CN112720421B

CN112720421B - Double-guide-rail type planar robot with telescopic rod

Info

Publication number: CN112720421B
Application number: CN202110037700.8A
Authority: CN
Inventors: 宫金良; 王伟; 张彦斐; 兰玉彬
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2021-01-12
Filing date: 2021-01-12
Publication date: 2022-03-25
Anticipated expiration: 2041-01-12
Also published as: CN112720421A

Abstract

A double-guide-rail type planar robot with a telescopic rod comprises a fixed platform, a moving platform and three branched chains which are connected between the fixed platform and the moving platform and have the same structure, wherein a section of planar curve guide rail I is arranged on the fixed platform, the moving platform is fixedly connected with three sections of planar curve guide rails II, each section of planar curve guide rail II is connected with the planar curve guide rail I through one branched chain, each branched chain comprises a sliding block I, a telescopic rod and a sliding block II, the sliding block I is connected with the planar curve guide rail I in a sliding mode, the sliding block I is fixedly connected with one end of the telescopic rod, the other end of the telescopic rod is fixedly connected with the sliding block II, and the sliding block II is connected with the planar curve guide rail II in a sliding mode; three telescopic rods or three sliding blocks I are used as driving links; the three sections of plane curve guide rails II are arc-shaped guide rails with different circle centers.

Description

Double-guide-rail type planar robot with telescopic rod

Technical Field

The invention relates to the technical field of robots, in particular to a double-guide-rail type plane robot with a telescopic rod.

Background

The parallel robot has the characteristics of high rigidity, high bearing capacity, high precision, small motion load, easiness in inverse solution and the like, so that the parallel robot is widely applied to the aspects of motion simulators, virtual axis machine tools, somatosensory simulators, medical equipment, agricultural operation robots and the like.

For the research of the three-degree-of-freedom robot, a lot of scholars do a lot of work. The Yuesheng provides a plane parallel robot experimental device with 3 flexible hinges based on a 3-RRR parallel robot, and the device can enable a motion platform of a mechanism to realize movement along the direction of an axis X, Y and rotation around the direction of an axis Z. Herve successfully synthesizes a three-degree-of-freedom translational parallel robot, such as a 3-RRC parallel robot, based on lie group and lie algebra theory. The Huangzhen provides a comprehensive method of a parallel robot type with less degrees of freedom including a plurality of translational parallel robots with three degrees of freedom based on the principle of a spiral theory. Liqichuan utilizes a spiral theory to carry out symmetrical three-degree-of-freedom parallel robot type synthesis of the system. The peak integrates a plurality of symmetrical and asymmetrical three-freedom-degree translation parallel robots with novel structures based on GF set theory. In 2011, chenfengming et al provides a novel two-translation one-rotation RRR-URR-RR parallel robot, analyzes the motion output characteristics of the mechanism, calculates the degree of freedom, and establishes a positive and negative solution equation of the position of the parallel robot. In 2016, Jurwei et al, university of Changzhou invented a two-translation and one-rotation parallel robot, which realizes two-dimensional translation motion and one-dimensional rotation motion in space by driving a movable platform to move through three actively-driven moving pairs. In 2018, Yanshan university Liyangxi et al propose a two-translation and one-rotation 2RRR-CRR parallel robot, the mechanism only comprises a moving pair and a rotating pair (a cylindrical pair is formed by combining the moving pair and the rotating pair), and most of the mechanism is the rotating pair, so that the mechanism is simple in structure and the axis relation is easy to satisfy.

Although scholars at home and abroad provide more three-degree-of-freedom robot configuration schemes, the planar three-degree-of-freedom robot has different performance requirements in different application fields, so that the robot configuration types with two translational degrees of freedom and one rotational degree of freedom are provided as many as possible, and the method has important significance for the type selection of researchers in the field.

Disclosure of Invention

The invention aims to solve the technical problem that the prior art has the defects, and provides a double-guide-rail type plane robot with a telescopic rod, which is novel in structure and has two translational freedom degrees and one rotational freedom degree.

The scheme is realized by the following technical measures: a double-guide-rail type planar robot with a telescopic rod comprises a fixed platform, a moving platform and three branched chains which are connected between the fixed platform and the moving platform and have the same structure, wherein a section of planar curve guide rail I is arranged on the fixed platform, the moving platform is fixedly connected with three sections of planar curve guide rails II, each section of planar curve guide rail II is connected with the planar curve guide rail I through one branched chain, each branched chain comprises a sliding block I, a telescopic rod and a sliding block II, the sliding block I is connected with the planar curve guide rail I in a sliding mode, the sliding block I is fixedly connected with one end of the telescopic rod, the other end of the telescopic rod is fixedly connected with the sliding block II, and the sliding block II is connected with the planar curve guide rail II in a sliding mode; three telescopic rods or three sliding blocks I are used as driving links; the three sections of plane curve guide rails II are arc-shaped guide rails with different circle centers.

Preferably, the telescopic link includes the sleeve, sliding connection has the connecting rod in the sleeve, telescopic one end and I fixed connection of slider, the connecting rod stretches out telescopic one end and II fixed connection of slider.

Preferably, the length of the plane curve guide rail I is greater than the sum of the lengths of the three sections of plane curve guide rails II, and the width of the plane curve guide rail I is greater than that of the plane curve guide rails II.

Preferably, the motion platform is fixedly connected with three sections of plane curve guide rails II through three fixing rods.

Preferably, the three sliding blocks II are in the same plane or parallel planes relative to the motion plane II of the planar curve guide rail II.

Compared with the prior art, the invention has the advantages that: the robot has the advantages that the guide rail structure is introduced into the fixed platform, the guide rail structure is introduced into the moving platform, the guide rail structure is matched with the telescopic rods, the sliding blocks I and the sliding blocks II for use, the moving characteristics that the robot has two translation freedom degrees and one rotation freedom degree are guaranteed, the working space can be increased on a specific freedom degree by independently increasing the length of each guide rail and/or the length of each telescopic rod, the flexibility of robot design is improved, meanwhile, the three telescopic rods or the three sliding blocks I in the structure can be used as driving parts, and the flexibility of robot driving mode selection is improved.

Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of a fixed platform;

FIG. 3 is a schematic view I of a connection structure of a motion platform and a plane curve guide rail II;

fig. 4 is a schematic view of a connection structure of the motion platform and a plane curve guide rail ii.

In the figure: 1-fixed platform, 1.1-plane curve guide rail I, 2-slide block I, 4-telescopic rod, 4.1-sleeve, 4.2-connecting rod, 5-slide block II, 6-moving platform, 7-plane curve guide rail II, 8-fixed rod, 9-moving plane I, 10-moving plane II.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments and drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of this patent.

As shown in fig. 1, a double-guide-rail type planar robot comprising a telescopic rod comprises a fixed platform 1, a moving platform 6 and three branched chains with the same structure connected between the fixed platform 1 and the moving platform 6, wherein a section of planar curve guide rail I1.1 is arranged on the fixed platform 1, the moving platform 6 is fixedly connected with three sections of planar curve guide rails II7, each section of planar curve guide rail II7 is connected with the planar curve guide rail I1.1 through a branched chain, each branched chain comprises a sliding block I2, a telescopic rod 4 and a sliding block II 5, the sliding block I2 is in sliding connection with the planar curve guide rail I1.1, the sliding block I2 is fixedly connected with one end of the telescopic rod 4, the other end of the telescopic rod 4 is fixedly connected with the sliding block II 5, and the sliding block II 5 is in sliding connection with the planar curve guide rail II 7; three telescopic rods 4 or three sliding blocks I2 are used as driving members; the three sections of plane curve guide rails II7 are arc guide rails with different circle centers. Preferably, the three sections of plane curve guide rails II7 are circular arc guide rails with different centers of circles, and the plane curve guide rails I1.1 are circular arc guide rails.

The telescopic rod 4 comprises a sleeve 4.1, a connecting rod 4.2 is connected to the sleeve 4.1 in a sliding mode, one end of the sleeve 4.1 is fixedly connected with the slider I2, and one end of the connecting rod 4.2 extending out of the sleeve 4.1 is fixedly connected with the slider II 5.

The length of the plane curve guide rail I1.1 is larger than the sum of the lengths of the three sections of plane curve guide rails II7, and the width of the plane curve guide rail I1.1 is larger than the width of the plane curve guide rail II 7.

The motion platform 6 is fixedly connected with three sections of plane curve guide rails II7 through three fixing rods 8.

In the technical scheme, the three branched chains with the same structure mean that components contained in the three branched chains and the connection relationship among the components are the same, but the sizes of the same components in the three branched chains can be different.

Fig. 2 shows the plane of movement i 9 of the slide i2 relative to the planar curved guide i 1.1.

As shown in fig. 3-4, the three sliding blocks II 5 are respectively the same plane or parallel planes with respect to the three motion planes II 10 of the three-section plane curve guide rail II 7.

In the technical scheme, a plane curve guide rail I1.1 is characterized in that a sliding block I2 does plane curve motion along the guide rail as the name implies; the plane curve guide rail II7 is characterized in that the sliding block II 5 does plane curve motion along the guide rail as the name implies.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features and inventive features disclosed herein.

Claims

1. The utility model provides a two guide rail formula planar robot that contain telescopic link, includes fixed platform (1), motion platform (6) and connects three branch chains that the structure is the same between fixed platform (1) and motion platform (6), its characterized in that: the movable platform is characterized in that a section of plane curve guide rail I (1.1) is arranged on the fixed platform (1), the movable platform (6) is fixedly connected with three sections of plane curve guide rails II (7) through three fixed rods (8), each section of plane curve guide rail II (7) is connected with the plane curve guide rail I (1.1) through a branched chain, each branched chain comprises a sliding block I (2), an expansion link (4) and a sliding block II (5), the sliding block I (2) is in sliding connection with the plane curve guide rail I (1.1), the sliding block I (2) is fixedly connected with one end of the expansion link (4), the other end of the expansion link (4) is fixedly connected with the sliding block II (5), and the sliding block II (5) is in sliding connection with the plane curve guide rail II (7); three telescopic rods (4) or three sliding blocks I (2) are used as driving power pieces; the three sections of plane curve guide rails II (7) are arc guide rails with different circle centers.

2. The dual-rail planar robot with the telescopic rod as claimed in claim 1, wherein: telescopic link (4) include sleeve (4.1), sliding connection has connecting rod (4.2) in sleeve (4.1), the one end and the slider I (2) fixed connection of sleeve (4.1), the one end and the slider II (5) fixed connection that sleeve (4.1) are stretched out in connecting rod (4.2).

3. The dual-rail planar robot with the telescopic rod as claimed in claim 1, wherein: the length of the plane curve guide rail I (1.1) is greater than the sum of the lengths of the three sections of plane curve guide rails II (7), and the width of the plane curve guide rail I (1.1) is greater than the width of the plane curve guide rails II (7).

4. The dual-rail planar robot with the telescopic rod as claimed in claim 1, wherein: the three sliding blocks II (5) are the same plane or parallel planes relative to the motion plane II (10) of the plane curve guide rail II (7).