CN101497193B

CN101497193B - A laser processing robot mechanism

Info

Publication number: CN101497193B
Application number: CN200810010352XA
Authority: CN
Inventors: 赵明扬; 姜春英; 罗振军; 孙元; 昌成刚; 吴强
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2008-02-03
Filing date: 2008-02-03
Publication date: 2010-12-08
Anticipated expiration: 2028-02-03
Also published as: CN101497193A

Abstract

The invention relates to the technical field of robots, in particular to a three-branch five-degree-of-freedom series-parallel laser processing robot mechanism, which consists of three parallel branches and two serial turning pairs; one end of a second branch is connected with a static platform through a second Hook hinge, the other end of the second branch is connected with the first turning pair and the second turning pair which are connected in series, and the output end of the second turning pair is provided with a laser head ; one end of the first branch is connected with the static platform through a first Hook hinge and the other end of the first branch is connected with the second branch through a first spherical hinge; one end of the third branch is connected with the static platform through a third Hook hinge, and the other end of the third branch is connected with the second brand through a second spherical hinge; and the centers of the first and second spherical hinges are on the axis of the second branch. The mechanism has the combined characteristics of serial and parallel structural forms, has the advantages of high precision, good rigidity, large workspace, good flexibility, wide application range and the like, and can process various complex curved surfaces.

Description

A kind of laser processing robot mechanism

Technical field

The present invention relates to the Robotics field, the laser processing robot mechanism of specifically a kind of three branches five degree of freedom series-parallel connection.

Background technology

In existing laser processing robot, mainly contain series connection and two kinds of forms in parallel.The series connection laser processing robot has single branch, can realize the various frees degree.Robot architecture's configuration of series connection is simple, and normal solution is unique, and working space is big, uses more extensive.But its structure joint is many, and the error accumulation meeting is produced amplification, and the anti-complexity of separating is not unique.Laser processing robot in parallel has a plurality of branches, also can realize the various frees degree.With serial machine physiognomy ratio, advantage such as parallel robot has good rigidly, precision height, bearing capacity is big, speed is fast, positional precision is high, compact conformation and inertia are little.Wherein the exploitation of the novel parallel institution of lower-mobility is advanced make the forward position of equipment technology research and hold a little, but its node configuration relative complex, counter separating easily and normal solution difficulty, and working space is little, makes parallel robot be subjected to certain restriction in application process.

At present, in laser processing procedure,, need carry out the spatial pose adjustment to laser Machining head in order to reach higher processing precision and the complicated abnormal shape curved surface to be processed.Prior art adopts governor motions such as cantilevered or planer-type to regulate the spatial pose of laser head more, can't realize the accurate processing of multiple degrees of freedom (free degree is greater than 3), and processing labour intensity is big, mechanism's very flexible.

Summary of the invention

The object of the present invention is to provide the laser processing robot mechanism of a kind of three branches five degree of freedom series-parallel connection, not only can realize the accurate space laser processing of multiple degrees of freedom, and control algolithm is simple, is easy to realize.

The objective of the invention is to be achieved through the following technical solutions:

The present invention is connected and composed with two revolute pairs of connecting by the branch of three parallel connections; Wherein an end of second branch is connected with silent flatform by second Hooke's hinge, and the other end is connected with first and second revolute pair of series connection, and the output of second revolute pair is provided with laser head; One end of first branch is connected with silent flatform by first Hooke's hinge, and the other end links to each other with second branch by first ball pivot; One end of the 3rd branch is connected with silent flatform by the 3rd Hooke's hinge, and the other end links to each other with second branch by second ball pivot; The center of first and second ball pivot is on the axis of second branch.

Wherein: described first branch is made up of first motor, slide block, leading screw and base, and the leading screw that is connected with motor output shaft is installed on the base, and base links to each other with second branch by the first ball pair; The slide block set affixed with first Hooke's hinge is located on the leading screw, becomes first moving sets between slide block and the base by the screw pair between slide block and the leading screw; The 3rd branch is identical with first branched structure, is made up of first motor, slide block, leading screw, base and rotating shaft, and the leading screw that is connected with first motor output shaft is installed on the base, and base links to each other with second branch by the second ball pair; The slide block set affixed with the 3rd Hooke's hinge is located on the leading screw, becomes three moving sets between slide block and the base by the screw pair between slide block and the leading screw; Second branch is made up of slide block, leading screw, base and second and third, four motors, the leading screw that is connected with second motor output shaft is installed on the base, the slide block set affixed with second Hooke's hinge is located on the leading screw, becomes second moving sets between slide block and the base by the screw pair between slide block and the leading screw; The lower end of base is provided with the 3rd motor, and the output shaft of the 3rd motor passes first and second ball pair, is provided with axle sleeve, and the output shaft and the axle sleeve of the 4th motor is connected, end is equipped with laser head; Base in three branches is provided with guide rail, and the slide block of each branch is placed in the guide rail; Described silent flatform can be isosceles triangle or equilateral triangle; First branch has six-freedom degree, is respectively that first Hooke's hinge has two frees degree, the first ball pair has three degree of freedom and first moving sets has one degree of freedom; Second branch has five frees degree, is respectively that second Hooke's hinge has two frees degree, second moving sets has one degree of freedom and first and second revolute pair has one degree of freedom respectively; The 3rd branch has six-freedom degree, is respectively that the 3rd Hooke's hinge has two frees degree, the second ball pair has three degree of freedom and three moving sets has one degree of freedom.

Advantage of the present invention and good effect are:

1. laser processing robot of the present invention is comprehensive with the parallel connection and the binary serial mechanism of three branch's Three Degree Of Freedoms, not only can realize the accurate space laser processing of multiple degrees of freedom, and control algolithm is simple, is easy to realize.

2. parallel institution has been cancelled moving platform, and first and third two branches finally cross to the axis of second branch, make parallel institution be simplified on control algolithm, are easy to find the solution; Eliminate the influence of moving platform simultaneously, improved the load capacity of mechanism.

3. the present invention's characteristics of two kinds of versions that fully combine also, connect have the precision height, good rigidly, and working space is big, and advantages such as flexibility is good, applied range can be to various complex-curved processing.

Description of drawings

Fig. 1 is a schematic diagram of mechanism of the present invention;

Fig. 2 is parallel institution sketch among the present invention;

Fig. 3 is the structural representation of first (three) branch among the present invention;

Fig. 4 is the structural representation of second branch among the present invention;

Wherein: 1 is first motor, and 2 is guide rail, and 3 is slide block, 4 is leading screw, and 5 is base, and 6 is second motor, 7 is the 3rd motor, and 8 is the 4th motor, and 9 is axle sleeve, 10 is laser head, and B1 is first Hooke's hinge, and 0 is second Hooke's hinge, B2 is the 3rd Hooke's hinge, L1 is first branch, and L2 is second branch, and L3 is the 3rd branch, P1 is first moving sets, P2 is second moving sets, and P3 is a three moving sets, and R1 is first revolute pair, R2 is second revolute pair, S1 is first ball pivot, and S2 is second ball pivot, and T is a silent flatform.

The specific embodiment

The invention will be further described below in conjunction with accompanying drawing.

As shown in Figure 1, the present invention is connected and composed with two revolute pairs of connecting by the branch of three parallel connections.Wherein the end of second L2 of branch is connected with silent flatform T by second Hooke's hinge 0, and the other end is connected with first and second revolute pair R1, the R2 of series connection in turn, and the output of the second revolute pair R2 is provided with laser head 10.The end of first L1 of branch is connected with silent flatform T by the first Hooke's hinge B1, and the other end links to each other with second L2 of branch by the first ball pivot S1.The end of the 3rd L3 of branch is connected with silent flatform T by the 3rd Hooke's hinge B2, and the other end links to each other with second L2 of branch by the second ball pivot S2.The center of first and second ball pivot S1, S2 is on the axis of second L2 of branch.Silent flatform T can be triangle, and when silent flatform was isosceles triangle or equilateral triangle, control algolithm was simple more, accurate, was easier to realize.

As shown in Figure 2, the parallel-connection structure of three branch's Three Degree Of Freedoms is enforcement of the present invention bases, compare with the parallel institution of existing laser processing robot, the present invention has eliminated moving platform, promptly first and third L1 of branch, L3 finally cross to the axis of second L2 of branch, make that the parallel-connection structure of the present invention's three branch's Three Degree Of Freedoms is simplified on control algolithm, be easy to find the solution.Eliminate the influence of moving platform simultaneously, improved the load capacity of mechanism.

As shown in Figure 3, first L1 of branch is made up of first motor 1, slide block 3, leading screw 4 and base 5, and the leading screw 4 that is connected with first motor, 1 output shaft is installed on the base 5, and base 5 links to each other with second L2 of branch by the first secondary S1 of ball.The slide block 3 affixed with the first Hooke's hinge B1 is set on the leading screw 4, base 5 is provided with guide rail 2, slide block 3 is placed in the guide rail 2, becomes the first moving sets P1 between slide block 3 and the base 5 by the screw pair between slide block 3 and the leading screw 4, realizes the flexible rectilinear motion of first L1 of branch.First L1 of branch has six-freedom degree, is respectively that the first Hooke's hinge B1 has two frees degree, the first secondary S1 of ball has three degree of freedom and the first moving sets P1 has one degree of freedom.The 3rd L3 of branch is identical with first branch's L1 structure, and base 5 links to each other with second L2 of branch by the second secondary S2 of ball.The slide block 3 affixed with the 3rd Hooke's hinge B2 is set on the leading screw 4, base 5 is provided with guide rail 2, slide block 3 is placed in the guide rail 2, becomes three moving sets P3 between slide block 3 and the base 5 by the screw pair between slide block 3 and the leading screw 4, realizes the flexible rectilinear motion of the 3rd L3 of branch.The 3rd L3 of branch has six-freedom degree, is respectively that the 3rd Hooke's hinge B2 has two frees degree, the second secondary S2 of ball has three degree of freedom and three moving sets P3 has one degree of freedom.

As shown in Figure 4, second L2 of branch is made up of slide block 3, leading screw 4, base 5 and second and third, four

motors

6,7,8, the leading screw 4 that is connected with second motor, 6 output shafts is installed on the base 5, the slide block 3 affixed with second Hooke's hinge 0 is set on the leading screw 4, base 5 is provided with guide rail 2, slide block 3 is placed in the guide rail 2, becomes the second moving sets P2 between slide block 3 and the base 5 by the screw pair between slide block 3 and the leading screw 4.Output shaft and the axle sleeve 9 that the output shaft that the lower end of base 5 is provided with the 3rd motor 7, the three motors 7 passes secondary S1 of first and second ball, S2, be provided with axle sleeve 9, the four motors 8 is connected, end is equipped with laser head 10.Second L2 of branch has five frees degree, is respectively that second Hooke's hinge 0 has two frees degree, the second moving sets P2 has one degree of freedom and first and second revolute pair R1, R2 have one degree of freedom respectively.

Operation principle of the present invention is:

Be equilateral triangle distribute first, second and third Hooke's hinge B1,0, B3 on the silent flatform T, each Hooke's hinge can realize that all two dimension rotates.First motor 1 outputs power among first L1 of branch of robot, drive leading screw 4 rotations, leading screw 4 constitutes screw pair with slide block 3, slide block 3 is fixed on the first Hooke's hinge B1, leading screw 4 carries out rectilinear motion together with the base 5 relative first Hooke's hinge B1, the base 5 terminal first secondary S1 of ball that connect are connected with second L2 of branch, make first L1 of branch not produce effect of contraction to the motion of second L2 of branch.Second motor 6 among second L2 of branch drives leading screw 4 rotations, and the slide block 3 and second Hooke's hinge 0 are connected, and leading screw 4 is done rectilinear motion together with base 5 relative slide blocks 3.The 3rd L3 of branch type of belt drive is identical with first L1 of branch.Three branches constitute part in parallel, can realize the three degree of freedom motion.The base 5 of second L2 of branch connects the 3rd motor 7, the 3rd motor 7 passes the ball sub-center of first L1 of branch and the 3rd L of branch 3, output power to axle sleeve 9, drive axle sleeve 9 and realize gyration, the output sleeve of the 4th motor 8 is located in the axle sleeve 9, and outputs power, and drives terminal laser head 10 rotations, constitute series connection part two dimension and rotatablely move, finally realize the five degree of freedom motion of laser head 10.

The present invention can do modularization and handle, and can be used for the manipulator unit under the versions such as cantilevered or planer-type, and flexibility is better.

Claims

1. A laser processing robot mechanism is characterized in that: it is formed by connecting three parallel branches with two series-connected revolving pairs; wherein one end of the second branch (L2) is connected to the static platform by the second Hooke hinge (0) (T) phase connection, the other end is connected with the first and second revolving pairs (R1, R2) in series, and the output end of the second revolving pair (R2) is provided with a laser head (10); one end of the first branch (L1) It is connected with the static platform (T) through the first Hooke hinge (B1), and the other end is connected with the second branch (L2) through the first spherical hinge (S1); one end of the third branch (L3) is connected through the third Hooke The hinge (B2) is connected with the static platform (T), and the other end is connected with the second branch (L2) through the second spherical hinge (S2); the centers of the first and second spherical hinges (S1, S2) are in the second branch ( On the axis of L2); the second branch (L2) is made up of the second slider, the second lead screw, the second base and the second, third and fourth motors, and the second lead screw connected with the output shaft of the second motor Installed on the second base, the second slide block fixedly connected with the second Hooke hinge (0) is sleeved on the second lead screw, and becomes the first lead screw through the screw pair between the second slide block and the second lead screw. The second moving pair (P2) between the second slider and the second base; the lower end of the second base is provided with a third motor, and the output shaft of the third motor passes through the first and second ball pairs (S1, S2). There is a shaft sleeve (9), the output shaft of the fourth motor (8) is connected with the shaft sleeve (9), and a laser head (10) is installed at the end;

The first branch (L1) is composed of a first motor, a first slider, a first lead screw and a first base, the first lead screw connected with the output shaft of the first motor is installed on the first base, and the first base Connected to the second branch (L2) through the first ball pair (S1), the first slider fixedly connected to the first Hooke hinge (B1) is sleeved on the first lead screw, and the first branch (L1) passes through the first The screw pair between a slider and the first lead screw becomes the first moving pair (P1) between the first slider and the first base;

The third branch (L3) has the same structure as the first branch (L1), and is composed of a fifth motor, a third slider, a third screw and a third base, and the third screw connected to the output shaft of the fifth motor Installed on the third base, the third base is connected with the second branch (L2) through the second ball pair (S2), and the third slider fixedly connected with the third Hooke hinge (B2) is sleeved on the third lead screw On, the third branch (L3) becomes the third moving pair (P3) between the third slider and the third base through the screw pair between the third slider and the third lead screw; the fifth motor and The first motor is the same.

2. The laser processing robot mechanism according to claim 1, characterized in that: the first base on the first branch (L1), the second base on the second branch (L2) and the third branch (L3) Guide rails (2) are provided on the third base above, the first slider of the first branch (L1), the second slider of the second branch (L2) and the third slider of the third branch (L3) respectively It is accommodated in the guide rails (2) on the first to third bases.

3. The laser processing robot mechanism according to claim 1, characterized in that: said static platform (T) is an isosceles triangle or an equilateral triangle.

4. The laser processing robot mechanism according to claim 1, characterized in that: said first branch (L1) has six degrees of freedom, respectively the first Hooke hinge (B1) has two degrees of freedom, the first The spherical pair (S1) has three degrees of freedom and the first moving pair (P1) has one degree of freedom.

5. The laser processing robot mechanism according to claim 1, characterized in that: said second branch (L2) has five degrees of freedom, respectively, the second Hooke hinge (0) has two degrees of freedom, the second The moving pair (P2) has one degree of freedom and the first and second rotating pairs (R1, R2) each have one degree of freedom.

6. The laser processing robot mechanism according to claim 1, characterized in that: the third branch (L3) has six degrees of freedom, the third Hooke hinge (B2) has two degrees of freedom, the second The spherical pair (S2) has three degrees of freedom and the third mobile pair (P3) has one degree of freedom.