WO2005025816A1 - Robot dote d'une structure mixte libre de couplage a cinq elements - Google Patents

Robot dote d'une structure mixte libre de couplage a cinq elements Download PDF

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Publication number
WO2005025816A1
WO2005025816A1 PCT/CN2004/000479 CN2004000479W WO2005025816A1 WO 2005025816 A1 WO2005025816 A1 WO 2005025816A1 CN 2004000479 W CN2004000479 W CN 2004000479W WO 2005025816 A1 WO2005025816 A1 WO 2005025816A1
Authority
WO
WIPO (PCT)
Prior art keywords
hinge
adjusting device
length adjusting
fixed frame
moving platform
Prior art date
Application number
PCT/CN2004/000479
Other languages
English (en)
Chinese (zh)
Other versions
WO2005025816A8 (fr
Inventor
Tian Huang
Meng Li
Zhanxian Li
Jiangping Mei
Xueman Zhao
Dawei Zhang
Original Assignee
Tianjin University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tianjin University filed Critical Tianjin University
Publication of WO2005025816A1 publication Critical patent/WO2005025816A1/fr
Publication of WO2005025816A8 publication Critical patent/WO2005025816A8/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • 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
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal

Definitions

  • the invention relates to a robot, in particular to a five-degree-of-freedom hybrid robot with an asymmetric structure.
  • the technical problem to be solved by the present invention is to provide a reconfigurable and modular five-degree-of-freedom hybrid robot that can ensure the characteristics of high speed, high precision, high rigidity, and large working space, and can minimize the number of components. .
  • a five-degree-of-freedom hybrid robot which includes a fixed frame, a first length adjustment device, a second length adjustment device, a third length adjustment device, a positioning head, and a moving platform.
  • the middle part of the fixed frame is provided with a first hinge, and the upper part of the first length adjusting device is provided on the fixed frame through the first hinge and the sliding pair formed with the first hinge, and the end is connected to the movable platform;
  • Second and third hinges are symmetrically arranged on both sides of one end surface of the end, and the upper parts of the second and third length adjusting devices are symmetrically arranged on the fixing frame through the second and third hinges, respectively.
  • On both sides of the end face their ends are hinged to the moving platform, respectively; the positioning head is connected to the bottom of the moving platform.
  • the first length adjusting device includes: a tubular structure with a slotted hole on the back, a lead screw provided inside the tubular structure, and a lead screw nut forming a movement pair with the lead screw.
  • the outer peripheral surface of the tubular structure is provided with two in the axial direction. guide.
  • the first hinge includes an inner ring and an outer ring.
  • the inner ring and the outer ring are connected by two left and right co-rotational shafts.
  • the outer ring is connected with the fixed frame by two front and back co-rotational shafts.
  • Two sliding blocks are provided. The two sliding blocks and two guide rails outside the tubular structure in the first length adjusting device constitute the sliding pair.
  • the distribution of the two hinges on the moving platform is one of three forms, which are: (1) the centers of movement of the two hinges coincide; (2) the centers of movement of the two hinges are symmetrically located on the axis of symmetry of the moving platform (21c ) On both sides; (3) The movement centers of the two hinges (32, 42) are distributed in a triangle with respect to the axis of symmetry (21c) of the moving platform (5).
  • the driving form of the three length adjusting devices can be any one of a motor-lead screw / threaded spline shaft structure, a linear motor structure, a hydraulic structure or a pneumatic structure.
  • the present invention has a modular design, it can be connected to a fixed gantry structure, a large-distance or large-angle feed mechanism, and a movable rack through a mechanical interface on the fixed frame.
  • Several robots of the present invention can also be installed on the same fixed Structural joint operations.
  • the five-degree-of-freedom hybrid robot of the present invention reduces one driven branch chain, and its beneficial effects are:
  • FIG. 1 is a schematic diagram of the overall structure of the present invention
  • Figure 2 is a front view of Figure 1;
  • Figure 3 is a side view of Figure 1;
  • FIG. 4 is a schematic structural diagram of a fixing frame and a hinge connected thereto in an embodiment of the present invention
  • FIG. 5 is a schematic structural diagram of a first length adjusting device in an embodiment of the present invention
  • FIG. 6 is a positioning head of two Schematic diagram of the rotation degree of freedom sub-module. among them:
  • the five-degree-of-freedom hybrid robot of the present invention includes a fixed frame 1, a first length adjustment device 2, a second length adjustment device 3, a third length adjustment device 4, and a moving platform. 5 ⁇ locating head 6.
  • the upper part of the first length adjusting device 2 is arranged in the middle of the fixing frame 1 through a first hinge 21, and its end is rigidly connected to the movable platform 5.
  • the upper parts of the second length adjusting device 3 and the third length adjusting device 4 are respectively symmetrically provided.
  • the second hinge 31 and the third hinge 41 on both sides of the front side of the fixed frame 1 are connected to the fixed frame 1, and their ends are respectively connected to the moving platform 5 through hinges 32 and 42 having three degrees of freedom of rotation; the bottom of the moving platform 5 Connected to positioning head 6.
  • the first, second, and third length adjusting devices 2, 3, and 4 can be extended or shortened in the axial direction, and the first, second, and third hinges 21, 31, and 41 each have at least two Rotation degree of freedom, so that each length adjusting device can be rotated in all directions relative to the fixed frame 1.
  • the end of the first length adjusting device 2 is rigidly connected to the moving platform 5, so that when the moving platform 5 undergoes spatial displacement, its mechanism
  • the space attitude also changes at the same time; the positioning head 6 with two rotational degrees of freedom can adjust the attitude change caused by the position change of the moving platform 5 at any time during the movement, and various actuators such as cutters, powerful Gun, holding device, etc.
  • the structure of the three length adjusting devices can be set in two ways, namely:
  • the second length adjusting device 3, the third length adjusting device 4 and the first length adjusting device 2 have the same structure;
  • the second length adjusting device 3 and the third length adjusting device 4 have the same structure, and the structure of the first length adjusting device 2 is different from the two.
  • the second length adjusting device 3 and the third length adjusting device 4 are hinged to the moving platform 5 through the three-degree-of-freedom hinges 32, 42, thus acting Most of the external forces and external moments on the positioning head 6 or the moving platform 5, especially the torsional moment, will be directly transmitted to the first length adjusting device 2, so that the first length adjusting device 2 and the second and third length adjusting devices 3, 4 requires a higher torsional stiffness. therefore, If the first setting method is adopted, so that the three length adjusting devices have the same structure, it cannot guarantee that the torsional torque is effectively transmitted to the mechanical structure connected to the fixed frame 1.
  • this embodiment adopts a second setting mode, that is, the first length adjustment device 2 rigidly connected to the moving platform 5 and the other two length adjustment devices 3 and 4 have different mechanical structures. It can be seen from FIG. 1 that the first length adjustment device 2 has a larger radial dimension than the second and third length adjustment devices 3 and 4. At the same time, the first length adjustment device 2 is axially opposed to the entire length adjustment device 2.
  • the fixed frame 1 and the first hinge 21 slide in the form of a rigid arm to achieve length adjustment. This arrangement can make the first length adjusting device 2 have sufficient rigidity to bear its own weight, and transmit the torsional moment to the fixed frame 1 through the guide rail 25 and the first hinge 21.
  • the first length adjusting device 2 includes a tubular structure 26 with a slotted hole on the back, a lead screw 27 located inside the tubular structure 26, and a movement pair that forms a movement pair with the lead screw 27 and communicates with the first hinge 21.
  • a screw nut 28 rigidly connected to the inner ring 22 is provided with two guide rails 25 along the axial direction on the outside of the tubular structure 26. Driven by a motor, the tubular structure 26, together with the motor and the screw 27, moves axially relative to the screw nut 28.
  • the first length adjusting device 2 in order to make the first length adjusting device 2 have sufficient rigidity to withstand the torsional moment as before, in addition to making the outer diameter of the first length adjusting device 2 larger than that of the second and third length adjusting devices 3 and 4,
  • the two ends of the slotted hole in the tubular structure 26 are closed, and a reinforcing rib is provided on the inner wall of the tubular structure 26.
  • the first hinge 21 provided between the first length adjusting device 2 and the fixing frame 1 is composed of two inner and outer concentric rings 22 and 23.
  • the outer diameter of the first length adjusting device 2 (or the tubular structure 26) is slightly smaller than the inner diameter of the inner ring 22.
  • the inner wall of the inner ring 22 is provided with two sliders 24 symmetrically.
  • the two sliders 24 and the first length adjusting device 2 The two guide rails 25 provided on the outer diameter of the outer ring constitute a sliding pair, so that the length adjusting device 2 can slide in the axial direction relative to the inner ring 22;
  • One length adjustment device 2 and inner ring 22 The outer ring 23 can be rotated around the axis 21a relative to the outer ring 23 at the same time; the outer ring 23 is movably connected to the fixed frame 1 through two collinear front and rear rotating shafts, so that the first length adjusting device 2 and the inner and outer rings 22 and 23 can be simultaneously fixed relative to the fixed frame 1 Rotate around the axis 21b. Therefore, the first length adjusting device 2 can be rotated in various directions relative to the fixed frame 1 and slide along the axial direction to achieve length adjustment.
  • the structures of the second length adjusting device 3 and the third length adjusting device 4 are the same. As shown in FIG. 3, they include outer sleeves 33, 43, inner sleeves 34, 44, and a lead screw located inside the sleeve and a wire.
  • the rod constitutes a lead screw nut of the movement pair and is connected to the inner sleeves 34 and 44. Driven by a motor, the screw nut and the inner sleeve 34, 44 can move axially relative to the outer sleeves 33, 43.
  • a second hinge 31 and a third hinge 41 are symmetrically provided on both sides of one end surface of the fixing frame 1, and both are fork-shaped structures, and the outer tube of the second length adjusting device 3 and the third length adjusting device 4.
  • 33 and 43 are connected to the second hinge 31 and the third hinge 41 through the rotating shafts on the second hinge 31 and the third hinge 41, respectively, so that the second length adjusting device 3 and the third length adjusting device 4 can be opposite to the second hinge, respectively.
  • the third hinge 41 rotates about the axes 31a and 41a; the second hinge 31 and the third hinge 41 are connected to the fixing frame 1 through a rotating shaft, so that the second length adjusting device 3 and the third length adjusting device 4 can be connected to the second length adjusting device 3 again.
  • the hinge 31 and the third hinge 41 are simultaneously rotated around the axes 31 b and 41 b with respect to the fixed frame 1. Therefore, the second length adjusting device 3 and the third length adjusting device 4 can be rotated in various directions relative to the fixed frame 1.
  • the three length adjusting devices adopt a motor-screw driving structure.
  • any one of the motor's threaded spline shaft structure, linear motor structure, hydraulic structure or pneumatic structure can be used as its driving mode.
  • the center of movement of the two hinges 32, 42 between the moving platform 5 and the second and third length adjusting devices 3, 4 is relative to the axis of symmetry of the moving platform 5 (also the axis of symmetry 21c of the first length adjusting device 2) Has three distribution forms:
  • the centers of movement of the two hinges 32, 42 are located symmetrically on both sides of the axis of symmetry 21c, respectively; (3) The movement centers of the two hinges 32, 42 are located at other positions.
  • the distribution form is (3), the centers of movement of the two hinges 32, 42 are triangularly distributed with respect to the symmetry axis 21c of the moving platform 5.
  • This distribution form ensures that the present invention has a high rigidity in all directions, so that it can be applied to practical operation in any form.
  • the positioning head 6 is a sub-module design, and is composed of a first frame 61 and a second frame 62.
  • the first frame 61 is connected to the moving platform 5 through a rotating shaft, and can rotate relative to the moving platform 5 about the axis 21 c.
  • the two frames 62 and the first frame 61 are connected through a rotating shaft, and can rotate relative to the first frame 61 about an axis 6a, and the axis 6a is perpendicular to the axis 21c.
  • an electric spindle is installed at the end of the positioning head 6.
  • the five-degree-of-freedom hybrid robot of the present invention has a modular design and includes three length adjustment devices that can be extended or shortened in the axial direction.
  • the upper part of the first length adjustment device 2 passes through the two-degree-of-freedom hinge 21
  • the sliding pair composed of the hinge inner ring 22 and the guide rail 25 on the outer wall of the first length adjusting device 2 is connected to the fixing frame 1, and the lower end of the first length adjusting device 2 is fixedly connected to the moving platform 5.
  • the upper parts of the second and third length adjusting devices are respectively connected to the fixing frame 1 through two-degree-of-freedom hinges 31 and 41, and the lower ends are hinged to the movable platform 5 through three-degree-of-freedom hinges 32 and 42 respectively.
  • the first length adjusting device 2 can be rotated in various directions relative to the fixing frame 1 and slide in the axial direction, and the second length adjusting device 3 and the third length adjusting device 4 are also relative to the fixing frame 1 Realize rotation in all directions, and extend or shorten in the axial direction. Since the positioning head 6 with two rotational degrees of freedom is mounted on the moving platform 5, the end effector can achieve five degrees of freedom.
  • the modular design of the present invention can be connected to a fixed gantry structure, a large-distance or large-angle feed mechanism, and a movable rack through a mechanical interface on the fixed frame 1. It is also possible to install several robots of the present invention on the same fixed structure On joint operations.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un robot doté d'une structure mixte libre de couplage à cinq éléments. Ladite structure comprend un cadre fixe, un premier réglage ajustable au niveau de la longueur, un second réglage ajustable au niveau de la longueur, un troisième réglage ajustable au niveau de la longueur, une tête de positionnement et une plaque mobile. Une première articulation se trouve au milieu du cadre fixe. La partie supérieure du premier réglage est montée au cadre fixe par le biais de la première charnière et une barre de manoeuvre qui est formée par le premier réglage et la première articulation et dont l'extrémité relie la plaque mobile. Une seconde charnière et une troisième charnière se trouvent de manière symétrique sur une face d'extrémité du cadre fixe, leurs parties supérieures sont montées respectivement et symétriquement à la face d'extrémité du cadre fixe, et les extrémités relient séparément la plaque mobile. La tête de positionnement peut être conçue de manière modulable et utilisée de façon adéquate. La quantité d'éléments mobiles peut être diminuée, ce qui permet d'éviter une interférence entre les éléments mobiles. Le dispositif final peut se déplacer librement et garder une efficacité, une précision, une rigidité élevées ainsi qu'une caractéristique d'espace de fonctionnement important.
PCT/CN2004/000479 2003-09-16 2004-05-14 Robot dote d'une structure mixte libre de couplage a cinq elements WO2005025816A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CNB031442811A CN100446940C (zh) 2003-09-16 2003-09-16 非对称空间5自由度混联机器人
CN03144281.1 2003-09-16

Publications (2)

Publication Number Publication Date
WO2005025816A1 true WO2005025816A1 (fr) 2005-03-24
WO2005025816A8 WO2005025816A8 (fr) 2005-07-14

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Cited By (10)

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WO2011159225A1 (fr) * 2010-06-17 2011-12-22 Exechon Ab Machine parallèle cinématique présentant des éléments de retenue de cardan
CN102530120A (zh) * 2011-12-28 2012-07-04 燕山大学 6-urs六足步行机器人
CN103252683A (zh) * 2013-05-07 2013-08-21 天津大学 一种五自由度混联数控机床
CN104985596A (zh) * 2015-07-09 2015-10-21 天津大学 一种含多轴转动支架的五自由度混联机器人
CN106826775A (zh) * 2017-04-07 2017-06-13 河南科技大学 一种各向同性空间二自由度转动并联机器人
CN106840642A (zh) * 2017-04-01 2017-06-13 中北大学 可重构并/混联机构实验装置组件***
CN108406740A (zh) * 2018-02-02 2018-08-17 浙江工业大学 一种具有多个自由度运动轨迹的抓夹机械手
CN110774015A (zh) * 2019-12-02 2020-02-11 福州大学 含过约束少自由度并联模块的混联机床及运动方法
US20210220953A1 (en) * 2018-09-26 2021-07-22 Yanshan University Symmetrical three-axis parallel spindle head capable of multi-directional fixed-point rotation
CN113478461A (zh) * 2021-07-06 2021-10-08 广州市新豪精密科技有限公司 一种三自由度并联机器人及其建模方法

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CN100348386C (zh) * 2005-09-15 2007-11-14 天津大学 含冗余自由度的多坐标混联机器人
JP4598864B2 (ja) * 2009-01-29 2010-12-15 ファナック株式会社 パラレルロボット
CN102049786A (zh) * 2009-11-05 2011-05-11 鸿富锦精密工业（深圳）有限公司 转动机构及使用该转动机构的机器人
CN102069496A (zh) * 2010-12-15 2011-05-25 天津大学 线性驱动四自由度混联机械手
CN102285390B (zh) * 2011-06-03 2012-09-26 哈尔滨工程大学 一种步行机器人的混联弹性驱动步行腿
CN102320041B (zh) * 2011-08-17 2015-01-28 中国农业大学 三自由度混联机械臂
CN102431030A (zh) * 2011-12-28 2012-05-02 广西大学 一种空间六活动度钻孔机器人机构
CN102431032A (zh) * 2011-12-28 2012-05-02 广西大学 一种空间七活动度多功能机器人机构
CN102431031A (zh) * 2011-12-28 2012-05-02 广西大学 六活动度抓取机器人机构
CN102601793B (zh) * 2012-03-29 2014-04-09 天津大学 新型空间全对称四自由度并联机构
CN102672708B (zh) * 2012-05-18 2014-12-17 天津大学 一种多坐标混联机器人
CN102699898B (zh) * 2012-06-06 2015-04-29 天津大学 五自由度过约束混联机器人
CN102699900B (zh) * 2012-06-06 2015-05-27 天津大学 含双平台的过约束五自由度混联机器人
CN102699899B (zh) * 2012-06-06 2014-08-06 天津大学 过约束高刚度多坐标混联机器人
CN102699902B (zh) * 2012-06-06 2015-08-05 天津大学 过约束五自由度机器人
CN102699901B (zh) * 2012-06-06 2014-12-17 天津大学 过约束五自由度混联机器人
CN102975201A (zh) * 2012-11-12 2013-03-20 天津理工大学 一种空间面对称型三自由度并联机构
CN103252774B (zh) * 2013-05-07 2015-04-15 天津大学 一种空间五自由度混联机器人
CN103252771B (zh) * 2013-05-07 2015-04-15 天津大学 一种非对称五自由度混联机器人
CN104511783B (zh) * 2013-09-30 2016-09-07 上银科技股份有限公司 用于加工机的机械手臂
CN109366463B (zh) * 2018-11-06 2022-03-25 天津大学 一种含双平台的五自由度混联机器人
CN109834415B (zh) * 2019-04-08 2023-07-25 安徽工程大学 混联式五自由度焊接机器人

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WO2011159225A1 (fr) * 2010-06-17 2011-12-22 Exechon Ab Machine parallèle cinématique présentant des éléments de retenue de cardan
JP2013528505A (ja) * 2010-06-17 2013-07-11 エクセシュン エミレーツ アクチボラグ ジンバルホルダを備えた平行運動装置
RU2558324C2 (ru) * 2010-06-17 2015-07-27 Экзечон АБ Параллельный кинематический механизм с держателями карданного типа
US9199381B2 (en) 2010-06-17 2015-12-01 Exechon Emirates Ab Parallel-kinematical machine with gimbal holders
CN102530120A (zh) * 2011-12-28 2012-07-04 燕山大学 6-urs六足步行机器人
CN103252683A (zh) * 2013-05-07 2013-08-21 天津大学 一种五自由度混联数控机床
CN104985596A (zh) * 2015-07-09 2015-10-21 天津大学 一种含多轴转动支架的五自由度混联机器人
CN106840642A (zh) * 2017-04-01 2017-06-13 中北大学 可重构并/混联机构实验装置组件***
CN106840642B (zh) * 2017-04-01 2023-04-21 中北大学 可重构并/混联机构实验装置组件***
CN106826775A (zh) * 2017-04-07 2017-06-13 河南科技大学 一种各向同性空间二自由度转动并联机器人
CN106826775B (zh) * 2017-04-07 2024-03-01 河南科技大学 一种各向同性空间二自由度转动并联机器人
CN108406740A (zh) * 2018-02-02 2018-08-17 浙江工业大学 一种具有多个自由度运动轨迹的抓夹机械手
CN108406740B (zh) * 2018-02-02 2023-06-13 浙江工业大学 一种具有多个自由度运动轨迹的抓夹机械手
US20210220953A1 (en) * 2018-09-26 2021-07-22 Yanshan University Symmetrical three-axis parallel spindle head capable of multi-directional fixed-point rotation
US11813709B2 (en) * 2018-09-26 2023-11-14 Yanshan University Symmetrical three-axis parallel spindle head capable of multi-directional fixed-point rotation
CN110774015A (zh) * 2019-12-02 2020-02-11 福州大学 含过约束少自由度并联模块的混联机床及运动方法
CN110774015B (zh) * 2019-12-02 2024-06-04 福州大学 含过约束少自由度并联模块的混联机床及运动方法
CN113478461A (zh) * 2021-07-06 2021-10-08 广州市新豪精密科技有限公司 一种三自由度并联机器人及其建模方法
CN113478461B (zh) * 2021-07-06 2022-11-18 广州市新豪精密科技有限公司 一种三自由度并联机器人及其建模方法

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WO2005025816A8 (fr) 2005-07-14
CN1524662A (zh) 2004-09-01
CN100446940C (zh) 2008-12-31

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