CN114147692A - Parallel robot with adjustable working space - Google Patents
Parallel robot with adjustable working space Download PDFInfo
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- CN114147692A CN114147692A CN202111560966.7A CN202111560966A CN114147692A CN 114147692 A CN114147692 A CN 114147692A CN 202111560966 A CN202111560966 A CN 202111560966A CN 114147692 A CN114147692 A CN 114147692A
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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Abstract
The invention discloses a parallel robot with an adjustable working space, which comprises a static platform, a movable platform and three driving branched chains for connecting the movable platform and the movable platform, wherein a driving device and three groups of driven devices with the same structure are arranged on the static platform; the driving device comprises a belt wheel servo motor and a first synchronous belt wheel, the driven devices comprise sliding grooves, sliding blocks, ball screws, first bevel gears, second bevel gears and second synchronous belt wheels, and the second synchronous belt wheels of the three driven devices are in transmission connection with the first synchronous belt wheels through synchronous belts respectively. The parallel robot utilizes the belt wheel servo motor, the synchronous belt transmission, the gear transmission and the ball screw pair to adjust the position of each branched chain servo motor in the static platform, achieves the purpose of adjusting the theoretical radius of the static platform to change the size of the working space of the parallel robot, has simple integral mechanical structure, low manufacturing cost, high precision and simple working principle, and is easy to carry out kinematics analysis, trajectory planning and solution analysis of the working space.
Description
Technical Field
The invention belongs to the technical field of robot mining, and particularly relates to a parallel robot capable of adjusting a working space.
Background
Due to the rapid development of modern industry, the processing technology of products is continuously improved, the processing technology of the industry is continuously improved, and more enterprises gradually choose to utilize industrial robots to replace traditional workers. The industrial robot can particularly replace some personnel working in a special severe working environment, so that the bodies of the related personnel are prevented from being irreversibly damaged in the working process, safety accidents can be avoided, and the life safety of the personnel is ensured. Industrial robot can keep high work efficiency under the prerequisite of guaranteeing product quality.
Common industrial robots mainly have two forms of series connection and parallel connection, and parallel connection robots have the advantages of large rigidity, stable structure, strong bearing capacity, no accumulated error, high precision and the like compared with series connection mechanisms, so that the application field of the robots is enlarged, and particularly the parallel connection robots are widely applied to industrial production. And the parallel robot has the advantages of relatively compact structure, good rigidity and large bearing capacity in a simple structural view.
A parallel robot in the prior art generally includes a support, a movable platform, and three driving branched chains connected between the support and the movable platform. The driving branched chain comprises a driving device fixedly connected with the support, a first connecting rod hinged with the movable platform and a second connecting rod hinged between the driving device and the first connecting rod. The driving device drives the second connecting rod to rotate, and the second connecting rod drives the first connecting rod to move so as to realize the lifting and sinking of the movable platform. The parallel robot disclosed in chinese patent CN 102069495 a comprises a support, a movable platform, a translation branch chain and a rotation branch chain connected between the support and the movable platform, and a first power device and a second power device fixed on the support, the first power device drives the translation branch chain, the second power device drives the rotation branch chain, the first power device comprises a driving wheel, the translation branch chain comprises a first transmission part and a transmission rope, the first transmission part comprises a sector transmission part, the middle part of the transmission rope is wound on the driving wheel, and the rest part of the transmission rope is wound on the arc edge of the sector transmission part, so that the driving wheel drives the first transmission part to rotate through the transmission rope, and the parallel robot realizes speed reduction transmission by the transmission rope wound on the driving wheel of the first power device and the sector transmission part of the first transmission part of the translation branch chain.
However, the parallel robot with the above structure has a limited working space, and in order to increase the working space of the parallel robot, a person skilled in the art takes some feasible measures, and the most common way is to replace a driving arm and a driven arm with different lengths to achieve the purpose of adjusting the working space of the parallel robot. Chinese patent 201420064808.1 discloses an upper arm of a parallel robot, which is mainly a master arm made of a novel material, and the length of the arm of the upper arm is changed by adjusting a tool, and the arm length can be adjusted to meet the requirements of processing and installation of different products. However, the step of replacing the driving arm or the driven arm of the parallel robot is relatively complicated, and the actual production and processing progress is influenced by the mode.
Disclosure of Invention
The invention aims to provide a parallel robot mechanism with simple structure, easy control and high motion precision and capable of adjusting the working space.
The technical scheme of the invention is as follows: a parallel robot with an adjustable working space comprises a static platform, a movable platform and three driving branched chains connected with the static platform and the movable platform, wherein the three driving branched chains are distributed on the static platform at equal angles around the center of the static platform, each driving branched chain is the same in structure and comprises a servo motor, a speed reducer, a driving arm and a driven arm, the servo motor is arranged below the static platform, the output end of the servo motor is connected with the speed reducer, one end of the driving arm is fixedly connected with the output end of the speed reducer, the other end of the driving arm is movably connected with the driven arm, and the driven arm is movably connected with the movable platform; the static platform is provided with a driving device and three groups of driven devices with the same structure, and the three groups of driven devices are arranged in one-to-one correspondence with the three driving branched chains; the driving device comprises a belt wheel servo motor and a first synchronous belt wheel, the belt wheel servo motor is fixed on the static platform, and the first synchronous belt wheel is connected with the output end of the first synchronous belt wheel; the driven device comprises a sliding groove, a sliding block, a ball screw, a first bevel gear, a second bevel gear and a second synchronous pulley, wherein the sliding block is connected in the sliding groove in a sliding mode, a servo motor is fixed below the corresponding sliding block, the ball screw is arranged above the sliding block, the sliding block is movably connected with the ball screw through a screw nut, the first bevel gear is arranged at the inner side end of the ball screw, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to a gear shaft, the second synchronous pulley is arranged at the upper end of the gear shaft, the gear shaft is rotatably connected to a static platform, and the second synchronous pulleys of the three driven devices are in transmission connection with the first synchronous pulley through a synchronous belt respectively.
Furthermore, a movable groove which is longitudinally communicated is respectively arranged at the position, corresponding to each driving arm, on the static platform, and the movable groove extends from the edge of the static platform to the center direction of the static platform.
Furthermore, the sliding grooves longitudinally penetrate through the upper surface and the lower surface of the static platform, the extending directions of the sliding grooves and the adjacent movable grooves are the same, and the sliding blocks can slide along the length direction of the sliding grooves.
Further, the axis of the first bevel gear is perpendicular to the axis of the second bevel gear.
Further, ball extends along the length direction of sliding tray, and ball's both ends are rotationally connected respectively on a screw bracket, and screw bracket bottom fixed connection is on quiet platform.
Furthermore, a belt wheel speed reducer is arranged between the belt wheel servo motor and the first synchronous belt wheel, the belt wheel speed reducer is connected to the output end of the belt wheel servo motor, and the first synchronous belt wheel is connected to the output end of the belt wheel speed reducer.
Compared with the prior art, the invention has the following advantages:
1. the parallel robot capable of adjusting the working space is additionally provided with a set of robot working space adjusting equipment comprising a driving device and three sets of driven devices on the basis of the conventional device, and the positions of servo motors of all driving branched chains in a static platform are integrally adjusted by utilizing three ball screw pairs in synchronous transmission, so that the moving of the movable platform in the multi-axis direction is realized, the aim of adjusting the working space of the parallel robot is finally fulfilled, and different working requirements in the industrial manufacturing process are met;
2. the parallel robot with the adjustable working space has the characteristics of simple integral mechanical structure, easiness in installation, low manufacturing cost, high transmission precision and the like, and due to the characteristic of adjustable working space, corresponding purposes can be achieved without replacing a driving arm and a driven arm when processing and installing different products, the operation process is more convenient and faster, and the working efficiency is ensured;
3. the application discloses a parallel robot of adjustable workspace, overall mechanism theory of operation is simple, is convenient for carry out the kinematics analysis of parallel robot, the planning of terminal orbit and the control of overall mechanical structure. Drawings
FIG. 1 is a schematic structural diagram of a parallel robot with an adjustable working space;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic top view of a stationary platform;
FIG. 4 is a schematic view of a drive device in mating connection with a set of driven devices;
wherein, 1-static platform, 2-moving platform, 3-driving branch chain, 4-driving device and 5-driven device;
31-servo motor, 32-RV reducer, 33-driving arm, 34-driven arm and 35-movable groove;
41-belt wheel servo motor, 42-belt wheel RV reducer, 43-first synchronous belt wheel;
51-sliding groove, 52-sliding block, 53-ball screw, 54-first bevel gear, 55-second bevel gear, 56-second synchronous pulley, 57-screw nut, 58-gear shaft, 59-synchronous belt.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings, but not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention shall be covered by the protection scope of the present invention.
Example 1
In order to sequentially increase the size of a working space of a parallel robot, the embodiment discloses a parallel robot with an adjustable working space, which includes a static platform 1, a dynamic platform 2 and three driving branched chains 3 connected with the static platform and the dynamic platform, wherein the three driving branched chains 3 are equiangularly distributed on the static platform 1 around the center thereof, each driving branched chain 3 has the same structure and comprises a servo motor 31, an RV reducer 32, a driving arm 33 and a driven arm 34, the servo motor 31 is arranged below the static platform 1, the output end of the servo motor 31 is connected with the RV reducer 32, one end of the driving arm 33 is fixedly connected with the output end of the RV reducer 32, the other end of the driving arm 33 is movably connected with the driven arm 34, and the driven arm 34 is movably connected with the dynamic platform 2.
The servo motor 31 drives the driving arm 33 to realize rotary motion, drives the driven arm 34 to displace in the longitudinal direction, and further controls the motion of the movable platform 2.
In order to ensure that the active arms 33 do not generate position interference with the static platform 1 in the process of rotating, a longitudinally through active groove 35 is respectively arranged at the position on the static platform 1 corresponding to each active arm 33, and the active groove 35 extends from the edge of the static platform 1 to the center direction of the static platform 1.
The driving branched chain 3 under the structure can control the motion of the movable platform 2 in a certain working space in the longitudinal direction, but the working space of the robot is limited, the arm length of the driving arm 33 needs to be changed by an adjusting tool, and the adjusting tool can adapt to the processing and mounting requirements of different products. However, the procedure of replacing the master arm 33 or the slave arm 34 of the parallel robot is relatively complicated, and the actual production process progress is affected in such a way
In order to solve the above problems and further expand the adjustable working space of the parallel robot, in this embodiment, a driving device 4 and three groups of driven devices 5 with the same structure are additionally arranged on a static platform 1, the three groups of driven devices 5 are arranged in one-to-one correspondence with three driving branched chains 3, the driving device 4 comprises a belt wheel servo motor 41, a belt wheel RV reducer 42 and a first synchronous belt wheel 43, the belt wheel servo motor 41 is fixed at the central position of the static platform 1, the belt wheel RV reducer 42 is connected to the output end of the belt wheel servo motor 41, and the first synchronous belt wheel 43 is connected to the output end of the belt wheel RV reducer 42;
the driven device 5 comprises a sliding groove 51, a sliding block 52, a ball screw 53, a first bevel gear 54, a second bevel gear 55 and a second synchronous pulley 56, the sliding groove 51 and the adjacent movable groove 35 extend in the same direction, the sliding block 52 is movably connected in the sliding groove 51 and can slide along the length direction thereof, three servo motors 31 are fixed below the correspondingly arranged sliding block 52 and can horizontally slide along with the sliding block 52, the ball screw 53 is arranged above the sliding block 52, a screw nut 57 is connected on the sliding block 52, the sliding block 52 is movably connected with the ball screw 53 through the screw nut 57, and further the rotary motion of the ball screw 53 can be converted into the horizontal sliding motion of the sliding block 52 in the sliding groove 51, two ends of the ball screw 53 are respectively rotatably connected on a screw bracket, the bottom of the screw bracket is fixedly connected on the static platform 1, the inner side end of the ball screw 53 is connected with the first bevel gear 54, the first bevel gear 54 is meshed with the second bevel gear 55, the axis of the first bevel gear 54 is perpendicular to the axis of the second bevel gear 55, the second bevel gear 55 is coaxially connected to a gear shaft 58, the upper end of the gear shaft 58 is coaxially connected with a second synchronous pulley 56, the gear shaft 58 is rotatably connected to the static platform 1 through a bearing, and the second synchronous pulleys 56 of the three driven devices 5 are respectively in transmission connection with the first synchronous pulley 43 through a synchronous belt 59.
The belt wheel servo motor 41 drives the first synchronous belt wheel 43 to rotate, and further drives three second synchronous belt wheels 56 to synchronously rotate through three synchronous belts 59, the second synchronous belt wheels 56 drive the second bevel gears 55 to synchronously rotate, because the first bevel gears 54 are meshed with the second bevel gears 55, the first bevel gears 54 also rotate to drive the ball screws 53 to rotate, the whole circle revolution of the ball screws 53 is converted into the horizontal moving process of the sliding blocks 52 in the sliding grooves 51, the servo motor 31 fixedly connected to the bottom of the sliding blocks 52 synchronously and horizontally moves, and the positions of the servo motor 31 on the static platform 1 can be adjusted through the mode; and finally, realizing the accurate motion of the movable platform 2 in the X axis, the Y axis and the Z axis.
The parallel robot mainly transmits the power of the belt wheel servo motor 41 to the ball screws 53 of all driven devices through belt transmission and gear transmission of all branched chains, the mechanical structures of all the driven devices are the same, so the rotating directions of the ball screws 53 of all the driven devices are the same, and the three driven devices 5 are integrally driven by one unique driving device 4, so the three ball screws 53 can synchronously rotate in the same direction, and further the distances of the screw nuts 57 in all the driven devices 4 moving back and forth horizontally are equal, so that the purposes of integrally adjusting the theoretical radius of the static platform 1 and changing the working space of the parallel robot can be finally achieved; the moving platform of the parallel robot has the same moving mode as the existing parallel robot, and the aim of accurately controlling the moving platform is finally achieved by controlling the servo motor 31 driving each branched chain driving arm 33 to realize the rotation of each branched chain driving arm 33 and matching with the driven arm 34 of each branched chain.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A parallel robot with an adjustable working space comprises a static platform, a movable platform and three driving branched chains connected with the static platform and the movable platform, wherein the three driving branched chains are distributed on the static platform at equal angles around the center of the static platform, each driving branched chain is the same in structure and comprises a servo motor, a speed reducer, a driving arm and a driven arm, the servo motor is arranged below the static platform, the output end of the servo motor is connected with the speed reducer, one end of the driving arm is fixedly connected with the output end of the speed reducer, the other end of the driving arm is movably connected with the driven arm, and the driven arm is movably connected with the movable platform; the three-branch driving device is characterized in that a driving device and three groups of driven devices with the same structure are arranged on the static platform, and the three groups of driven devices are arranged in one-to-one correspondence with the three driving branch chains; the driving device comprises a belt wheel servo motor and a first synchronous belt wheel, the belt wheel servo motor is fixed on the static platform, and the first synchronous belt wheel is connected with the output end of the first synchronous belt wheel; the driven device comprises a sliding groove, a sliding block, a ball screw, a first bevel gear, a second bevel gear and a second synchronous pulley, wherein the sliding block is connected in the sliding groove in a sliding mode, a servo motor is fixed below the corresponding sliding block, the ball screw is arranged above the sliding block, the sliding block is movably connected with the ball screw through a screw nut, the first bevel gear is arranged at the inner side end of the ball screw, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to a gear shaft, the second synchronous pulley is arranged at the upper end of the gear shaft, the gear shaft is rotatably connected to a static platform, and the second synchronous pulleys of the three driven devices are in transmission connection with the first synchronous pulley through a synchronous belt respectively.
2. The parallel robot capable of adjusting working space according to claim 1, wherein a longitudinally through moving slot is respectively disposed at a position corresponding to each driving arm on the static platform, and the moving slot extends from an edge of the static platform to a center of the static platform.
3. The parallel robot capable of adjusting working space as claimed in claim 2, wherein the sliding grooves longitudinally penetrate the upper and lower surfaces of the static platform, the sliding grooves extend in the same direction as the adjacent movable grooves, and the sliding blocks can slide along the length direction of the sliding grooves.
4. The workspace-adjustable parallel robot as recited in claim 1, wherein an axis of the first bevel gear is perpendicular to an axis of the second bevel gear.
5. The workspace-adjustable parallel robot as recited in claim 1, wherein the ball screw extends along a length direction of the sliding slot, both ends of the ball screw are respectively rotatably connected to a screw bracket, and a bottom of the screw bracket is fixedly connected to the stationary platform.
6. The workspace-adjustable parallel robot as recited in claim 1, wherein a pulley reducer is provided between the pulley servo motor and the first synchronous pulley, the pulley reducer being connected to an output of the pulley servo motor, the first synchronous pulley being connected to an output of the pulley reducer.
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| CN202111560966.7A CN114147692B (en) | 2021-12-20 | 2021-12-20 | Parallel robot with adjustable working space |
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| CN202111560966.7A CN114147692B (en) | 2021-12-20 | 2021-12-20 | Parallel robot with adjustable working space |
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