CN2075574U

CN2075574U - Parallel connection multi-ring structure robot

Info

Publication number: CN2075574U
Application number: CN 90222528
Authority: CN
Inventors: 黄真; 张志慧; 刘俊龙
Original assignee: EAST NORTHERN CHINA HEAVY MEDANICAL ENGINEERING INST QINHUANGDAO BRANCH
Current assignee: EAST NORTHERN CHINA HEAVY MEDANICAL ENGINEERING INST QINHUANGDAO BRANCH
Priority date: 1990-10-27
Filing date: 1990-10-27
Publication date: 1991-04-24

Abstract

In order to provide a maximum working space to a six freedom degrees parallel multi-ring robot, six hydraulic cylinders is required not revolving around self axial cords, and top and bottom universal hinges respectively adopts three freedom degrees and two freedom degrees. Bearing structures at the both ends of a universal hinge crosshead can bear radial force and axial force simultaneously. In order to assure the alignment of a string rope of a photoelectric encoding device all long, a guide slot slide mechanism is arranged on a bottom fork of an upper universal hinge which is connected with a piston rod. The utility model is a parallel connection multi-ring structure robot with six freedom degrees, large stiffness, high bearing capacity and compact structure, so the utility model is suitable for the situations with small workspace and large bearing requirement.

Description

Parallel connection multi-ring structure robot

The utility model belongs to multiring structure in parallel robot.

Abroad, multiring structure in parallel robot is the (see figure 2) that was proposed in 1978 by Hunt.Because this robot has unapproachable big rigidity of tandem robot and big bearing capacity, the a collection of scholar of states such as the U.S., Japan successively goes in for the study since 7 or eight years, and a collection of European countries such as Britain, West Germany, the Soviet Union also take to the research work of this respect successively.From the data of publishing, in the world, it is actual not release production as yet as practical robot, the pure experimental machine type that also just structure is very thin in the laboratory, load is very little.Domestic, high-tech planning has been listed in the research of multiring structure in parallel robot new architecture in, and existing in theory several families take up research.

The purpose of this utility model is that a kind of new construction parallel connection of design encircles robot more, and it is big to make it have rigidity, and characteristics such as bearing capacity height, compact conformation are applied to the occasion of the little or limited space system of working space.

The utility model is achieved in that the universal hinge that the cylinder body lower end links to each other with lower platform only has two frees degree, should there be three degree of freedom the piston rod upper end with the universal hinge that upper mounting plate links, break this, the vertical axis of fork is fastened on (see figure 4) on the lower platform with nut under the universal hinge of cylinder body lower end, and the universal hinge of piston rod upper end and upper mounting plate rotate and link (see figure 3).Crosshead two ends hollow shaft structure is bearing radial force and axial force simultaneously, allow the hollow shaft head of crosshead, when being subjected to the radial support of needle bearing, the end face of spindle nose also directly contacts with the inner face of bearing a set of cups and props up, and is coated with antifriction material on this end face again.For making the fixing bow of sensor string rope can align interior scrobicular ring in the little axle of encoder all the time, on linking to each other on the following fork of universal hinge with piston rod, connect firmly one slide-plate with bolt, slide plate is clipped in the guide groove in the hydraulic cylinder upper end outside and makes relative slip (see figure 5), guaranteed the tram of bow like this, avoided the bow of string rope relatively rotating around the cylinder body axis not taken place with universal hinge lower fork.

In parallel upper mounting plates that encircle robot by six hydraulic cylinders are supported move under the driving of six hydraulic cylinders more.Because the driving of six hydraulic cylinders respectively naturally independently, this kind mechanism relatively moving of six branch roads on kinematics do not take place to be coupled, so upper mounting plate has six-freedom degree, on its every bit of working space scope, allow independently along the moving of three of X, Y and Z, and independently rotate around X, Y and Z axle.Motion also can be any linear combination of these six kinds of factors.The working space shape of this mechanism has certain thickness mushroom as one.

In order to bring into play the characteristics of the big load of parallel robot carrying, the robot servo apply hydraulic pressure drives, and a hydraulic cylinder (see figure 1) is respectively arranged in six branch roads, has 6 hydraulic cylinders.The action of robot is under computer project, by electrohydraulic control system, finishes given action.

The upper mounting plate and the lower platform of parallel connection multiring structure robot are symmetrical non-equilateral hexagon, two hexagonal two circumscribed circle diameters keep less than 1 or near a proper proportion of 1 up and down, also there is a ratio on hexagonal minor face and long limit, and this can select for use according to the difference of working condition.

Drawings and Examples:

Fig. 1 is the robot mechanical part structure chart that encircles in parallel more,

Fig. 2 is many ring robot mechanism sketches in parallel,

Fig. 3 is the universal hinge structure in piston rod upper end

Fig. 4 is the universal hinge structure in hydraulic cylinder lower end

Fig. 5 is the guide groove sled mechanism,

(1) is clamper among Fig. 1, (2) be upper mounting plate, (3), (4), (5) are last universal hinge, and (6) are guide groove, (7) be detecting element, (8) be slide plate, (9) are hydraulic cylinder, and (10) are electrohydraulic servo valve, (11), (12), (13) are following universal hinge, (14) be lower platform, (15) are the turnover oil pipe line, and (16) are bow.Fig. 1 is the front view that encircles robot mechanical part structure in parallel more, and three oil cylinders of back overlap with three oil cylinders of front.

Further specify the utility model below in conjunction with embodiment:

The robot main machine structure that encircles in parallel is seen Fig. 1 more, and robot gripper (1) is loaded on the upper mounting plate (2); Mechanism has six hydraulic cylinders (9) that structure is identical, and the hydraulic cylinder lower end links to each other with lower platform (14) with universal hinge (11), (12), (13); The upper end of the piston rod of hydraulic cylinder (9) links to each other with upper mounting plate (2) via universal hinge (3), (4), (5); The electrohydraulic servo valve (10) of control hydraulic cylinder (9) is contained on the hydraulic cylinder (9).(15) be the turnover oil pipe line.

Six hydraulic cylinders are six moving sets on theory of mechanisms, only move between piston and the cylinder body and do not rotate.For guaranteeing six hydraulic cylinders and the servo valve and the oil circuit flexible pipe that are installed on it, do not take place at work to interfere mutually to enlarge the working space of robot, electrohydraulic servo valve (10) should be loaded on the outside of hydraulic cylinder (9), and revolution around self axis does not take place in cylinder body in the assurance work, the universal hinge that the cylinder body lower end links to each other with lower platform (14) should only have two frees degree, this can take to make the vertical axis of fork under this universal hinge directly to be fastened on the base plate of lower platform (14) with nut, reach and make down fork not rotate (see figure 4) around the axis of vertical lower platform, the piston rod upper end is via a universal hinge (3) with three degree of freedom, (4), (5) link to each other with upper mounting plate (2), this moment, structure allowed the fork of going up of universal hinge to rotate (see figure 3) around the axis of vertical upper mounting plate.Guaranteed under this spline structure that hydraulic cylinder body itself can not be positioned at the cylinder body outside all the time around the revolution of self axis in the servo valve work, also avoided the winding of flexible pipe to cylinder body.

The universal coupling of Ying Yonging does not bear moment of torsion in the present embodiment, and main load is axial force and certain radial load.Allow the hollow shaft head (seeing (12) among Fig. 4) of universal hinge crosshead for this reason, when being subjected to the radial support of needle bearing, the end face of spindle nose directly contacts with the inner face of bearing a set of cups and props up, because this kind structure descends relative rotation speed very low in working order, and bearing a set of cups contact-making surface place also is coated with antifriction material, and this just can play the effect of thrust bearing.

For the mobile rotation that becomes photoelectric encoder (7) with hydraulic cylinder piston, the bow (16) that is connected in the piston rod upper end, bolt the rope string of certain tension force on the bow, and the rope string is walked around the scrobicular ring of deceiving the little axle of yard device.When piston moves, bow drives the little axle of photoelectric encoder (7) via the rope string and rotates.For making the bow that the rope string is housed relatively rotating around the cylinder body axis do not taken place with the lower fork of last universal hinge, each link to each other with piston rod on the following fork of universal hinge, connect firmly one slide-plate (8) with bolt, slide plate (8) is clipped in the relative slip (see figure 5) of effect among the guide groove (6) in the hydraulic cylinder upper end outside, assurance like this) tram of bow makes bowstring can correctly drive little axle drive photoelectric encoder all the time.

Parallel connection described in the utility model encircle more robot be a kind ofly have 6 frees degree, rigidity is big, the novel robot mechanism of bearing capacity height, compact conformation.It is applicable to that working space is little, and the bigger occasion of burden requirement.If be contained in to be used on the auto assembly line on the panoramic table wheel is installed.On the steelframe that have X as if it is lifted on, Y two directions moves, can be as the robot assembling that super-huge parts such as automobile engine are installed.In addition, application is arranged also in the space flight navigation, for example airship butt joint or the like.

Claims

1, a kind of multiring structure in parallel robot, comprise mechanical part, six passage Hydrauservo Systems, parts such as velocity location closed-loop control and computer classification distribution control are formed, it is characterized in that: the vertical axis of fork is fastened on the lower platform with nut under the universal hinge in cylinder body lower end, piston rod universal hinge in upper end and upper mounting plate rotate and link, the hollow shaft structure of universal hinge crosshead is bearing radial force and axial force simultaneously, for making fork under the universal hinge not take place on linking to each other, on the following fork of universal hinge the guide groove sled mechanism to be installed with piston rod around the relatively rotating of cylinder body axis.

2, robot according to claim 1 is characterized in that: the radial load of the hollow shaft head at universal hinge crosshead two ends is by needle roller bearing support, and its axial force is the inner face by the direct contact bearing a set of cups of axle head, is coated with antifriction material on this end face.

3, robot according to claim 1 is characterized in that: connect firmly one slide-plate with bolt on the following fork of universal hinge on linking to each other with piston rod, guide groove is installed with bolt in the outside in the hydraulic cylinder upper end, and slide plate can slide in guide groove relatively.