CN105619447A - Two-degree-of-freedom in-parallel spraying robot joint - Google Patents
Two-degree-of-freedom in-parallel spraying robot joint Download PDFInfo
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- CN105619447A CN105619447A CN201610171244.5A CN201610171244A CN105619447A CN 105619447 A CN105619447 A CN 105619447A CN 201610171244 A CN201610171244 A CN 201610171244A CN 105619447 A CN105619447 A CN 105619447A
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- China
- Prior art keywords
- slide block
- branched chain
- guide rail
- movement branched
- fixed platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention provides a two-degree-of-freedom in-parallel spraying robot joint which mainly comprises a fixed platform, movable platforms, an annular guide rail and three movement branched chains for connecting the movable platforms with the fixed platform. Each movement branched chain is composed of a lower connecting rod, a sliding block and an upper connecting rod. The lower connecting rods are connected with the fixed platform through rotating pairs or spherical pairs and connected with the sliding blocks through rotating pairs or spherical pairs. The sliding blocks are connected with the upper connecting rods through rotating pairs or spherical pairs. The upper connecting rods are connected with the movable platforms through rotating pairs or spherical pairs. The sliding bock in each movement branched chain is connected with the annular guide rail through a movable pair. The sliding blocks can only conduct circumferential sliding along the annular guide rail. The annular guide rail is circular. By the adoption of the two-degree-of-freedom in-parallel spraying robot joint, the movable platforms can conduct two-degree-of-freedom rotation relative to the fixed platform, and the two-degree-of-freedom in-parallel spraying robot joint has the beneficial effects of being small in size, high in rigidity, high in precision, large in rotating working space and the like and can be widely applied to the field of spraying robot joints.
Description
Technical field
The present invention relates to a kind of joint of robot, in particular to a kind of two-freedom spraying robot person joint in parallel.
Technical background
Along with the rapid emergence of automotive industry, automotive automation spraying technology have also been obtained fast development, and due to the highly flexible feature of spray robot, spray robot is widely applied in automatic spraying field. Current spray robot mostly generally is six degree of freedom serial manipulator, and serial manipulator has bigger working space, but its progressive error is big, is unfavorable for the raising of deposition accuracies. But the relative serial mechanism of parallel institution has without the advantage such as progressive error, precision height, dynamic response be good, can be applicable to high precision manipulation robot. But the working space of parallel institution is general less, seriously constrain the application of parallel institution in fields such as industry and robots.
In conjunction with the advantage of series and parallel mechanism, hybrid mechanism can be adopted to build the higher industrial robot of precision, such as Chinese patent CN103433918A discloses a kind of five degree of freedom series-parallel connection industrial robot, regulate end instrument position by three one-movement-freedom-degree serial mechanisms, regulate end instrument attitude by end two one-rotation parallel mechanism. For such series-parallel connection spray robot, its gordian technique is that terminal angle regulates parallel institution, for improving the precision of spray robot and flexibility ratio thereof, it is desired to terminal angle regulates parallel institution should have less volume and bigger working space and higher rigidity. Common parallel institution is difficult to reach requirement, and abroad to the research relatively morning of such mechanism, wherein US Patent No. 5036724 discloses a kind of big working space two one-rotation parallel mechanism, and is successfully applied in industrial spraying robot wrist joint. Though at present the research that small volume, big working space rotate class parallel institution being achieved certain achievement, but new mechanism configuration is still comparatively deficient, and the rigidity disclosing mechanism is general less, limits the further application of such mechanism in industrial robot.
Summary of the invention
For solving the problem, the present invention provides a kind of two-freedom spraying robot person joint in parallel, moving platform can be realized do two-freedom relative to fixed platform and rotate, and this joint has advantages such as volume is little, rigidity big, rotation work space is big, can be widely used in joint of robot.
The technical scheme of the present invention is specific as follows:
The present invention mainly comprises fixed platform, moving platform, ring-shaped guide rail, connects three movement branched chain dynamic, fixed platform, and it has three kinds of mode of connection:
The first mode of connection: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end rotates secondary connection with fixed platform by fixed platform, the lower link the other end is connected by lower rotation pair with slide block, upper connecting rod one end is connected by upper rotation pair with slide block, and the upper connecting rod the other end rotates secondary connection with moving platform by moving platform; Article three, in movement branched chain, three fixed platform turns auxiliary shaft lines and three lower turns auxiliary shaft congruences meet at 1 P, and three moving platform turns auxiliary shaft lines and three upper turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and its central shaft line is crossed described some P and put Q.
2nd kind of mode of connection: three articles of movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end rotates secondary connection with fixed platform by fixed platform, the lower link the other end is connected by sphere pair with slide block, upper connecting rod one end is connected by upper rotation pair with slide block, and the upper connecting rod the other end is connected by sphere pair with moving platform; Article three, in movement branched chain, three fixed platform turns auxiliary shaft congruences meet at 1 P, and three upper turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and its central shaft line is crossed described some P and put Q.
The third mode of connection: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end is connected by sphere pair with fixed platform, the lower link the other end is connected by lower rotation pair with slide block, upper connecting rod one end is connected by sphere pair with slide block, and the upper connecting rod the other end rotates secondary connection with moving platform by moving platform; Article three, in movement branched chain, three lower turns auxiliary shaft congruences meet at 1 P, and three moving platform turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and its central shaft line is crossed described some P and put Q.
The present invention compared with prior art tool have the following advantages:
(1) moving platform in joint relative fixed platform rotation work space is big, rotates angle and can reach �� 90 degree; (2) arthritic volume is little, and rigidity is big; (3) mutually it is coupled by ring-shaped guide rail between three movement branched chain in joint, substantially increases the stress performance in joint; (4) in the middle part of joint being hollow structure, cable, pipeline etc. can pass in the middle of joint, are convenient to spraying.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 three-dimensional arrangement simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 2 three-dimensional arrangement simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 3 three-dimensional arrangement simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3). lower link, (A4, B4, C4). slide block, (A5, B5, C5). upper connecting rod, 6. ring-shaped guide rail.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described, and in all embodiments, described Rij represents that one is rotated secondary, and Sij represents a sphere pair, and Pij represents a moving sets, and wherein i, j are natural number.
Embodiment 1
Being the 1st embodiment disclosed by the invention as shown in Figure 1, a kind of two-freedom spraying robot person joint in parallel, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three movement branched chain dynamic, fixed platform. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, and by rotating, secondary R12 is connected the lower link A3 the other end with slide block A4; By rotating, secondary R13 is connected with slide block A4 in upper connecting rod A5 one end, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2; 2nd movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, and by rotating, secondary R22 is connected the lower link B3 the other end with slide block B 4; By rotating, secondary R23 is connected with slide block B 4 in upper connecting rod B5 one end, is connected by rotating secondary R24 between the upper connecting rod B5 the other end and moving platform 2; 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, and by rotating, secondary R32 is connected the lower link C3 the other end with slide block C4; By rotating, secondary R33 is connected with slide block C4 in upper connecting rod C5 one end, is connected by rotating secondary R34 between the upper connecting rod C5 the other end and moving platform 2.
In first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 annularly can only do circumferential slippage by guide rail 6; In 2nd movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 annularly can only do circumferential slippage by guide rail 6; In 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 annularly can only do circumferential slippage by guide rail 6.
Described rotation secondary R11, rotation secondary R12, rotation secondary R21, rotation secondary R22, rotation secondary R31, the axis rotating secondary R32 intersect at 1 P; Described rotation secondary R13, rotation secondary R14, rotation secondary R23, rotation secondary R24, rotation secondary R33, the axis rotating secondary R34 intersect at 1 Q, put Q and do not overlap with described some P. Described ring-shaped guide rail 6 is annular, and its central shaft line is crossed described some P and put Q.
Embodiment 2
Being the 2nd embodiment disclosed by the invention as shown in Figure 2, a kind of two-freedom spraying robot person joint in parallel, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three movement branched chain dynamic, fixed platform. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, is connected by rotating secondary R11 between lower link A3 one end and fixed platform 1, and the lower link A3 the other end is connected by sphere secondary S12 with slide block A4; By rotating, secondary R13 is connected with slide block A4 in upper connecting rod A5 one end, is connected by sphere secondary S14 between the upper connecting rod A5 the other end and moving platform 2; 2nd movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, is connected by rotating secondary R21 between lower link B3 one end and fixed platform 1, and the lower link B3 the other end is connected by sphere secondary S22 with slide block B 4; By rotating, secondary R23 is connected with slide block B 4 in upper connecting rod B5 one end, is connected by sphere secondary S24 between the upper connecting rod B5 the other end and moving platform 2; 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, is connected by rotating secondary R31 between lower link C3 one end and fixed platform 1, and the lower link C3 the other end is connected by sphere secondary S32 with slide block C4; By rotating, secondary R33 is connected with slide block C4 in upper connecting rod C5 one end, is connected by sphere secondary S34 between the upper connecting rod C5 the other end and moving platform 2.
In first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 annularly can only do circumferential slippage by guide rail 6; In 2nd movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 annularly can only do circumferential slippage by guide rail 6; In 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 annularly can only do circumferential slippage by guide rail 6.
Described rotation secondary R11, rotation secondary R21, the axis rotating secondary R31 intersect at 1 P; Described rotation secondary R13, rotation secondary R23, the axis rotating secondary R33 intersect at 1 Q, and some Q does not overlap with described some P. Described ring-shaped guide rail 6 is annular, and its central shaft line is crossed described some P and put Q.
Embodiment 3
Being the 3rd embodiment disclosed by the invention as shown in Figure 3, a kind of two-freedom spraying robot person joint in parallel, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects three movement branched chain dynamic, fixed platform. Article three, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, is connected by sphere secondary S11 between lower link A3 one end and fixed platform 1, and by rotating, secondary R12 is connected the lower link A3 the other end with slide block A4; Upper connecting rod A5 one end is connected by sphere secondary S13 with slide block A4, is connected by rotating secondary R14 between the upper connecting rod A5 the other end and moving platform 2; 2nd movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, is connected by sphere secondary S21 between lower link B3 one end and fixed platform 1, and by rotating, secondary R22 is connected the lower link B3 the other end with slide block B 4; Upper connecting rod B5 one end is connected by sphere secondary S23 with slide block B 4, is connected by rotating secondary R24 between the upper connecting rod B5 the other end and moving platform 2; 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, is connected by sphere secondary S31 between lower link C3 one end and fixed platform 1, and by rotating, secondary R32 is connected the lower link C3 the other end with slide block C4; Upper connecting rod C5 one end is connected by sphere secondary S33 with slide block C4, is connected by rotating secondary R34 between the upper connecting rod C5 the other end and moving platform 2.
In first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 annularly can only do circumferential slippage by guide rail 6; In 2nd movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 annularly can only do circumferential slippage by guide rail 6; In 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 annularly can only do circumferential slippage by guide rail 6.
Described rotation secondary R12, rotation secondary R22, the axis rotating secondary R32 intersect at 1 P; Described rotation secondary R14, rotation secondary R24, the axis rotating secondary R34 intersect at 1 Q, and some Q does not overlap with described some P. Described ring-shaped guide rail 6 is annular, and its central shaft line is crossed described some P and put Q.
Claims (3)
1. a two-freedom spraying robot person joint in parallel, it has fixed platform, moving platform, ring-shaped guide rail, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end rotates secondary connection with fixed platform by fixed platform, the lower link the other end is connected by lower rotation pair with slide block, upper connecting rod one end is connected by upper rotation pair with slide block, and the upper connecting rod the other end rotates secondary connection with moving platform by moving platform; Article three, in movement branched chain, three fixed platform turns auxiliary shaft lines and three lower turns auxiliary shaft congruences meet at 1 P, and three moving platform turns auxiliary shaft lines and three upper turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and its central shaft line is crossed described some P and put Q.
2. a two-freedom spraying robot person joint in parallel, it has fixed platform, moving platform, ring-shaped guide rail, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end rotates secondary connection with fixed platform by fixed platform, the lower link the other end is connected by sphere pair with slide block, upper connecting rod one end is connected by upper rotation pair with slide block, and the upper connecting rod the other end is connected by sphere pair with moving platform; Article three, in movement branched chain, three fixed platform turns auxiliary shaft congruences meet at 1 P, and three upper turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and its central shaft line is crossed described some P and put Q.
3. a two-freedom spraying robot person joint in parallel, it has fixed platform, moving platform, ring-shaped guide rail, connect three movement branched chain dynamic, fixed platform, it is characterized in that: three movement branched chain structures are identical, every bar movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end is connected by sphere pair with fixed platform, the lower link the other end is connected by lower rotation pair with slide block, upper connecting rod one end is connected by sphere pair with slide block, and the upper connecting rod the other end rotates secondary connection with moving platform by moving platform; Article three, in movement branched chain, three lower turns auxiliary shaft congruences meet at 1 P, and three moving platform turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every bar movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block annularly can only do circumferential slippage by guide rail, and ring-shaped guide rail is annular, and its central shaft line is crossed described some P and put Q.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610171244.5A CN105619447A (en) | 2016-03-24 | 2016-03-24 | Two-degree-of-freedom in-parallel spraying robot joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610171244.5A CN105619447A (en) | 2016-03-24 | 2016-03-24 | Two-degree-of-freedom in-parallel spraying robot joint |
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| CN105619447A true CN105619447A (en) | 2016-06-01 |
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| CN201610171244.5A Pending CN105619447A (en) | 2016-03-24 | 2016-03-24 | Two-degree-of-freedom in-parallel spraying robot joint |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595545A (en) * | 2017-09-08 | 2018-01-19 | 燕山大学 | A kind of parallel hip joint healing robot of adjusting center |
| CN108393872A (en) * | 2018-04-20 | 2018-08-14 | 燕山大学 | A kind of anthropomorphic robot waist joint based on 3-RRR sphere parallel mechanisms |
| CN110666774A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Three-degree-of-freedom rope driving joint module based on parallel mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595545A (en) * | 2017-09-08 | 2018-01-19 | 燕山大学 | A kind of parallel hip joint healing robot of adjusting center |
| CN107595545B (en) * | 2017-09-08 | 2024-04-26 | 燕山大学 | Center-adjustable parallel hip joint rehabilitation robot |
| CN108393872A (en) * | 2018-04-20 | 2018-08-14 | 燕山大学 | A kind of anthropomorphic robot waist joint based on 3-RRR sphere parallel mechanisms |
| CN110666774A (en) * | 2019-09-23 | 2020-01-10 | 广东工业大学 | Three-degree-of-freedom rope driving joint module based on parallel mechanism |
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Application publication date: 20160601 |