CN100410029C - 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 PDFInfo
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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 third driver, the third drive axle, two transmission units, linear movement driver and terminal executor.
Description
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 EP0065859,1P57194888, 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 (Selective Compliance 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 is made of 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 bearing pin 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 bearing pin 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, described second driving shaft also is a hollow structure, its other end is fixedlyed connected with an end of second master arm, the other end of described second master arm is hinged by second bearing pin and second slave arm, and the end of described first slave arm and second slave arm is hinged by the 3rd bearing pin; Described actuating unit comprises the 3rd drive unit, the 3rd driving shaft, first transmission device, second transmission device, the 3rd bearing pin, actuating device of the linear motion and end effector, described first transmission device comprises first belt wheel, first driving-belt, second belt wheel, described second transmission device comprises the 3rd belt wheel, second driving-belt, four-tape wheel, described the 3rd drive unit is fixedly set on the support, its output is connected with an end of the 3rd driving shaft, described the 3rd driving shaft be arranged on hollow structure second driving shaft the center and with the coaxial form that is provided with of its formation, its other end is set with first belt wheel, described first master arm is a hollow structure, and first driving-belt of described first belt wheel and the second belt wheel first master arm inside by being arranged on hollow structure is connected; Described first slave arm also is a hollow structure, second driving-belt of the first slave arm inside of described the 3rd belt wheel and four-tape wheel by being arranged on hollow structure is connected, described second belt wheel and the 3rd belt wheel are fixedly installed on first bearing pin, described four-tape wheel is fixedly installed on the 3rd bearing pin with actuating device of the linear motion, the output and the end effector of described actuating device of the linear motion are affixed, and described end effector can be paw, sucker etc.
Described first drive unit and second drive unit adopt servomotor---version of speed reducing gear pair or torque motor---constant speed gear pair version;
Described the 3rd drive unit adopts servomotor---the version of decelerator;
Described first transmission device and second transmission device adopt belt wheel---the version of synchronous cog belt;
Described linear drive apparatus adopts the air cylinder driven form.
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 dynamic property 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) because the driving shaft coaxial arrangement form in two side chains of employing, make the plane two-degree-of-freedom parallel mechanism can realize complete cycle revolution around its drive axis, have the annular working space, make its kinematics and dynamic performance have good axial symmetry simultaneously;
(4) owing to also be fixed on the 3rd driving shaft in the actuating unit on the support, and adopt form with itself and first, second driving shaft coaxial arrangement, gyration can be delivered to end effector by first transmission device and second transmission device, help further alleviating the quality of terminal moving component, better improve the overall dynamics performance of robot.
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;
Fig. 3 is the cutaway view of support and first master arm in the structure shown in Figure 1;
Fig. 4 is the cutaway view of first slave arm in the 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 Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, the rotating four-freedom hybrid grasping/releasing formula of the complete cycle robot mechanism of realizing of the present invention is made of support 0, first side chain 1, second side chain 2 and actuating unit 3; 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 actuating unit 3 comprises the 3rd drive unit 31, the 3rd driving shaft 32, first transmission device, second transmission device, the 3rd bearing pin 35, actuating device of the linear motion 36 and end effector 37, and first transmission device wherein is made of the first belt wheel 33a, the first driving-belt 33b and the second belt wheel 33c; Described second transmission device is made of the 3rd belt wheel 34a, the second driving-belt 34b and four-tape wheel 34c; Described first drive unit 11 is fixedly set on the support 0, its output is connected with an end of first driving shaft 12, described first driving shaft 12 is a hollow structure, it can freely rotate 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, one end of the other end of described first master arm 13 and first slave arm 15 is hinged by first bearing pin 14, described first bearing pin 14 can freely rotate with respect to first master arm 13 and first slave arm 15, and make 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 first driving shaft 12; Described second drive unit 21 is fixedly set on the support 0, its output is connected with an end of second driving shaft 22, described second driving shaft 22 is taked the form with described first driving shaft, 12 coaxial arrangement, promptly when mounted described second driving shaft 22 is passed the center of first driving shaft 12 of hollow structure, and make both dead in line, described first driving shaft 12 and second driving shaft 22 can relatively independently rotate, 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 second slave arm 25 have a rotational freedom with respect to second master arm 23, its pivot center is parallel with second driving shaft, 22 axis z; The end of first slave arm 15 and second slave arm 25 is hinged by the 3rd bearing pin 35, described the 3rd bearing pin 35 can freely rotate with respect to first slave arm 15 and second slave arm 25, and make second slave arm 25 have a rotational freedom with respect to first slave arm 15, its pivot center is same parallel with the axis z of 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; Described the 3rd drive unit 31 is fixedly set on the support 0 equally, one end of its output and the 3rd driving shaft 32 is affixed, described the 3rd driving shaft 32 and first driving shaft 12, second driving shaft 22 adopts the coaxial arrangement form, described second driving shaft 22 also is a hollow structure, described the 3rd driving shaft 32 pass second driving shaft 22 the center and can be with respect to second driving shaft, 22 independent rotation, the other end of described the 3rd driving shaft 32 is set with the first belt wheel 33a that is installed in first master arm, 13 the inners, the outer end of described first master arm 13 is provided with the second belt wheel 33c, because described first master arm 13 is a hollow structure, so, the described first belt wheel 33a can be connected by the first driving-belt 33b that passes in first master arm 13 of hollow with the second belt wheel 33c, described second belt wheel 33c and the 3rd belt wheel 34a all are fixedly installed on first bearing pin 14, described first slave arm 15 also is a hollow structure, so, described the 3rd belt wheel 34a can be connected by the second driving-belt 34b that passes in first slave arm 15 of hollow with four-tape wheel 34c, described four-tape wheel 34c and actuating device of the linear motion 36 all are fixedly installed on the 3rd bearing pin 35, the output of described actuating device of the linear motion 36 and end effector 37 are affixed, thereby make end effector 37 have a revolution free degree and an one-movement-freedom-degree with respect to described first slave arm 15, described end effector 37 can be paw or sucker etc.
In above-mentioned plane two-degree-of-freedom parallel mechanism, described first driving shaft 12, second driving shaft 22 and the 3rd driving shaft 32 have adopted the coaxial arrangement form, and promptly three driving shafts have common axis line z.When first driving shaft 12 and second driving shaft 22 rotates in the same way or during reverse rotation, can realize that end effector 37 rotates around the complete cycle of axis z, and can determine its position in a certain plane, described the 3rd driving shaft 32 can be delivered to gyration on the end effector 37 by first transmission device and second transmission device, thereby determine the attitude of described end effector 37 in above-mentioned plane, described actuating device of the linear motion 36 can cooperate described end effector 37 to realize moving along the pick-and-place of z axis.
In the present embodiment, first drive unit 11 and second drive unit 21 have all adopted servomotor---the version of speed reducing gear pair, and for connected described first driving shaft 12 and second driving shaft 22 provide rotational freedom.In order to reach same purpose, described first drive unit 11 and second drive unit 21 also can adopt torque motor---the version of constant speed gear pair, and for connected first driving shaft 12, 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 of present embodiment, the 3rd drive unit 31 has adopted servomotor---the version of decelerator, described first transmission device and second transmission device have adopted belt wheel---the version of synchronous cog belt, for actuating device of the linear motion 36 provides a revolution free degree; Described linear drive apparatus 36 adopts the air cylinder driven form, for connected end effector 37 provides an one-movement-freedom-degree.Certainly, in the specific implementation, the concrete structure of actuating unit is not limited thereto.
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) set-up mode of employing first driving shaft and the second driving shaft coaxial arrangement, 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;
(3) adopt the 3rd drive unit to be fixedly installed on the support and with the set-up mode of first driving shaft and the second driving shaft coaxial arrangement, by first transmission device and second transmission device gyration is delivered on the end effector, help further alleviating terminal heavy moving parts, improve the dynamic property of mechanism.
Below with 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 also is a kind of embodiment of the present invention, and practical structure is not limited thereto.Therefore; those of ordinary skill in the art is under its enlightenment; can also make other support distribution form, Driven by Coaxial mode and the hinge connected mode that do not break away from the invention aim; thereby design the frame mode similar to technical scheme of the present invention without creationary, these all should belong to protection scope of the present invention.
Claims (7)
1. can realize the rotating four-freedom hybrid grasping/releasing formula of complete cycle robot mechanism for one kind, by support and first side chain that is arranged on the described support, second side chain and actuating unit constitute, it is characterized in that, described first side chain comprises first drive unit, first driving shaft, first master arm, first bearing pin 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 bearing pin 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, described second driving shaft also is a hollow structure, its other end is fixedlyed connected with an end of second master arm, the other end of described second master arm is hinged by second bearing pin and second slave arm, and the end of described first slave arm and second slave arm is hinged by the 3rd bearing pin; Described actuating unit comprises the 3rd drive unit, the 3rd driving shaft, first transmission device, second transmission device, the 3rd bearing pin, actuating device of the linear motion and end effector, described first transmission device comprises first belt wheel, first driving-belt, second belt wheel, described second transmission device comprises the 3rd belt wheel, second driving-belt, four-tape wheel, described the 3rd drive unit is fixedly set on the support, its output is connected with an end of the 3rd driving shaft, described the 3rd driving shaft be arranged on hollow structure second driving shaft the center and with the coaxial form that is provided with of its formation, its other end is set with first belt wheel, described first master arm is a hollow structure, and first driving-belt of described first belt wheel and the second belt wheel first master arm inside by being arranged on hollow structure is connected; Described first slave arm also is a hollow structure, second driving-belt of the first slave arm inside of described the 3rd belt wheel and four-tape wheel by being arranged on hollow structure is connected, described second belt wheel and the 3rd belt wheel are fixedly installed on first bearing pin, described four-tape wheel is fixedly installed on the 3rd bearing pin with actuating device of the linear motion, and the output and the end effector of described actuating device of the linear motion are affixed.
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, described first drive unit and second drive unit adopt servomotor---the version of speed reducing gear pair.
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, described first drive unit and second drive unit adopt torque motor---constant speed gear pair version.
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, described the 3rd drive unit adopts servomotor---the version of decelerator.
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, described first transmission device and second transmission device adopt belt wheel---the version of synchronous cog belt.
7. 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 linear drive apparatus adopts the air cylinder driven form.
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| CNB2006100151149A CN100410029C (en) | 2006-08-03 | 2006-08-03 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
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| CNB2006100151149A CN100410029C (en) | 2006-08-03 | 2006-08-03 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
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| CN1903520A CN1903520A (en) | 2007-01-31 |
| CN100410029C true CN100410029C (en) | 2008-08-13 |
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| CN110288896B (en) * | 2019-06-03 | 2021-06-25 | 南京玖玖教育科技有限公司 | Dynamic reconfigurable four-degree-of-freedom motion test bed |
| CN112057292A (en) * | 2019-12-04 | 2020-12-11 | 宁波大学 | Six-degree-of-freedom series-parallel upper limb rehabilitation robot |
| WO2021109074A1 (en) * | 2019-12-05 | 2021-06-10 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN112706157B (en) * | 2021-03-29 | 2021-06-15 | 湖南机电职业技术学院 | Emptying mechanical arm of mechanical arm device |
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