CN100410028C - Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing - Google Patents

Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing Download PDF

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Publication number
CN100410028C
CN100410028C CNB2006100151134A CN200610015113A CN100410028C CN 100410028 C CN100410028 C CN 100410028C CN B2006100151134 A CNB2006100151134 A CN B2006100151134A CN 200610015113 A CN200610015113 A CN 200610015113A CN 100410028 C CN100410028 C CN 100410028C
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China
Prior art keywords
drive unit
driving shaft
arm
robot
slave arm
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CNB2006100151134A
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Chinese (zh)
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CN1903519A (en
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黄田
刘海涛
王攀峰
赵学满
梅江平
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天津大学
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Abstract

A 4-freedom grab-release robot mechanism with mixed connection mode and able to rotate by 360 deg is composed of base, the first and the second branches and executing unit. Said the first branch consists of the first driver, the first drive axle, the first active arm and the first passive arm. Said the second branch comprises the second driver, the second drive axle, the second active arm and the second passive arm. Said executing unit is composed of the rotation driver, linear movement driver and terminal executor.

Description

Can realize the rotating four-freedom hybrid grasping/releasing formula of complete cycle robot mechanism
Technical field
The present invention relates to a kind of robot, in particular, the present invention relates to a kind ofly can realize the rotating four-freedom hybrid grasping/releasing formula of complete cycle robot.
Background technology
In automatic packaging, encapsulation and the logistic production line of industries such as electronics, food, medicine, light industry, need grasp jobbie from a certain position by manipulator, planar make large-scale fast moving then, and according to given angle and highly this crawled object is placed into the another location.U.S. Pat 4392776 (or EP0065859, JP57194888, ES8307152, EP0065859, IE820902L, IE52774), US5000653 (or WO8700789, EP0232292, ES2001359, EP0232292, DE3528769, EP0232292), US2005087034 (or EP1525957, JP2005125489, DE10349452), US6212968 (or DE19934973), European patent EP 0169473 (or JP61109681), Japan Patent JP2003275977, JP2003275978, JP2003275987, Bulgaria patent BG51289 and Chinese patent CN1779936 etc. have all related to a kind of Three Degree Of Freedom or four-degree-of-freedom SCARA (SelectiveCompliance Assembly Robot Arm) humanoid robot.This robotlike's master arm one end is connected with support by revolute pair, and the other end of master arm is connected with an end of slave arm by rotary pair, and two pivot centers are parallel, thereby makes master arm and slave arm constitute two-freedom plane articulation serial machine robot mechanism; The other end of slave arm is provided with end effector, end effector has a revolution free degree and an one-movement-freedom-degree with respect to slave arm, the axis of the revolution free degree is parallel with the axis of rotation of master arm and slave arm, and the direction of one-movement-freedom-degree is perpendicular to the plane of movement of master arm and slave arm.Each drive unit can directly be arranged on the joint of two relative moving links, also can be fixed on the support, then by each joint of actuator drives.This robotlike can be implemented in the complete cycle revolution in the plane of movement, therefore has bigger space, and still, owing to adopt open loop structure, so the inertia of master arm and slave arm is bigger, its rigidity and precision are lower.
Patent CN02822735.2 (or WO2003055653-A1, US2005092121-A1) discloses a kind of plane of configuration in parallel of adopting and has grasped robot, two rotating drive units are installed on the support of this robot, each drive unit is connected with moving platform by linkage respectively, each linkage is made up of a driving lever and a follower lever, one end and the drive unit of driving lever are affixed, and rotate with drive unit, one end and the moving platform of follower lever are hinged, and described driving lever is connected by revolute pair with the other end of follower lever.Described linkage also comprises localization part, so that keep moving platform constant with respect to the attitude of support.This robotlike is owing to adopt configuration in parallel, so moving component inertia is less, thereby have higher rigidity and a precision, but because the non-coaxial arrangement of two driving shaft, therefore can not realize in plane of movement that complete cycle rotates, working space is less, and kinematics performance and dynamic performance can change with the variation of position shape.
Summary of the invention
Problem to be solved by this invention, overcome defectives such as above-mentioned prior art " rigidity and precision are lower ", " can not realize in plane of movement that complete cycle rotates ", " kinematics and dynamic performance do not have axial symmetry " exactly, thereby a kind of rotating four-freedom hybrid grasping/releasing formula of complete cycle robot mechanism of realizing is provided.
The rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing of the present invention comprises support and first side chain, second side chain and the actuating unit that are arranged on the described support; Described first side chain comprises first drive unit, first driving shaft, first master arm, first hinge and first slave arm, described first drive unit is fixedly set on the support, its output is connected with an end of described first driving shaft, described first driving shaft is a hollow structure, its other end is fixedlyed connected with an end of first master arm, and the other end of described first master arm is hinged by first bearing pin and first slave arm; Described second side chain comprises second drive unit, second master arm, second hinge and second slave arm, described second drive unit is fixedly set on the support, its output is connected with an end of described second driving shaft, described second driving shaft be arranged on hollow structure first driving shaft the center and with the coaxial form that is provided with of its formation, its other end is fixedlyed connected with an end of second master arm, and the other end of described second master arm is hinged by second bearing pin and second slave arm; The end of the end of described first slave arm and second slave arm is hinged by the rotary pair that is made of bearing, and its hinged place is provided with actuating unit; Described actuating unit comprises gyration drive unit, actuating device of the linear motion and end effector, described gyration drive unit is fixedly set in the end of second slave arm, the affixed actuating device of the linear motion of its output shaft, the affixed end effector of the output of described actuating device of the linear motion, described end effector can be paw or sucker etc.
Constant speed gear pair structure that the structure of described first drive unit and second drive unit is a servomotor---reduction gearing auxiliary structure or torque motor---;
The structure of described gyration drive unit is servomotor a---reducer structure;
The structure of described linear drive apparatus is an air cylinder driven mechanism.
The present invention compared with prior art, its beneficial effect be embodied in following some:
(1) because first drive unit and second drive unit all are fixedly installed on the support, and its output is affixed with first driving shaft and second driving shaft respectively, so need not additional transmission device, help alleviating the quality of moving component, improve the overall dynamics performance of mechanism;
(2) owing to adopt, have better precision, rigidity and faster speed by a support and two plane two-degree-of-freedom parallel mechanisms that side chain is formed;
(3) owing to adopt two driving shaft coaxial arrangement forms, make the plane two-degree-of-freedom parallel mechanism can realize complete cycle revolution, have the annular working space, make its kinematics and dynamic performance have good axial symmetry simultaneously around its drive axis.
Description of drawings
Fig. 1 is the overall structure schematic diagram of an embodiment of the present invention;
Fig. 2 is the vertical view of structure shown in Figure 1.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in detail.
As depicted in figs. 1 and 2, the rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing of the present invention comprises support, is arranged on first side chain 1, second side chain 2 on the described support and is arranged on actuating unit 3 between described first side chain 1 and second side chain 2.Described first side chain 1 comprises first drive unit 11, first driving shaft 12, first master arm 13, first bearing pin 14 and first slave arm 15; Described second side chain 2 comprises second drive unit 21, second driving shaft 22, second master arm 23, second bearing pin 24 and second slave arm 25; Described first drive unit 11 is fixedly set on the support 0, its output is connected with an end of described first driving shaft 12, described first driving shaft 12 can freely be rotated with respect to the axis z of support 0 around first driving shaft 12, the other end of described first driving shaft 12 is fixedlyed connected with an end of first master arm 13, the other end of described first master arm 13 is hinged by first bearing pin 14 and first slave arm 15, make described first slave arm 15 have a rotational freedom with respect to first master arm 13, its pivot center is parallel with the axis z of described first driving shaft 12; Described second drive unit 21 is fixedly set on the support 0 equally, its output is connected with an end of described second driving shaft 22, described second driving shaft 22 and first driving shaft 12 adopt the coaxial arrangement form, promptly when mounted described second driving shaft 22 is passed the center of first driving shaft 12 of hollow structure, even their axis coincides, make the rotation that both can be relatively independent again, the other end of described second driving shaft 22 is fixedlyed connected with an end of second master arm 23, the other end of described second master arm 23 is hinged by second bearing pin 24 and second slave arm 25, make described second slave arm 25 have a rotational freedom with respect to second master arm 23, its pivot center is parallel with the axis z of second driving shaft 22, and (axis z is described first driving shaft 12, the common axis line of second driving shaft 22); The end of the end of described second slave arm 25 and described first slave arm 15 is hinged by the rotary pair that is made of bearing, make to have a rotating relatively free degree between them, its pivot center is also parallel with the coincidence axis z of first driving shaft 12 and second driving shaft 22; Described support 0, first side chain 1 and plane two-degree-of-freedom parallel mechanism of second side chain, 2 common formations; Hinged place at described second slave arm 25 and described first slave arm 15 is provided with actuating unit 3, described actuating unit 3 comprises gyration drive unit 31, actuating device of the linear motion 32, and end effector 33, described gyration drive unit 31 is fixedly set in second slave arm, 25 ends, and together move with second slave arm 25, its output shaft and actuating device of the linear motion 32 are affixed, the output of described actuating device of the linear motion 32 and end effector 33 are affixed, thereby make described end effector 33 to have a revolution free degree and an one-movement-freedom-degree with respect to described second slave arm 25, described end effector 33 can be paw or sucker etc.
In the two-degree-of-freedom parallel mechanism of above-mentioned plane, the axis of each rotating shaft is parallel to each other, and described first driving shaft 12 and second driving shaft, 22 employing coaxial arrangement forms.Such setting can make the present invention obtain following technique effect:
When first driving shaft 12 and second driving shaft 22 rotates in the same way or during reverse rotation, can realize that end effector 33 rotates around the complete cycle of axis z in the described actuating unit 3, and determine the position of described end effector 33 in a certain plane; The attitude of described end effector 33 in aforementioned plane can be determined by the gyration drive unit in the described actuating unit 3 31; Described end effector 33 can cooperate realization by the actuating device of the linear motion in the described actuating unit 3 32 along the pick-and-place action of axis z.
In the present embodiment, described first drive unit 11 and second drive unit 21 have adopted servomotor---the version of speed reducing gear pair, for connected first driving shaft 12 and second driving shaft 22 provide rotational freedom; In order to reach same purpose, can also adopt torque motor---constant speed gear pair version, for connected first driving shaft 12 and second driving shaft 22 provide rotational freedom.Certainly, in the specific implementation, adopt other any one can realize that the version of same movement function all is fine as type of drive.
In the actuating unit 3 of present embodiment, described gyration drive unit 31 has adopted servomotor---the version of decelerator, for connected actuating device of the linear motion 32 provides a revolution free degree; Described linear drive apparatus 32 adopts the air cylinder driven form, for connected end effector 33 provides an one-movement-freedom-degree.Certainly, in the specific implementation, the concrete structure of actuating unit also is not limited to this.
The rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing of the present invention has following advantage:
(1) adopts the two-degree-of-freedom parallel mechanism of forming by a support and two identical side chains of structure, under the situation that yardstick and working space are equal to, have better precision, rigidity and faster speed than existing SCARA robot;
(2) adopt two driving shaft coaxial arrangement forms, realize the complete cycle revolution of actuating unit, under the situation that yardstick is equal to, have bigger working space than existing plane two-freedom parallel robot mechanism, kinematics and dynamic performance have axial symmetry simultaneously.
Below with specific embodiment the present invention is schematically described in conjunction with the accompanying drawings, this description does not have restricted, and shown in the accompanying drawing is one of one embodiment of the present invention also, and practical structure is not limited thereto.So; if those of ordinary skill in the art is enlightened by it; under the situation that does not break away from the invention aim; adopt support layout, Driven by Coaxial mode and the hinge connected mode of other form; without creationary frame mode similar and the embodiment of designing, all should belong to protection scope of the present invention to this technical scheme.

Claims (6)

1. can realize the rotating four-freedom hybrid grasping/releasing formula of complete cycle robot mechanism for one kind, comprise support and first side chain that is arranged on the described support, second side chain and actuating unit, it is characterized in that, described first side chain comprises first drive unit, first driving shaft, first master arm, first hinge and first slave arm, described first drive unit is fixedly set on the support, its output is connected with an end of described first driving shaft, described first driving shaft is a hollow structure, its other end is fixedlyed connected with an end of first master arm, and the other end of described first master arm is hinged by first bearing pin and first slave arm; Described second side chain comprises second drive unit, second driving shaft, second master arm, second hinge and second slave arm, described second drive unit is fixedly set on the support, its output is connected with an end of described second driving shaft, described second driving shaft be arranged on hollow structure first driving shaft the center and with the coaxial form that is provided with of its formation, its other end is fixedlyed connected with an end of second master arm, and the other end of described second master arm is hinged by second bearing pin and second slave arm; The end of the end of described first slave arm and second slave arm is hinged by the rotary pair that is made of bearing, and its hinged place is provided with actuating unit; Described actuating unit comprises gyration drive unit, actuating device of the linear motion and end effector, described gyration drive unit is fixedly set in the second slave arm end, the affixed actuating device of the linear motion of its output shaft, the affixed end effector of the output of described actuating device of the linear motion.
2. the rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing according to claim 1 is characterized in that described end effector is paw or sucker.
3. the rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing according to claim 1 is characterized in that the structure of described first drive unit and second drive unit is a servomotor---the reduction gearing auxiliary structure.
4. the rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing according to claim 1 is characterized in that the structure of described first drive unit and second drive unit is a torque motor---constant speed gear pair structure.
5. the rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing according to claim 1 is characterized in that the structure of described gyration drive unit is servomotor a---reducer structure.
6. the rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing according to claim 1 is characterized in that the structure of described linear drive apparatus is the air cylinder driven structure.
CNB2006100151134A 2006-08-03 2006-08-03 Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing CN100410028C (en)

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CN103465259A (en) * 2013-09-16 2013-12-25 天津大学 Coaxial reverse transmission mechanism and rotary robot with same
KR101861844B1 (en) 2018-01-18 2018-05-29 서울특별시 Drain valve

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CN101973030B (en) * 2010-09-25 2012-05-16 天津大学 High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation
CN102448254A (en) * 2011-09-15 2012-05-09 常州大学 Four degree-of-freedom series-parallel surface-mounted manipulator
CN102601791A (en) * 2012-03-28 2012-07-25 广西大学 Three-dimensional translation and one-dimensional circumferential rotation type parallel welding robot
CN102601788A (en) * 2012-03-28 2012-07-25 广西大学 Parallel welding robot with four degrees of freedom and capable of three-dimensionally traversing and one-dimensionally rotating
CN104139395A (en) * 2014-06-30 2014-11-12 东莞市顺如电子科技有限公司 Detection robot
CN105563461A (en) * 2014-11-07 2016-05-11 江南大学 (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism
CN104552279A (en) * 2015-01-20 2015-04-29 江南大学 1T&(2R)&1R four-degrees of freedom decoupling hybrid mechanism
CN104766530A (en) * 2015-04-14 2015-07-08 安徽工业大学 Open type robot training platform based on sectional material setting up
CN105437215A (en) * 2015-12-21 2016-03-30 单家正 Planar parallel robot
CN107481592B (en) * 2017-08-18 2019-10-08 浙江海洋大学 A kind of physics laboratory's instrument

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Publication number Priority date Publication date Assignee Title
CN103465259A (en) * 2013-09-16 2013-12-25 天津大学 Coaxial reverse transmission mechanism and rotary robot with same
KR101861844B1 (en) 2018-01-18 2018-05-29 서울특별시 Drain valve

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