type bulb spherical plain bearing rod end while be screw thread and be bolted the end being fixed on slave arm joint, another side is internal thread and is connected with follower lever by a metal joint; This metal joint one end is that internal thread is connected with the end of thread of oscillating bearing, one end is polished rod and follower lever stressed joint bonding with seccotine.
In the above-mentioned robot of the present invention, the most key innovation is the design of power steering mechanism, general Delta robot only has 3 frees degree, namely respectively along X-axis, Y-axis, the translation of Z axis, for common carrying, vanning can be met consumers' demand, but when requiring sorting object ordered arrangement, the translation of three reference axis is only had not meet the demands, therefore new requirement is had again to the number of degrees of freedom, of robot, namely by increasing the operating space expanding robot around the rotation of Z axis and the swing of operator end, thus expand the range of application of robot.
Further, in order to alleviate the weight of moving platform, the design of supporting mechanism is improved in the above-mentioned robot of the present invention, all power-driven system components are all fixed on silent flatform, when moving platform translation, Distance geometry angle between moving platform central point and silent flatform central point also can change thereupon, therefore how to solve when moving platform translation, still the stepper motor rotation torque on silent flatform can be delivered to moving platform to keep rotating the normal rotation of chamber and swing span, become a key issue.The present invention uses double Hooke's joint collocation ball spline structure, well solve this problem: ball spline mechanism both can transmitting torque, can move along splined shaft axial direction again, and stable movement, and the universal joint being distributed in splined shaft mechanism two ends can adjust to adapt to the Distance geometry angle change between moving platform and silent flatform automatically, therefore, can well solve the problem.
Further, in the above-mentioned robot of the present invention, actuating arm and slave arm material are carbon fiber pipe, significantly reduce the weight of robot, improve the load weight of moving platform.
Compared with prior art, the present invention has following beneficial effect:
Robot of the present invention fully combines excellent, the shortcoming of parallel robot and serial manipulator, using parallel institution as navigation system, can realize the pinpoint object of robot end; Serial mechanism is as orientation system, fine setting is realized to end effector, in the mode of series-parallel, the free degree of robot is increased to 5, the translation of 3 reference axis can be realized, and around the rotation of Z axis, also has the swing of operational tip, be not only the innovation in a mechanism, expand the scope of commercial Application especially, have wide adaptability, compact conformation, registration, at a high speed, the advantage such as lightweight.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the branched structure schematic diagram of the present invention one preferred embodiment.
Fig. 2 is the overall schematic perspective view of the present invention one preferred embodiment.
Fig. 3 is the present invention one preferred embodiment power steering mechanism structural representation.
In figure: 1 is silent flatform, 2 is motor fixing plate, 3 is actuating arm, 4 is slave arm joint, 5 is oscillating bearing, 6 is follower lever, 7 is moving platform end cap, 8 is moving platform, 9 is swing span, 10 for rotating chamber, 11 is universal joint, 12 is hollow ball spline shaft, 13 is loop bar, 14 is motor case body, 15 is hollow gear shaft, 16 is the second gear, 17 is the first gear, 18 is the second rotating shaft, 19 is the first rotating shaft, 20 is the first bevel gear shaft, 21 is the second bevel gear shaft, 22 is the first bevel gear, 23 is the second bevel gear.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, 2, the present embodiment provides a kind of series parallel robot in five degrees of freedom, comprises power-driven system, navigation system and orientation system, is illustrated in figure 1 branch's schematic diagram, is illustrated in figure 2 overall schematic perspective view; Concrete:
Described navigation system comprises: actuating arm mechanism, slave arm mechanism, moving platform mechanism, wherein:
Described actuating arm mechanism: comprise actuating arm 3, three actuating arms 3 form the space symmetr structure being mutually 120 degree, wherein: servomotor projecting shaft and actuating arm 3 are connected by flat key and drive actuating arm 3 to rotate.
In the present embodiment, in order to alleviate the weight of whole mechanism, described actuating arm 3 is the carbon fiber pipe of internal diameter 36mm, external diameter 40mm.Carbon fiber has the various premium properties of elemental carbon, as little in proportion, heat resistance is fabulous, thermal coefficient of expansion is little, thermal conductivity factor is large, corrosion resistance and electric conductivity good etc., the most excellent performance of carbon fiber is that specific strength and specific modulus exceed general fortifying fibre, the specific strength of the composite that it and resin are formed and specific modulus than steel and aluminium alloy also high about 3 times.Carbon fibre composite is applied on space flight, guided missile and sports equipment, can significantly weight reduction, and improve payload, improving SNR is the important feature material of aerospace industry.
Described slave arm mechanism: comprise slave arm joint 4, oscillating bearing 5 and follower lever 6, wherein: slave arm joint 4 is metal material, adopts stressed joint and bond with seccotine with actuating arm 3; Passive joint 4 is connected by oscillating bearing 5 with follower lever 6, oscillating bearing 5 adopts bulb spherical plain bearing rod end, while there is screw thread, be bolted the end being fixed on slave arm joint 4, another side is internal thread, be connected by a metal joint with follower lever 6, described metal joint one end is that internal thread is connected with the end of thread of oscillating bearing 5, the other end is polished rod and follower lever 6 stressed joint bonding with seccotine, the pommel of oscillating bearing 5 rotates 45 degree around ball cover, meets robot motion's requirement.
In the present embodiment, described follower lever 6 for length be the carbon fiber pipe of 700mm, both sides are connected with oscillating bearing 5 respectively by metal joint, and one end is connected with actuating arm 3, in addition one end and moving platform end cap 7 are threaded connection.
In the present embodiment, Mei Tiao branch of described slave arm mechanism is made up of two follower levers 6, adds slave arm joint 4 and moving platform end cap 7 forms parallelogram sturcutre, and whole series parallel robot in five degrees of freedom always has three branches, 120 degree, space is symmetrical, specifically as shown in Figure 1.
Moving platform mechanism: comprise moving platform end cap 7 and moving platform 8, wherein: whole moving platform mechanism becomes cylindrical, moving platform end cap 7 top is distributed with three boss, two end faces of each boss are equipped with internal thread for being connected with the follower lever 6 in slave arm mechanism, the middle of moving platform 8 is linearly distributed with three through holes, for the distribution of the first rotating shaft 19, first bevel gear shaft 20, second rotating shaft 18; Moving platform 8 is columniform inner chambers, and the cavity of the inside is used for the placement of orientation system medium power steering mechanism.
Described orientation system comprises: supporting mechanism, power steering mechanism, balanced controls, wherein:
Described supporting mechanism: comprise universal joint 11, hollow ball spline shaft 12 and loop bar 13, wherein: what universal joint 11 adopted is candan universal joint and uses in pairs, in two paired universal joints 11, wherein be threaded connection loop bar 13 near universal joint 11 one end of silent flatform 1, the other end is connected with stepper motor; Another universal joint 11 one end near moving platform 8 is fixed on hollow ball spline shaft 12 by screw thread, and the other end is connected 18 by screw thread respectively at the first rotating shaft 19, first bevel gear shaft 20, second rotating shaft in orientation system; Ball spline structure has comparatively compact structure, can transmit the load and power that exceed the quata, and have the longer life-span, and track groove is processed into the R shape of approximate ball diameter through accurate grinding; When moment of torsion is by spline housing or when being applied on splined shaft by splined shaft, loaded ball in three row torque direction just balances, Transmit evenly moment of torsion, adopt in series parallel robot in five degrees of freedom mechanism ball spline structure to coordinate moving platform move time and the direct distance of silent flatform, and moment of torsion transmission can be got off to drive the running of orientation system, and do not affect the motion of moving platform, the effect of support can not only be played, can also drive system be placed on silent flatform, thus alleviate the weight of moving platform further, make operational tip can have larger heavy burden.
Described power steering mechanism, be made up of rotating mechanism and swing mechanism, wherein rotating mechanism specifically comprises: the rotating shaft 19 of hollow gear shaft 15, first gear 17, first, rotation chamber 10; Swing mechanism specifically comprises: the first bevel gear shaft 20, first bevel gear 22, second bevel gear shaft 21, second bevel gear 23 and swing span 9, integrated model schematic diagram as shown in Figure 3.
Balanced controls, for being made up of the second rotating shaft 18, second gear 16;
In the present embodiment, described hollow gear shaft 15 is threaded connection with the rotation chamber 10 in orientation system, and when hollow gear shaft 15 rotates, whole orientation system (comprise swing span 9 and rotate chamber 10) also rotates thereupon, and can realize 360 degree of rotations; Gear on hollow gear shaft 15 and the first gear 16 and the external toothing respectively of the second gear 17, first gear 17 is connected in the first rotating shaft 19 by flat key, first rotating shaft 19 is threadedly attached on the candan universal joint 11 (universal joint 11 near moving platform end cap 7) in supporting mechanism, driving stepper motor drives supporting mechanism clamp mechanism to rotate, thus drive the first gear 17 turns in the first rotating shaft 19, first gear 17 drives hollow gear shaft 15 to rotate by engagement, thus drives orientation system realization around the Arbitrary Rotation of Z axis; For keeping the balance of whole moving platform 8, the second gear 16 is symmetrically distributed in the two ends of hollow gear shaft 15 as balance gear and the first gear 17, the second gear 16 is connected in the second rotating shaft 18 by flat key; Because gear can cause gear clearance in the process of assembling, affect the precision of transmission, therefore in order to eliminate gap, take the method adjusting centre-to-centre spacing, bearing saddle bore is processed into trough type, two semicircular centre-to-centre spacing is 1mm, so just can turn the gap of joining and producing in process by adjustment gear centre apart from reducing gear; It is inner that first bevel gear shaft 20 is positioned at hollow gear shaft 15, and be connected with candan universal joint 11 by screw thread; The end of the first bevel gear shaft 20 is fixed with the first bevel gear 22, the first bevel gear shaft 20 is driven to rotate by universal joint 11, thus drive the rotation of the first bevel gear 22, first bevel gear 22 drives and becomes with it the second bevel gear 23 of an angle of 90 degrees engagement to rotate, thus drives the second bevel gear shaft 21 to rotate; Second bevel gear shaft 21 is connected with swing span 9 by flat key, and swing span 9 rotates with the rotation of the second bevel gear shaft 21.Whole power steering mechanism schematic diagram as shown in Figure 3, by utilizing hollow gear shaft 15, first bevel gear 22 and the second bevel gear 23, cleverly the rotary motion of drive motors is got off by supporting mechanism transmission, pass through power steering mechanism again, the rotary motion of stepper motor is just converted into the swing of rotating chamber 10 and swing span 9, thus makes the number of degrees of freedom, of whole robot be 5.
Described power-driven system is positioned at the top of described navigation system, comprise: a silent flatform 1, three motor fixing plates 2, three AC servo motor & drivers, three harmonic speed reducers and two stepper motors and driver thereof, wherein: silent flatform is 1 one thick flat boards of circle, three AC servo motors are connected with harmonic speed reducer respectively, and be fixed on silent flatform 1 lower surface by motor fixing plate 2, be mutually 120 degree; What the motor of three actuating arms adopted is all AC servo motors, and relative to other motors, AC servo motor has higher precision, can realize position, and the closed-loop control of speed and moment overcomes the problem of step out of stepping motor; In addition, high speed performance is good, and general rated speed can reach 2000 ~ 3000 turns; Strong adaptability, anti-overload ability is strong, can bear the load being three times in nominal torque, fluctuates and require the occasion particularly suitable of fast starting to there being momentary load; Stable, low cruise is steady, can not produce the step run phenomenon being similar to stepper motor during low cruise, is applicable to the occasion that high-speed response requires; Promptness: the dynamic corresponding time of motor acceleration and deceleration is short, generally within a few tens of milliseconds; What decelerator adopted is harmonic speed reducer, compare than suitable common decelerator, its part reduces 50%, volume and weight all reduces about 1/3 or more, there is number of teeth precision that is many, transmission that gear range engages greatly, simultaneously in addition high, the bearing capacity of tooth is large, and then realizes large speed ratio, small size; And the rotation of orientation system and swing do not need to locate very accurately, therefore adopt the stepper motor that price is relatively cheap; The power drive of whole series parallel robot in five degrees of freedom is all fixed on silent flatform 1, thus alleviates the Operating Weight of robot, adds end load weight.
In the present embodiment, described silent flatform 1 is the aluminium alloy plate of radius 450mm, thickness 10mm.
In the present embodiment, described motor fixing plate 2 is L-type aluminium sheet.
Series parallel robot in five degrees of freedom of the present invention fully combines the advantage of parallel robot and serial manipulator, using parallel institution as navigation system, can realize the pinpoint object of robot end; Serial mechanism is as orientation system, fine setting is realized to end effector, in the mode of series-parallel, the free degree of robot is increased to 5DOF, the translation of 3 reference axis can be realized, and around the rotation of Z axis, also has the swing of operational tip, be not only the innovation in a mechanism, expand the scope of commercial Application especially, have wide adaptability, compact conformation, registration, at a high speed, the advantage such as lightweight.
The present invention has that structure is simple, lightweight, space is large, be easy to the advantages such as operation.Not only can be used for the assembling in light industry, packaging, carrying etc., and without accumulated error, precision is higher, compact conformation, rigidity is high, bearing capacity is large, according to these features, can be used for needing high rigidity, high accuracy or large load and need not the field of very large working space, possess actual application value widely.
Above the preferred embodiments of the present invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (14)
1. a series parallel robot in five degrees of freedom, is characterized in that, comprises power-driven system, navigation system and orientation system, wherein:
Described power-driven system, is positioned at the top of described navigation system, for providing power drive for navigation system and orientation system, is provided with silent flatform simultaneously;
Described navigation system comprises:
Actuating arm mechanism is the space symmetr structure being mutually 120 degree be made up of three actuating arms, and wherein: actuating arm is connected with power-driven system, and power-driven system drives actuating arm to rotate;
Slave arm mechanism, is the space symmetr mechanism be made up of three groups of parallelogram sturcutres, and is connected to actuating arm mechanism and moving platform mechanism with the form of spherical hinge;
Moving platform mechanism, comprises a moving platform end cap and a moving platform, and moving platform end cap connects slave arm mechanism, is provided with the power steering mechanism of orientation system in the cavity of moving platform;
Described orientation system comprises:
Supporting mechanism, comprises three groups of commutation clamp mechanisms, and three groups of commutation clamp mechanisms are linearly symmetrically distributed on silent flatform and between moving platform, and the rotation torque of power-driven system is delivered in power steering mechanism by three groups of commutation clamp mechanisms;
Power steering mechanism, comprises rotating mechanism and swing mechanism, rotating mechanism and and swing mechanism the rotation torque that supporting mechanism transmission is got off is converted to rotating and the swing of orientation system around Z axis of orientation system.
2. a kind of series parallel robot in five degrees of freedom according to claim 1, it is characterized in that, described slave arm mechanism comprises: slave arm joint, oscillating bearing and follower lever, wherein: slave arm joint is connected with the actuating arm of actuating arm mechanism, slave arm joint is connected by oscillating bearing with follower lever, the both sides of follower lever connect oscillating bearing respectively by metal joint, and then follower lever is connected with the actuating arm of actuating arm mechanism with one end of oscillating bearing entirety again, the other end is connected with the moving platform end cap of moving platform mechanism.
3. a kind of series parallel robot in five degrees of freedom according to claim 2, it is characterized in that, described slave arm mechanism comprises three groups of parallelogram, wherein often organize parallelogram and be a parallelogram sturcutre branch, a parallelogram sturcutre branches into two follower levers, the moving platform end cap of slave arm joint and moving platform mechanism is formed, and whole robot always has three branches, 120 degree, space is symmetrical, four summits often organizing parallel-crank mechanism are all connected with four oscillating bearings, one group of oscillating bearing is connected with actuating arm above, one group of oscillating bearing is connected with moving platform below.
4. a kind of series parallel robot in five degrees of freedom according to claim 1, is characterized in that, described rotating mechanism comprises hollow gear shaft, the first gear, the first rotating shaft and rotates chamber; Swing mechanism comprises the first bevel gear shaft, the first bevel gear, the second bevel gear shaft, the second bevel gear and swing span; Wherein: power steering mechanism hollow core gear the tip of the axis is connected with rotation chamber; First gear is fixed in the first rotating shaft, with the gear external toothing on hollow gear shaft; First bevel gear is connected to the first bevel gear the tip of the axis, second bevel gear is connected to the second bevel gear the tip of the axis and becomes 90 degree to engage with the first bevel gear, be connected with swing span at the other end of the second bevel gear shaft, swing span rotates with the rotation of the second bevel gear shaft.
5. a kind of series parallel robot in five degrees of freedom according to claim 4, it is characterized in that, in described power steering mechanism: in the first rotating shaft rotation drive the first pinion rotation, first gear drives hollow gear shaft to rotate by external toothing effect, thus the rotation chamber making to be fixed on hollow wheel gear shaft end realizes the rotation at any angle around Z axis; The rotation of the first bevel gear shaft drives the first bevel gear to rotate, rotated with the second bevel gear that the first bevel gear is mutually 90 degree by bevel gear external toothing drive, thus driving the second bevel gear shaft to rotate, the rotation of the second bevel gear shaft then drives the swing span of its end to swing; Whole power steering mechanism, by utilizing hollow gear shaft, the first bevel gear, the second bevel gear, by the rotary motion that supporting mechanism transmission is got off, changes into the rotation of orientation system, and the swing of swing span, thus makes the free degree of whole robot be 5.
6. a kind of series parallel robot in five degrees of freedom according to claim 4, it is characterized in that, described orientation system comprises balanced controls further, described balanced controls comprise the second rotating shaft, the second gear, second gear is connected with the second rotating shaft and engages with hollow gear shaft, and balanced controls and the first gear are symmetrically distributed in the two ends of hollow gear shaft.
7. a kind of series parallel robot in five degrees of freedom according to claim 6, it is characterized in that, in the moving platform mechanism of described navigation system, the top of moving platform end cap is distributed with three boss, and two end faces of each boss are equipped with internal thread, for being connected with the follower lever in slave arm mechanism; The middle of moving platform is linearly distributed with 3 through holes, for the distribution of the first rotating shaft, the first bevel gear shaft, the second rotating shaft.
8. a kind of series parallel robot in five degrees of freedom according to claim 6, is characterized in that, in described supporting mechanism, each described commutation clamp mechanism includes two universal joints, hollow ball spline shaft, a ball spline axle sleeve and a loop bar; Wherein: universal joint is candan universal joint and arranges in pairs, in paired two universal joints, be wherein connected to the end of hollow ball spline shaft near universal joint one end of silent flatform, the other end is connected with power-driven system; Be threaded connection on the loop bar of ball spline axle sleeve end near universal joint one end of moving platform, three other ends near the universal joint of moving platforms are from left to right connected to the second rotating shaft in the first rotating shaft in power steering mechanism, the first bevel gear shaft and balanced controls.
9. a kind of series parallel robot in five degrees of freedom according to claim 8, it is characterized in that, what the supporting mechanism in described orientation system adopted is diesis universal joint, and one of them universal joint is connected with hollow ball spline shaft, and another universal joint is connected with the loop bar in supporting mechanism.
10. a kind of series parallel robot in five degrees of freedom according to claim 8, it is characterized in that, in described orientation system, three groups of commutation clamp mechanisms of supporting mechanism linearly distribute, and it is symmetrical, wherein: the commutation clamp mechanism be connected with the first rotating shaft and the first bevel gear shaft has driving propagation function, another commutation clamp mechanism be connected with the second rotating shaft only plays a supportive role.
11. a kind of series parallel robot in five degrees of freedom according to claim 8, it is characterized in that, in described supporting mechanism: power-driven system rotation torque drives the universal joint be attached thereto namely to rotate near the universal joint of silent flatform, thus drive ball spline shaft, loop bar to rotate, final drive is rotated near the universal joint of the hollow ball spline axle head of moving platform, thus the rotation of power-driven system is delivered to be connected with universal joint the first rotating shaft, the first bevel gear shaft, the second axis of rotation, thus drive three axles to rotate.
12. a kind of series parallel robot in five degrees of freedom according to Claims 2 or 3, it is characterized in that, in the slave arm mechanism of described navigation system, oscillating bearing adopts L-type bulb spherical plain bearing rod end, L-type bulb spherical plain bearing rod end while be screw thread and be bolted the end being fixed on slave arm joint, another side is internal thread and is connected with follower lever by a metal joint; This metal joint one end is that external screw thread is connected with the end of thread of oscillating bearing, one end is polished rod and follower lever stressed joint bonding with seccotine.
13. a kind of series parallel robot in five degrees of freedom according to any one of claim 4-11, it is characterized in that, described power-driven system comprises three AC servo motors for driving actuating arm in navigation system, drive the stepper motor of the first rotating shaft in orientation system, the first bevel gear shaft, and the circular silent flatform of a fixing above-mentioned motor, three AC servo motors are fixed on silent flatform lower surface, are mutually 120 degree.
14. a kind of series parallel robot in five degrees of freedom according to any one of claim 2-11, is characterized in that, the actuating arm in the actuating arm mechanism of described navigation system adopts carbon fiber pipe, and in slave arm mechanism, follower lever adopts carbon fiber pipe.
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Address after: Building 6, 646 Jianchuan Road, Minhang District, Shanghai 201100 Patentee after: Jieka Robot Co.,Ltd. Address before: 201,315 1st floor, Building 1, No. 251, Yaohua Road, Pudong New Area Free Trade Pilot Zone, Shanghai Patentee before: SHANGHAI JAKA ROBOTICS Ltd. |