CN114770475A - Six-freedom-degree parallel robot with smart operation capability - Google Patents
Six-freedom-degree parallel robot with smart operation capability Download PDFInfo
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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
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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
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Abstract
The invention relates to a six-degree-of-freedom parallel robot with smart operation capability, belonging to the field of robot design and comprising a fixed platform, a movable platform and a plurality of branched chains which are arranged between the fixed platform and the movable platform and drive the movable platform; a plurality of driving devices are uniformly distributed on the fixed platform at intervals, and the driving devices are connected with the branched chains; the movable platform comprises a movable platform and a rotary universal platform; the mobile platform comprises a cross, a central rotating shaft, a first sliding block, a second sliding block, a first connecting rod, a second connecting rod and a U-shaped frame; the rotary universal platform comprises a frame, a universal platform, a transmission assembly and an end effector assembly; the technical problem that the existing six-degree-of-freedom parallel robot is limited in rotation operation capacity is solved by driving a moving platform and a rotating platform through a branched chain.
Description
Technical Field
The invention belongs to the field of robot design, and particularly relates to a six-degree-of-freedom parallel robot with smart operation capability.
Background
The parallel mechanism usually comprises a movable platform, a fixed platform and a plurality of branched chains for connecting the movable platform and the fixed platform, and has the characteristics of high rigidity, small accumulated error, good dynamic characteristic and the like, so the parallel mechanism is widely applied to automatic production lines in the fields of food and medicine, modern logistics, electronic information and the like. In the field, the parallel mechanism which is firstly applied is a Delta mechanism proposed by Clavel. However, the simple Delta mechanism only has three degrees of freedom of spatial translation, and can not realize the degree of freedom of rotation. To this end, Pierrot et al propose four degree-of-freedom parallel mechanisms of the types H4, I4, and Par4, etc., with articulating platforms. The articulated movable platform of the Par4 type parallel mechanism is a parallelogram, and the relative motion of two opposite sides of the parallelogram is converted into the rotation of the end effector through the speed increasing mechanism. Because the whole movable platform of the Par4 is formed by hinging a revolute pair, the Par4 can realize high-speed picking operation, and therefore the Par4 also realizes industrial application, and the commodity model of the Par4 is an Adept Quattro manipulator. However, as the task becomes more complex, the picking or assembling operation becomes more complex, and challenges are presented to the dexterous operation ability of the robot. The traditional parallel robot with less degrees of freedom is difficult to meet the requirement of complex motion due to the insufficient freedom degree of the motion of the tail end, such as a parallel robot with three degrees of freedom or four degrees of freedom. While general parallel mechanisms with 6 degrees of freedom, such as Stewart platforms, Hexa parallel mechanisms and the like, have limited rotation angles and no skillful operation capability although the degrees of freedom meet the requirements.
Disclosure of Invention
In view of the above, the present invention provides a six-degree-of-freedom parallel robot with smart operation capability, which solves the technical problem of limited rotation operation capability of the existing six-degree-of-freedom parallel robot.
In order to achieve the purpose, the invention provides the following technical scheme:
a six-degree-of-freedom parallel robot with smart operation capability comprises a fixed platform, a movable platform and a plurality of branched chains which are arranged between the fixed platform and the movable platform and drive the movable platform; a plurality of driving devices are uniformly distributed on the fixed platform at intervals, and the driving devices are connected with the branched chains;
the movable platform comprises a movable platform and a rotary universal platform;
the mobile platform comprises a cross, a central rotating shaft, a first sliding block, a second sliding block, a first connecting rod, a second connecting rod and a U-shaped frame; the cross is composed of a first rod body and a second rod body which are crossed with each other; the first rod body is symmetrically provided with 2 sliding rail grooves, the sliding rail grooves are respectively connected with a first sliding block and a second sliding block in a sliding manner, and the first sliding block and the second sliding block are respectively hinged with the branched chain; two ends of the second rod body are respectively hinged with the branched chains; a central hole for the central rotating shaft to pass through is formed between the cross and the U-shaped frame; the central rotating shaft is provided with a first rotating shaft, a second rotating shaft and a third rotating shaft which are not coaxial, and the second rotating shaft is rotatably connected with the central hole; one end of the first connecting rod is rotatably connected with the first sliding block, and the other end of the first connecting rod is connected with the first rotating shaft; one end of the second connecting rod is rotatably connected with the second sliding block, and the other end of the second connecting rod is connected with the third rotating shaft; the U-shaped frame is fixed on the cross; the U-shaped frame is provided with a connecting driving assembly used for being connected with the branched chain and used for driving the rotary universal platform;
the rotary universal platform comprises a frame, a universal platform, a transmission assembly and an end effector assembly; the frame is rotatably connected to the U-shaped frame and connected with the connecting driving assembly; the transmission assembly is arranged between the frame and the universal platform and used for driving the universal platform; the end effector component comprises a first hook joint, a first transmission rod, a second hook joint and an operating handle which are connected in sequence; the end effector component is connected with the central rotating shaft through a first hook hinge; the operating handle penetrates through the universal platform and is rotationally connected with the universal platform; the first transmission rod is connected with the second transmission rod through a sliding pair.
Further, the transmission assembly comprises a frame rotating shaft, a first bevel gear, a second bevel gear, a horizontal rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod;
the first gear is fixed at one end of the frame rotating shaft, the other end of the frame rotating shaft penetrates through the frame to be connected with the connecting and driving assembly on the U-shaped frame, and the frame rotating shaft is rotatably connected with the frame; the first bevel gear is vertically meshed with the second bevel gear, the second bevel gear is fixed on the horizontal rod, the horizontal rod is vertical to the frame rotating shaft, and two ends of the horizontal rod are rotatably connected to the frame; one end of the third connecting rod is rotatably connected with the universal platform, and the other end of the third connecting rod is fixedly connected with the horizontal rod; one end of the fourth connecting rod is rotatably connected with the universal platform, the other end of the fourth connecting rod is rotatably connected with the frame, and the fourth connecting rod and the third connecting rod are arranged in a crossed manner to form a first anti-parallelogram mechanism;
one end of the fifth connecting rod is rotatably connected with the universal platform, and the other end of the fifth connecting rod is rotatably connected with the frame; one end of the sixth connecting rod is rotatably connected with the universal platform, and the other end of the sixth connecting rod is rotatably connected with the frame; the fifth connecting rod and the sixth connecting rod are arranged in a crossed mode to form a second anti-parallelogram mechanism; the first anti-parallelogram mechanism and the second anti-parallelogram mechanism are identical in size and are symmetrically arranged on two sides of the frame.
Further, the connecting driving assembly comprises sliding rails arranged on two sides of the U-shaped frame; belt wheels are arranged at two ends of each sliding rail, and the belt wheels on the same side are connected through a synchronous belt; the belt wheel on one side is fixedly connected with the frame to drive the frame to rotate; the belt wheel on the other side is fixedly connected with the transmission assembly to drive the transmission assembly to rotate; a third sliding block is connected to the sliding rail, the third sliding block is fixedly connected with one side of the synchronous belt, and the third sliding block is hinged to the branched chain; the third sliding block is driven to move along the sliding rail, and the synchronous belt moves along with the third sliding block, so that the belt wheel is driven to rotate.
Further, 6 driving devices are arranged, wherein 4 driving devices are symmetrically arranged on the upper side of the fixed platform, and the other 2 driving devices are symmetrically arranged at the bottom of the fixed platform; the number of the branched chains is 6, and each branched chain is connected with the driving device;
the branched chains are double-rod branched chains and respectively comprise a first double-rod branched chain, a second double-rod branched chain, a third double-rod branched chain, a fourth double-rod branched chain, a fifth double-rod branched chain and a sixth double-rod branched chain; the double-rod branched chains have the same structure and respectively comprise a first driving arm, a lower connecting rod, a connecting rod a and a connecting rod b; one end of the first driving arm is connected with the driving device, and the other end of the first driving arm is fixedly connected with the center of the lower connecting rod; ball joints are arranged at two ends of the lower connecting rod; the connecting rod a and the connecting rod b have the same structure, and hinge holes are formed in the two end parts of the connecting rod a and the connecting rod b; and the hinge holes at the same ends of the connecting rod a and the connecting rod b are respectively connected with the two ball joints of the lower connecting rod.
Furthermore, ball joints connected with the double-rod branched chain are arranged on the opposite sides of the first sliding block, the second sliding block and the third sliding block; ball joints connected with the double-rod branched chain are also arranged at two ends of a second rod body of the cross;
the first sliding block is hinged with the first double-rod branched chain through a ball joint, and the second sliding block is hinged with the third double-rod branched chain through a ball joint; two ends of a second rod body of the cross are respectively hinged with a second double-rod branched chain and a fourth double-rod branched chain through ball joints; and the two third sliding blocks are respectively connected with the fifth double-rod branched chain and the sixth double-rod branched chain through ball joints.
Furthermore, the connecting and driving assembly comprises two crank transmission mechanisms arranged on two sides of the U-shaped frame, wherein one crank transmission mechanism penetrates through the U-shaped frame and is fixedly connected with the frame, and the other crank transmission mechanism penetrates through the U-shaped frame and is connected with the transmission assembly;
the two crank transmission mechanisms comprise a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are connected through a vertical rod to form a Z-shaped connecting rod mechanism; and the second rotating shaft is provided with two universal hinges.
Furthermore, the number of the driving devices is 8, wherein 4 driving devices are symmetrically arranged on the upper side of the fixed platform, and the other 4 driving devices are symmetrically arranged at the bottom of the fixed platform; the number of the branched chains is 8, and each branched chain is connected with the driving device;
the branched chain connected with the driving device on the upper side of the fixed platform is a double-rod branched chain and comprises a first double-rod branched chain, a second double-rod branched chain, a third double-rod branched chain and a fourth double-rod branched chain; the double-rod branched chain comprises a first driving arm, a lower connecting rod, a connecting rod a and a connecting rod b; one end of the first driving arm is connected with the driving device, and the other end of the first driving arm is fixedly connected with the center of the lower connecting rod; ball joints are arranged at two ends of the lower connecting rod; the connecting rod a and the connecting rod b have the same structure, and hinge holes are formed in the two end parts of the connecting rod a; the hinge holes at one ends of the connecting rods a and b are respectively connected with the two ball joints of the lower connecting rod;
the branched chain connected with the driving device on the lower side of the fixed platform is a single-rod branched chain and comprises a first single-rod branched chain, a second single-rod branched chain, a third single-rod branched chain and a fourth single-rod branched chain; the single rod comprises a second driving arm, a driven arm, a first universal joint and a second universal joint; one end of the driving arm is connected with the driving device, and the other end of the driving arm is connected with the driven arm through a first universal joint; and the other end of the driven arm is also provided with a second universal joint connected with the universal hinge.
Furthermore, ball joints connected with the double-rod branched chain are arranged on the opposite sides of the first sliding block, the second sliding block and the second rod body of the cross;
the first sliding block is hinged with the first double-rod branched chain through a ball joint, and the second sliding block is hinged with the third double-rod branched chain through a ball joint; two ends of a second rod body of the cross are respectively hinged with a second double-rod branched chain and a fourth double-rod branched chain through ball joints;
two universal hinges on a second rotating shaft are respectively hinged with the first single-rod branched chain and the fourth single-rod branched chain; and two universal hinges on the other second rotating shaft are respectively hinged with the second single-rod branched chain and the third single-rod branched chain.
The invention has the beneficial effects that:
(1) the movable platform is divided into a moving platform and a rotating universal platform, so that the decoupling of three-dimensional translation and three-dimensional rotation is realized, wherein the rotating angle of the rotating universal platform in the horizontal two directions exceeds plus or minus 90 degrees; (2) the first slide block and the second slide block are pushed to move by means of the first branched chain and the third branched chain, so that the first connecting rod and the second connecting rod perform specific reciprocating linear motion, and two groups of crank slide block mechanisms with staggered dead points are formed, so that the end effector component can realize continuous whole-circle rotation in the forward rotation or reverse rotation direction; (3) the rotation angle of the end effector in the horizontal two directions can exceed plus or minus 90 degrees through the transmission assembly; the continuous rotation of the end effector can be realized through the continuous rotation of the frame, so that the end effector has skillful operation capability; (4) adopt hold-in range and crank drive mechanism, arrange all motors on the base, can effectively reduce the quality of moving part, improve the flexibility of end operation.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of a robot structure according to embodiment 1;
FIG. 2 is a schematic diagram of a dual-bar branched chain structure;
FIG. 3 is a schematic view of a lower connecting rod structure of a dual-rod branched chain;
FIG. 4 is a schematic diagram of a mobile platform
FIG. 5 is a top view of the mobile platform;
FIG. 6 is a schematic view of the connection of the cross and the U-shaped frame;
FIG. 7 is a side view of the cross and U-shaped frame connection;
FIG. 8 is a schematic view of a central spindle;
FIG. 9 is a schematic view of a first slider structure;
FIG. 10 is a schematic view of a second slider configuration;
FIG. 11 is a schematic view of a movable platform;
FIG. 12 is a top view of a rotary gimbal table;
FIG. 13 is a schematic view of a frame structure
FIG. 14 is a schematic view of the connection of the horizontal rod and the third link;
FIG. 15 is a schematic view of a gimbal platform;
FIG. 16 is a schematic view of a third slider structure;
FIG. 17 is a schematic view of a frame hinge structure;
FIG. 18 is a schematic view of the end structure assembly;
FIG. 19 is a schematic view of a structure of a robot in embodiment 2;
FIG. 20 is a schematic view of a single-bar branched chain structure;
FIG. 21 is a schematic view of the crank drive mechanism;
FIG. 22 is a cross configuration;
FIG. 23 is a schematic view of the frame and the shaft connected to the crank drive;
FIG. 24 is a schematic view of the shaft of the crank drive mechanism in connection with the drive assembly;
fig. 25 is a schematic structural view of a universal hinge.
Reference numerals: fixed platform 1, branched chain 2, driving device 3, moving platform 4, first double-rod branched chain 201, second double-rod branched chain 202, third double-rod branched chain 203, fourth double-rod branched chain 204, fifth double-rod branched chain 205, sixth double-rod branched chain 206, first driving arm 211, lower connecting rod 212, connecting rod B213, connecting rod a214, first single-rod branched chain 221, second single-rod branched chain 222, third single-rod branched chain 223, fourth single-rod branched chain 224, second driving arm 231, first universal joint 232, driven arm 233, second universal joint 234, cross 411, first slider 412, second slider 413, first connecting rod 414, second connecting rod 415, central rotating shaft 416, U-shaped frame 417, belt pulley 418, sliding rail 419, first rotating shaft 4161, second rotating shaft 4162, third rotating shaft 4163, central hole 4171, rotating shaft A4121, rotating shaft B4131, third slider 421, synchronous belt 422, frame 431, universal platform 432, third connecting rod 441, A fifth link 442, a sixth link 443, a fourth link 444, a frame rotation shaft 445, a first bevel gear 446, a second bevel gear 447, a horizontal bar 448, a first hooke joint 451, a first transmission lever 452, a second transmission lever 453, a second hooke joint 454, an operation lever 455, a universal joint 461, a first rotation shaft 462, and a second rotation shaft 463.
Detailed Description
The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and embodiments may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Example 1
Referring to fig. 1 to 18, a six-degree-of-freedom parallel robot with smart operation capability includes a fixed platform 1, a movable platform 4, and a plurality of branched chains 2 disposed between the fixed platform 1 and the movable platform 4 and driving the movable platform 4; a plurality of driving devices 3 are uniformly distributed on the fixed platform 1 at intervals, and the driving devices 3 are connected with the branched chains 2.
The number of the driving devices 3 in the embodiment is 6, wherein 4 driving devices are symmetrically arranged on the upper side surface of the fixed platform 1, and the other 2 driving devices are symmetrically arranged at the bottom of the fixed platform 1; the number of branched chains is 6, and each branched chain is connected with a driving device.
The branched chain is a double-rod branched chain, namely a first double-rod branched chain 201, a second double-rod branched chain 202, a third double-rod branched chain 203, a fourth double-rod branched chain 204, a fifth double-rod branched chain 205 and a sixth double-rod branched chain 206; the structure of the double-rod branched chain is shown in fig. 2-3, and the double-rod branched chain comprises a first driving arm 211, a lower connecting rod 212, a connecting rod a214 and a connecting rod b 213; one end of the first driving arm 211 is connected with the fixed platform 1 through a revolute pair and is connected with one driving device 3 for driving, and the other end of the first driving arm is fixedly connected with the center of the lower connecting rod 212; ball joints are arranged at two ends of the lower connecting rod 212; the connecting rod a214 and the connecting rod b213 have the same structure, and both ends of the connecting rod a and the connecting rod b are provided with hinge holes; the hinge holes of one ends of the links a214 and b213 are respectively connected with the ball joints of the lower connecting rods 212.
The movable platform 4 comprises a movable platform and a rotary universal platform;
as shown in fig. 4-7, the movable platform includes a cross 411, a central rotating shaft 416, a first slider 412, a second slider 413, a first link 414, a second link 415, and a U-shaped frame 417; the cross 411 is composed of two mutually crossed first rod bodies and second rod bodies; 2 sliding rail grooves are symmetrically arranged on the first rod body, the sliding rail grooves are respectively connected with the first sliding block 412 and the second sliding block 413 in a sliding mode, and ball joints connected with the double-rod branched chain are arranged on the opposite sides of the first sliding block 412 and the second sliding block 413; the ball joint on the first slider 412 is respectively connected with the hinge holes of the connecting rod a214 and the connecting rod b213 of the first dual-rod branched chain 201, and the ball joint on the second slider 413 is respectively connected with the hinge holes of the connecting rod a214 and the connecting rod b213 of the third dual-rod branched chain 203. Ball joints are also arranged at two ends of the second rod body of the cross 411, and two ends of the second rod body of the cross 411 are respectively hinged with the second double-rod branched chain 202 and the fourth double-rod branched chain 204 through the ball joints. A central hole 4171 for the central rotating shaft 416 to pass through is formed between the cross 411 and the U-shaped frame 417; the central rotating shaft 416 is provided with a first rotating shaft 4161, a second rotating shaft 4162 and a third rotating shaft 4163 which are not coaxial; the second rotating shaft 4162 is rotatably connected to the center hole 4171; one end of the first connecting rod 414 is rotatably connected to the rotating shaft a4121 of the first slider 412, and the other end is rotatably connected to the first rotating shaft 4161; one end of the second link 415 is rotatably connected to the rotating shaft B4131 of the second slider 413, and the other end is rotatably connected to the third rotating shaft 4163, and the first link 414 and the second link 415 form two sets of crank slider mechanisms with staggered dead points, so that the central rotating shaft 416 can rotate continuously in a full circle in the forward or reverse rotation direction. A U-shaped frame 417 is fixed to the cross 411; and a connection driving assembly used for being connected with the branched chain is arranged on the U-shaped frame 417 and used for driving the rotary universal platform.
As shown in fig. 6 and 11, the connecting driving assembly includes two sliding rails 419 disposed at both sides of the U-shaped frame 417; both ends of every slide rail 419 all are equipped with band pulley 418, and band pulley 418 of homonymy passes through hold-in range 422 and connects. The belt wheel 418 at the upper part of one side is fixedly connected with the frame 431 through a rotating shaft to drive the frame 431 to rotate; the belt wheel 418 on the other side is fixedly connected with the frame rotating shaft 445 of the transmission component of the rotary universal platform 432 to drive the transmission component to rotate. A third sliding block 421 is connected to the sliding rail 419, the third sliding block 421 is fixedly connected to one side of the synchronous belt 422, and the two third sliding blocks 421 are hinged to the fifth double-rod branched chain 205 and the sixth double-rod branched chain 206 through ball joints; the third slider 421 is driven by the second driving mechanism to move along the slide rail 419, and the timing belt 422 follows the movement, so as to drive the pulley 418 to rotate.
As shown in fig. 11-12, the rotary gimbaled platform includes a frame 431, a gimbaled platform 432, a drive assembly, and an end effector assembly. The frame 431 is rotatably connected to a U-shaped frame 417 and is connected to a pulley 418 connected to one side of the drive assembly 3. A transmission assembly is arranged between the frame 431 and the gimbal platform 432 for driving the gimbal platform 432; the transmission assembly includes a frame rotation shaft 445, a first bevel gear 446, a second bevel gear 447, a horizontal bar 448, a third link 441, a fourth link 444, a fifth link 442, and a sixth link 443. One end of a frame rotating shaft 445 is fixed with a first bevel gear 446, the other end of the frame rotating shaft 445 penetrates through the frame 431 to be connected with a U-shaped frame 417 and a belt wheel 418, and the frame rotating shaft 445 is rotatably connected with the frame 431; the first bevel gear 446 is vertically engaged with the second bevel gear 447, the second bevel gear 447 is fixed on a horizontal rod 448, the horizontal rod 448 is perpendicular to the frame rotating shaft 445, and both ends of the horizontal rod 448 are rotatably connected to the frame 431. One end of the third connecting rod 441 is rotatably connected with the universal platform 432, and the other end is fixedly connected with the horizontal rod 448; one end of the fourth link 444 is rotatably connected with the universal platform 432, the other end of the fourth link 444 is rotatably connected with the frame 431, and the fourth link 444 and the third link 441 are arranged in a crossed manner to form a first anti-parallelogram mechanism. One end of the fifth connecting rod 442 is rotatably connected with the universal platform 432, and the other end is rotatably connected with the frame 431; one end of the sixth link 443 is rotatably connected with the universal platform 432, and the other end is rotatably connected with the frame 431; the fifth link 442 and the sixth link 443 are arranged crosswise to form a second anti-parallelogram mechanism; the first and second anti-parallelogram mechanisms are identical in size and are symmetrically disposed on either side of the frame 431.
As shown in fig. 18, the end effector assembly includes a first hooke's joint 451, a first transfer lever 452, a second transfer lever 453, a second hooke's joint 454, and a lever 455, connected in series. The end effector assembly is connected to the central spindle 416 by a first hooke's hinge 451; the lever 455 passes through and is rotatably coupled to the gimbal platform 432; the first transmission lever 452 and the second transmission lever 453 are connected by a sliding pair.
Example 2
Referring to fig. 19-25, in another structural design of a six-degree-of-freedom parallel robot with smart operation capability, embodiment 2 is different from embodiment 1 in that a connecting driving component in embodiment 1 is replaced by a crank transmission mechanism consisting of a pulley 418, a synchronous belt 422 and a third slider 421; the fifth double-rod branched chain 205 and the sixth double-rod branched chain 206 which drive the third slider 421 to move are replaced by a first single-rod branched chain 221, a second single-rod branched chain 222, a third single-rod branched chain 223 and a fourth single-rod branched chain 224; and two driving devices 3 are additionally provided. The concrete structure is as follows:
the number of the driving devices 3 is 8, wherein 4 driving devices 3 are symmetrically arranged on the upper side of the fixed platform 1, and the other 4 driving devices 3 are symmetrically arranged at the bottom of the fixed platform 1; the number of the branched chains 2 is 8, and each branched chain is connected with the equal driving device 3; the branched chain connected with the driving device 3 on the upper side of the fixed platform 1 is a double-rod branched chain and comprises a first double-rod branched chain 201, a second double-rod branched chain 202, a third double-rod branched chain 203 and a fourth double-rod branched chain 204; the structure and the connection mode are the same as those of the first dual-rod branched chain 201, the second dual-rod branched chain 202, the third dual-rod branched chain 203 and the fourth dual-rod branched chain 204 in the embodiment 1.
As shown in fig. 20, the branched chains connected to the driving device 3 on the lower side of the fixed platform 1 are single-rod branched chains, and include a first single-rod branched chain 221, a second single-rod branched chain 222, a third single-rod branched chain 223, and a fourth single-rod branched chain 224; the single-rod branched chain comprises a second driving arm 231, a driven arm 233, a first universal joint 232 and a second universal joint 234; one end of the second driving arm 231 is connected with the driving device 3, and the other end is connected with the driven arm 233 through a first universal joint; the other end of the driven arm 233 is further provided with a second universal joint 234 connected to a universal hinge 461 of the crank drive.
As shown in fig. 21-22, the connecting driving assembly 3 in this embodiment includes two crank mechanisms disposed on two sides of the U-shaped frame 417, each of the crank mechanisms includes a first rotating shaft 462 and a second rotating shaft 463, and the first rotating shaft 462 and the second rotating shaft 463 are connected by a vertical connecting rod to form a "Z" type linkage; two universal hinges 461 are disposed on each second rotating shaft 463.
As shown in fig. 23, a first rotating shaft 462 of one of the crank driving mechanisms passes through the U-shaped frame 417 and is fixedly connected to the frame 431, two universal hinges 461 on a second rotating shaft 463 are respectively connected to the second universal joints 234 on the first single rod branch 221 and the fourth single rod branch 224, and the first single rod branch 221 and the fourth single rod branch 224 are connected at an angle so as to drive the frame 431 to rotate continuously. The first rotating shaft 462 of the other crank transmission mechanism passes through the U-shaped frame 417 and is directly connected with the first bevel gear 446 of the transmission assembly; two universal joints 461 on a second rotating shaft 463 are respectively connected with the second universal joints 234 of the second single-rod branch chain 222 and the third single-rod branch chain 223 so as to drive the transmission assembly; thereby driving the horizontal movement of the gimbal 432.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A six-freedom parallel robot with smart operation capability, characterized in that: the device comprises a fixed platform, a movable platform and a plurality of branched chains which are arranged between the fixed platform and the movable platform and used for driving the movable platform; a plurality of driving devices connected with the branched chains are uniformly distributed on the fixed platform at intervals;
the movable platform comprises a movable platform and a rotary universal platform;
the mobile platform comprises a cross, a central rotating shaft, a first sliding block, a second sliding block, a first connecting rod, a second connecting rod and a U-shaped frame; the cross is composed of a first rod body and a second rod body which are mutually crossed; 2 sliding rail grooves are symmetrically arranged on the first rod body, the sliding rail grooves are respectively connected with a first sliding block and a second sliding block in a sliding mode, and the first sliding block and the second sliding block are respectively hinged with the branched chain; two ends of the second rod body are respectively hinged with the branched chains; a central hole for the central rotating shaft to pass through is formed between the cross and the U-shaped frame; the central rotating shaft is provided with a first rotating shaft, a second rotating shaft and a third rotating shaft which are not coaxial, the first rotating shaft and the third rotating shaft are respectively arranged at two ends of the second rotating shaft, and the second rotating shaft is rotatably connected with the central hole; one end of the first connecting rod is rotatably connected with the first sliding block, and the other end of the first connecting rod is connected with the first rotating shaft; one end of the second connecting rod is rotatably connected with the second sliding block, and the other end of the second connecting rod is connected with the third rotating shaft; the U-shaped frame is fixed on the cross; the U-shaped frame is provided with a connecting driving assembly used for being connected with the branched chain and used for driving the rotary universal platform;
the rotary universal platform comprises a frame, a universal platform, a transmission assembly and an end effector assembly; the frame is rotatably connected to the U-shaped frame and connected with the connecting driving assembly; the transmission assembly is arranged between the frame and the universal platform and used for driving the universal platform; the end effector component comprises a first hook joint, a first transmission rod, a second hook joint and an operating handle which are connected in sequence; the end effector component is connected with the central rotating shaft through a first hook hinge; the operating handle penetrates through the universal platform and is rotationally connected with the universal platform; the first transmission rod is connected with the second transmission rod through a sliding pair.
2. The six degree-of-freedom parallel robot having a smart operation capability of claim 1, wherein: the transmission assembly comprises a frame rotating shaft, a first bevel gear, a second bevel gear, a horizontal rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a sixth connecting rod;
the first gear is fixed at one end of the frame rotating shaft, the other end of the frame rotating shaft penetrates through the frame to be connected with the connecting driving assembly on the U-shaped frame, and the frame rotating shaft is rotatably connected with the frame; the first bevel gear is vertically meshed with the second bevel gear, the second bevel gear is fixed on the horizontal rod, the horizontal rod is vertical to the frame rotating shaft, and two ends of the horizontal rod are rotatably connected to the frame; one end of the third connecting rod is rotatably connected with the universal platform, and the other end of the third connecting rod is fixedly connected with the horizontal rod; one end of the fourth connecting rod is rotatably connected with the universal platform, the other end of the fourth connecting rod is rotatably connected with the frame, and the fourth connecting rod and the third connecting rod are arranged in a crossed manner to form a first anti-parallelogram mechanism;
one end of the fifth connecting rod is rotatably connected with the universal platform, and the other end of the fifth connecting rod is rotatably connected with the frame; one end of the sixth connecting rod is rotatably connected with the universal platform, and the other end of the sixth connecting rod is rotatably connected with the frame; the fifth connecting rod and the sixth connecting rod are arranged in a crossed mode to form a second anti-parallelogram mechanism; the first anti-parallelogram mechanism and the second anti-parallelogram mechanism are identical in size and are symmetrically arranged on two sides of the frame.
3. The six degree-of-freedom parallel robot having a smart operation capability of claim 1, wherein: the connecting driving assembly comprises sliding rails arranged on two sides of the U-shaped frame; belt wheels are arranged at two ends of each sliding rail, and the belt wheels on the same side are connected through a synchronous belt; the belt wheel on one side is fixedly connected with the frame to drive the frame to rotate; the belt wheel on the other side is fixedly connected with the transmission assembly to drive the transmission assembly to rotate; a third sliding block is connected to the sliding rail, the third sliding block is fixedly connected with one side of the synchronous belt, and the third sliding block is hinged to the branched chain; the third slider is driven to move along the sliding rail, and the synchronous belt moves along the sliding rail, so that the belt wheel is driven to rotate.
4. A six degree-of-freedom parallel robot with smart operation capability according to claim 3, wherein: the number of the driving devices is 6, wherein 4 driving devices are symmetrically arranged on the upper side of the fixed platform, and the other 2 driving devices are symmetrically arranged at the bottom of the fixed platform; the number of the branched chains is 6, and each branched chain is connected with the driving device;
the branched chain is a double-rod branched chain, and six branched chains are arranged; the double-rod branched chain has the same structure and comprises a first driving arm, a lower connecting rod, a connecting rod a and a connecting rod b; one end of the first driving arm is connected with the driving device, and the other end of the first driving arm is fixedly connected with the center of the lower connecting rod; ball joints are arranged at two ends of the lower connecting rod; the connecting rod a and the connecting rod b have the same structure, and hinge holes are formed in the two end parts of the connecting rod a and the connecting rod b; and the hinge holes at the same ends of the connecting rods a and b are respectively connected with the two ball joints of the lower connecting rod.
5. The six degree-of-freedom parallel robot with smart operation capability of claim 4, wherein: ball joints connected with the double-rod branched chain are arranged on the opposite sides of the first sliding block, the second sliding block and the third sliding block; ball joints connected with the double-rod branched chains are also arranged at two ends of the second rod body of the cross;
the double-rod branched chain comprises a first double-rod branched chain, a second double-rod branched chain, a third double-rod branched chain, a fourth double-rod branched chain, a fifth double-rod branched chain and a sixth double-rod branched chain, the first sliding block is hinged with the first double-rod branched chain through a ball joint, and the second sliding block is hinged with the third double-rod branched chain through a ball joint; two ends of a second rod body of the cross are respectively hinged with a second double-rod branched chain and a fourth double-rod branched chain through ball joints; and the two third sliding blocks are respectively connected with the fifth double-rod branched chain and the sixth double-rod branched chain through ball joints.
6. The six degree-of-freedom parallel robot having a smart operation capability of claim 1, wherein: the connecting and driving assembly comprises two crank transmission mechanisms arranged on two sides of the U-shaped frame, one crank transmission mechanism penetrates through the U-shaped frame and is fixedly connected with the frame, and the other crank transmission mechanism penetrates through the U-shaped frame and is connected with the transmission assembly;
the two crank transmission mechanisms comprise a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are connected through a vertical rod to form a Z-shaped connecting rod mechanism; and the second rotating shaft is provided with two universal hinges.
7. The six degree-of-freedom parallel robot having a smart operation capability of claim 6, wherein: the number of the driving devices is 8, wherein 4 driving devices are symmetrically arranged on the upper side of the fixed platform, and the other 4 driving devices are symmetrically arranged at the bottom of the fixed platform; the number of the branched chains is 8, and each branched chain is connected with the driving device;
the branched chain connected with the driving device on the upper side of the fixed platform is a double-rod branched chain and comprises a first double-rod branched chain, a second double-rod branched chain, a third double-rod branched chain and a fourth double-rod branched chain; the double-rod branched chain comprises a first driving arm, a lower connecting rod, a connecting rod a and a connecting rod b; one end of the first driving arm is connected with the driving device, and the other end of the first driving arm is fixedly connected with the center of the lower connecting rod; ball joints are arranged at two ends of the lower connecting rod; the connecting rod a and the connecting rod b have the same structure, and hinge holes are formed in the two end parts of the connecting rod a and the connecting rod b; the hinge holes at one ends of the connecting rod a and the connecting rod b are respectively connected with the two ball joints of the lower connecting rod;
the branched chain connected with the driving device on the lower side of the fixed platform is a single-rod branched chain and comprises a first single-rod branched chain, a second single-rod branched chain, a third single-rod branched chain and a fourth single-rod branched chain; the single rod comprises a second driving arm, a driven arm, a first universal joint and a second universal joint; one end of the driving arm is connected with the driving device, and the other end of the driving arm is connected with the driven arm through a first universal joint; and the other end of the driven arm is also provided with a second universal joint connected with the universal hinge.
8. The six degree-of-freedom parallel robot having a smart operation capability of claim 7, wherein: ball joints connected with the double-rod branched chain are arranged on the opposite sides of the first sliding block, the second sliding block and the second rod body of the cross;
the first sliding block is hinged with the first double-rod branched chain through a ball joint, and the second sliding block is hinged with the third double-rod branched chain through a ball joint; two ends of a second rod body of the cross are respectively hinged with a second double-rod branched chain and a fourth double-rod branched chain through ball joints;
two universal hinges on a second rotating shaft are respectively hinged with the first single-rod branched chain and the fourth single-rod branched chain; and two universal hinges on the other second rotating shaft are respectively hinged with the second single-rod branched chain and the third single-rod branched chain.
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| CN115213873A (en) * | 2022-08-26 | 2022-10-21 | 重庆邮电大学 | Six-degree-of-freedom parallel robot with large-posture working space |
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