CN101508109B - Double parallel-connection superposition multifunctional robot - Google Patents

Double parallel-connection superposition multifunctional robot Download PDF

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Publication number
CN101508109B
CN101508109B CN2009100109056A CN200910010905A CN101508109B CN 101508109 B CN101508109 B CN 101508109B CN 2009100109056 A CN2009100109056 A CN 2009100109056A CN 200910010905 A CN200910010905 A CN 200910010905A CN 101508109 B CN101508109 B CN 101508109B
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China
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parallel
robot
universal
universal joint
driving shaft
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CN2009100109056A
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Chinese (zh)
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CN101508109A (en
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邹平
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东北大学
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Abstract

The invention relates to a double parallel superimposing multifunction robot, and belongs to the technical field of robots. The double parallel superimposing multifunction robot comprises a machine body, a work platform, an upright post, a rotary sander, a linear motor, a ball screw, a T-shaped slide planker, two parallel rod groups and a movement platform; one side of the movement platform is connected with one end of each two parallel rod group, while the other side is connected with a three parallel universal working head; and the other end of each two parallel rod group is connected with the machine body. The robot has larger working space without singular points and coupling; the two parallel mechanisms of the robot consist of parallel fixedlength simple rods, so no built-in heat source exists, and the influence of the heat distortion on the kinematic accuracy of the robot is reduced; and the robot has the advantages of simple structure, novel thought, low production cost, and significant prospect of industrial development.

Description

A kind of double parallel-connection superposition multifunctional robot
Technical field
The invention belongs to the Robotics field, particularly a kind of double parallel-connection superposition multifunctional robot that can be used for tool sharpening, drilling, welding and three-dimensional coordinate measuring instrument.
Background technology
Because series of advantages that parallel institution had, as the rigidity height, bearing capacity is strong, dynamic property good, speed is fast and simple in structure etc., caused international extensive concern, and given a large amount of research.At present, the more existing in a lot of fields important application of parallel institution are as integrated flight trainer, the authentic dynamic driving simulator of ultra-large type multimedia, earthquake simulator, submaring simulator etc.In addition, companies more both domestic and external and research institution have have also manufactured and designed many Parallel CNC Machine Tool (robot) that are used for the processing and manufacturing field, as U.S. Giddings ﹠amp; Lewis company, Ingersoll company, Hexel company, Britain Geodetic company, Italian Comau company and Sweden company of Neos robot and domestic Tsing-Hua University, University Of Tianjin, Harbin Institute of Technology and BJ University of Aeronautics ﹠ Astronautics, Shenyang Institute of Automation, Northeastern University, University On The Mountain Of Swallows etc. have all developed multiple parallel robot (lathe).
Yet, based on six bar parallel institutions of Stewart platform have that working space is little, the singularity of itself and coupling make that its configuration and limited, any motion of total arrangement all need six-axis linkage, the motion normal solution is complicated and be difficult to realize limitation such as control in real time fast make it be difficult to realize industrialization.In addition, each side chain of parallel robot (lathe) all links to each other with dynamic and static platform by hinge, just because of precision, the gap of hinge with contact problem such as rigidity, makes the actual overall precision of parallel robot (lathe) and rigidity reduce.And branched chain in parallel is many more, and the hinge that connects these branched chain is easy to generate the randomness error of stack more, thereby influences the overall work precision of parallel robot (lathe).In this sense, can explain also why lower-mobility parallel robot (lathe) is than the easier realization practicability of six bar parallel robots (lathe).So the six bar parallel robots (lathe) that early development goes out substantially all rest on the principle prototype stage, as Giddings ﹠amp; The advanced manufacturing technology center that Variax six numerical control machining centers in parallel of Lewis company now are placed on Univ Nottingham UK (Nottingham University) is used for the experimental study of parallel robot (lathe).In order to overcome some problems of the above-mentioned existence of six bar parallel institutions, lower-mobility parallel institution particularly 3-freedom parallel mechanism is relatively large owing to having working space, singularity is relative with coupling less, kinematics, dynamic analysis are simple relatively, flexibility is higher, control easily, and manufacture and design advantages such as convenient, become the main flow of research and development both at home and abroad in recent years, particularly in order to enlarge working space, the series-parallel robot of series parallel structure (lathe) also becomes robot field's important development direction.The parallel robot (lathe) of having realized at present practicability and industrialization substantially all is based on the lower-mobility parallel institution and develops, as Tricept series three parallel machines that Sweden Neos Robotics company produces, Delta series three parallel robots of Switzerland ABB AB etc.
Summary of the invention
For solve the working space that exists in the existing parallel robot technology little, be easy to generate singular point and and coupling, the equation of motion of link rod is complicated and to be difficult to realize that the problem of control in real time, the present invention propose a kind of based on double parallel-connection superposition multifunctional robot three universal working heads in parallel and string and hybrid connected structure.
Technical scheme of the present invention is achieved in that a kind of double parallel-connection superposition multifunctional robot, include fuselage, workbench, column, abrasive machine, linear electric motors, ball-screw, T type slip planker, two parallel-rods group and motion platform, motion platform one side links to each other with an end of two parallel-rods group, the motion platform opposite side is connected with one three universal working head in parallel, and the other end of two parallel-rods group links to each other with fuselage.
Described three universal working heads in parallel, comprise cutter chuck, the universal joint outer shroud, ring in the universal joint, steel ball, the pose ring, main shaft, pedestal, ball pivot, driving shaft I and driving shaft II, cutter chuck is fixed on universal joint outer shroud output, ring forms by two revolute pairs and is rotationally connected in universal joint outer shroud and the universal joint, ring forms by a rotational pin with main shaft and is rotationally connected in the universal joint, cutter chuck like this, the universal joint outer shroud, interior ring and main shaft are just formed a candan universal joint, main shaft is connected with spindle motor, driving shaft I links to each other with the pose ring by ball pivot respectively with driving shaft II, driving shaft I is connected with the driving shaft motor respectively with driving shaft II, the pose ring links to each other with the universal joint outer shroud by steel ball, the pose ring can be driven by driving shaft I and driving shaft II on the one hand, thereby the various poses of the cutter chuck implementation space that links to each other with the universal joint outer shroud can be made; On the other hand, main shaft drives cutter chuck by universal joint and realizes rotating, and plays the effect of supporting and limiting the cutter chuck axially-movable.
A kind of double parallel-connection superposition multifunctional robot is loaded onto end mill(ing) cutter or rose cutter or drill bit on three universal working head cutter chucks in parallel.
A kind of double parallel-connection superposition multifunctional robot sheds column on the workbench and abrasive machine, den bohrkopf einsetzen on three universal working head cutter chucks in parallel.
A kind of double parallel-connection superposition multifunctional robot sheds column on the workbench and abrasive machine, loads onto arc welding gun head on three universal working heads in parallel.
A kind of double parallel-connection superposition multifunctional robot sheds column on the workbench and abrasive machine, loads onto gage outfit on three universal working heads in parallel.
Limited block on the described pose ring is placed in the stopper slot, when preventing that the pose ring from carrying out beat along self axial rotation.
Beneficial effect of the present invention: at first, two parallel institutions that link to each other with this robot body are compared with other three mechanisms in parallel and that three parallel connections are above just bigger working space, and three universal working heads in parallel are superimposed on the motion platform that links to each other with the other end of two parallel institutions, and it can realize beat under the driving of two ball-screws, so further enlarged the working space of this robot; Secondly, because two parallel institutions do not exist singular point and coupling, although and stack three universal working heads in parallel thereon have three and link rod, but middle bar only plays a part to support and the drive main shaft rotates, the pose of universal working head is fully by other two and link rod decision, so this three universal working head in parallel does not exist singular point and coupling yet, so this robot does not exist singular point and coupling; In addition, two parallel institutions of this robot so there is not built-in thermal source, have reduced the influence of thermal deformation to robot motion's precision owing to be the Simple Member composition of parallel fixed length; At last, robot construction is simple, novel, make it be easy to just contrary the separating of kinematics that obtains to seal, make control calculating and error compensation modeling simple, numerical control programming is easy, and can realize drilling, welding processing and measurement with angle, production cost reduces, and has great industrialized development prospect.
Description of drawings
Fig. 1 is the structural representation of double parallel-connection superposition multifunctional robot;
Fig. 2 is the structural representation of three universal working heads in parallel;
Among the figure: 1 fuselage, 2 workbenches, 3 columns, 4 wheelheads, 5 linear electric motors I, 6 servomotors, 7 ball-screws, 8T type slip planker, 9 linear electric motors II, 10 two parallel-rods groups, 11 motion platforms, 12 3 universal working heads in parallel, 13 cutter chucks, 14 universal joint outer shrouds, ring in 15 universal joints, 16 steel balls, 17 pose rings, 18 main shafts, 19 universal working head pedestals, 20 driving shaft I, 21 driving shaft II, 22 Hooke's hinges, 23 ball pivots, 24 limited blocks, 25 stopper slots, 26 spindle motors.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples:
As Fig. 1, shown in 2, a kind of double parallel-connection superposition multifunctional robot, include fuselage 1, workbench 2, column 3, wheelhead 4, linear electric motors, servomotor 6, ball-screw 7, T type slip planker 8, two parallel-rods group 10 and motion platform 11, one three universal working head 12 in parallel is installed in stack on the motion platform, three universal working heads 12 in parallel comprise cutter chuck 13, universal joint outer shroud 14, ring 15 in the universal joint, steel ball 16, pose ring 17, main shaft 18, universal working head pedestal 19, ball pivot 23, driving shaft I 20 and driving shaft II 21, cutter chuck 13 is fixed on universal joint outer shroud 14 outputs, universal joint outer shroud 14 forms by two revolute pairs with the interior ring 15 of universal joint and is rotationally connected, ring 15 forms by a rotational pin with main shaft 18 and is rotationally connected in the universal joint, main shaft 18 is connected with spindle motor 26, driving shaft I 20 links to each other with pose ring 17 by ball pivot 23 respectively with driving shaft II 21, driving shaft I 20 is connected with the driving shaft motor respectively with driving shaft II 21, and pose ring 17 links to each other with universal joint outer shroud 14 by steel ball 16.
Embodiment 1:
Two-in-parallel stack tool sharpening machine people will realize the sharpening of cutter, realize the motion that the sharpening cutter is required simultaneously.Sharpening with the helicoid drill bit is an example, realize three motions that sharpening helicoid drill bit is required simultaneously.By cutter chuck 13 drill bit is clamped on three universal working heads 12 in parallel before the sharpening, servomotor 6 drives ball-screw 7 rotations, drive drill bit by T type slip planker 8, linear electric motors, two parallel-rods group 10, motion platform 11 and three universal working heads 12 in parallel again and move, thus the adjustment of realization drill bit and wheelhead 4 lengthwise positions; Linear electric motors I 5 and linear electric motors II 9 drives two parallel-rods group 10 and motion platforms 11, thereby realizes that drill bit and wheelhead perseverance are to the adjustment of position on the universal working head 12; Wheelhead 4 can rotate on column 3, thereby realizes the adjustment of initial position between the drill axis and emery wheel axis on the universal working head 12, the top angle of promptly definite institute sharpening drill bit.During sharpening, the linear electric motors I 5 that links to each other with unit one end of two parallel-rods group keeps motionless, the motion that the linear electric motors II 9 that links to each other with another unit one end produces to linear electric motors 5 translations, then the drill bit on the motion platform 11 will produce a circular motion, this circular motion is equivalent to the resultant motion of a feeding and translation, add that the main shaft 18 of three universal working heads in parallel on the motion platform 11 drives the rotation of drill bit, thereby realize the required building motion of sharpening helical drill point.Spindle motor 26 drive shaft 18 turn to 180 ° of sharpenings that realize to bore knife face behind first helicoids from 0 ° in this process, linear electric motors 9 return initial position then, then spindle motor 26 drive shaft 18 turn to 360 ° from 180 °, the sharpening of knife face behind another sharpening helicoid of realization drill bit, through so circulation, finally realize the sharpening of helical drill point.
Embodiment 2:
Column on the workbench 23 and wheelhead 4 are shed, den bohrkopf einsetzen on three universal working head 12 cutter chucks 13 in parallel, the present invention just becomes a two-in-parallel stack drilling robot.Before the drilling needs are carried out the clamping workpiece of drilling on workbench 2, by the cutter chuck 13 on three universal working heads 12 in parallel drill bit is clamped, at first, servomotor 6 drives ball-screw 7 rotations, T type slip planker 8 is along the longitudinal movement, thereby drives the initial adjustment that three universal working heads 12 in parallel on it and drill bit are realized lengthwise position; Then, linear electric motors I 5 and linear electric motors II 9 drive two parallel-rods group 10, make motion platform 11 along laterally mobile, thereby three universal working heads 12 in parallel and the drill bit that drive on it are realized the initial adjustment of lateral attitude.If when the surface of the work of the drilling of wanting was inclined surface, by the driving shaft I 20 on three universal working heads 12 in parallel, stretching of driving shaft II 21 adjusted the angle of drill bit on the cutter chuck 13, makes its inclined surface perpendicular to workpiece.When drilling, spindle motor 26 on three universal working heads 12 in parallel drives special universal joint rotation by main shaft 18, thereby drive the drill bit rotation on the cutter chuck 13, the relative motion by linear electric motors I 5 and linear electric motors II 9 simultaneously realizes the required feed motion of drilling workpiece.
Embodiment 3:
Column on the workbench 23 and wheelhead 4 are shed, load onto arc welding gun head on three universal working heads in parallel, the present invention just becomes a two-in-parallel stack welding robot.The workpiece that before the welding needs is welded is installed on the workbench 2, then servomotor 6 drives ball-screw 7 rotations, T type slip planker 8 is along the longitudinal movement, thereby drives the initial adjustment that three universal working heads 12 in parallel on it and arc welding gun head are realized lengthwise position; Then, linear electric motors I 5 and linear electric motors II 9 drive two parallel-rods group 10, make motion platform 11 along laterally mobile, thereby three universal working heads 12 in parallel and the arc welding gun head that drive on it are realized the initial adjustment of lateral attitude.If when the surface of the work that welds was inclined surface, by the driving shaft I 20 on three universal working heads 12 in parallel, stretching of driving shaft II 21 adjusted the angle of arc welding gun head, makes its inclined surface perpendicular to workpiece.When welding, by the required feed motion of relative motion realization drilling workpiece of linear electric motors I 5 and linear electric motors II 9.
Embodiment 4:
Column on the workbench 23 and wheelhead 4 are shed, load onto gage outfit on three universal working heads in parallel, the present invention just becomes a two-in-parallel stack three dimensional coordinate measuring machine device people.The workpiece of before measuring needs being measured is installed on the workbench 2, then, servomotor 6 drives ball-screw 7 rotations, T type slip planker 8 is along the longitudinal movement, thereby three universal working heads 12 in parallel and the gage outfit that drive on it are realized moving of lengthwise position, linear electric motors I 5 and linear electric motors II 9 drive two parallel-rods group 10, make motion platform 11 along laterally mobile, thereby three universal working heads 12 in parallel and the gage outfit that drive on it are realized moving of lateral attitude.If when the surface of the work of measuring was inclined surface, by the driving shaft I 20 on three universal working heads 12 in parallel, stretching of driving shaft II 21 adjusted the angle of gage outfit, makes its inclined surface perpendicular to workpiece.Simultaneously, also can realize moving up and down of gage outfit by the relative motion of linear electric motors I 5 and linear electric motors II 9.

Claims (6)

1. double parallel-connection superposition multifunctional robot, include fuselage, workbench, column, abrasive machine, linear electric motors, ball-screw, T type slip planker, two parallel-rods group and motion platform, motion platform one side links to each other with an end of two parallel-rods group, the motion platform opposite side is connected with one three universal working head in parallel, the other end of two parallel-rods group links to each other with fuselage, it is characterized in that described three universal working heads in parallel, comprise cutter chuck, the universal joint outer shroud, ring in the universal joint, steel ball, the pose ring, main shaft, pedestal, ball pivot, driving shaft I and driving shaft II, cutter chuck is fixed on universal joint outer shroud output, ring forms by two revolute pairs and is rotationally connected in universal joint outer shroud and the universal joint, ring forms by a rotational pin with main shaft and is rotationally connected in the universal joint, cutter chuck like this, the universal joint outer shroud, interior ring and main shaft are just formed a candan universal joint, main shaft is connected with spindle motor, driving shaft I links to each other with the pose ring by ball pivot respectively with driving shaft II, driving shaft I is connected with the driving shaft motor respectively with driving shaft II, and the pose ring links to each other with the universal joint outer shroud by steel ball.
2. a double parallel-connection superposition multifunctional robot as claimed in claim 1 is characterized in that loading onto end mill(ing) cutter or rose cutter or drill bit on three universal working head cutter chucks in parallel.
3. a double parallel-connection superposition multifunctional robot as claimed in claim 1 is characterized in that column on the workbench and abrasive machine are shed, den bohrkopf einsetzen on three universal working head cutter chucks in parallel.
4. a double parallel-connection superposition multifunctional robot as claimed in claim 1 is characterized in that column on the workbench and abrasive machine are shed, and loads onto arc welding gun head on three universal working heads in parallel.
5. a double parallel-connection superposition multifunctional robot as claimed in claim 1 is characterized in that column on the workbench and abrasive machine are shed, and loads onto gage outfit on three universal working heads in parallel.
6. a double parallel-connection superposition multifunctional robot as claimed in claim 1 is characterized in that the limited block on the described pose ring is placed in the stopper slot.
CN2009100109056A 2009-03-27 2009-03-27 Double parallel-connection superposition multifunctional robot CN101508109B (en)

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CN101508109B true CN101508109B (en) 2011-05-25

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CN103203741B (en) * 2013-04-27 2015-03-04 安徽华创智能装备有限公司 Three-degree-of-freedom parallel robot mechanism
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CN107738249B (en) * 2014-07-16 2020-11-10 芜湖乐创电子科技有限公司 Billiard robot based on double parallel mechanisms
CN104191427A (en) * 2014-08-22 2014-12-10 深圳大宇精雕科技有限公司 Parallel mechanism arm
CN104308831B (en) * 2014-09-22 2017-01-25 汕头大学 Parallel robot driven by double-rotor linear motor
CN104858875A (en) * 2015-06-05 2015-08-26 湖南湖大艾盛汽车技术开发有限公司 Novel three-axis robot structure
CN105058382A (en) * 2015-08-04 2015-11-18 汕头大学 Novel series-parallel five-axis-linkage intelligent welding platform
EP3203179B1 (en) 2016-02-05 2019-04-03 Hexagon Technology Center GmbH Measuring machine based on a delta robot assembly
CN107346107A (en) * 2016-05-04 2017-11-14 深圳光启合众科技有限公司 Diversified motion control method and system and the robot with the system
CN106862668A (en) * 2017-02-28 2017-06-20 东北大学 A kind of two ultrasonic vibration auxiliary cutting off machine in parallel
KR102133109B1 (en) * 2019-01-15 2020-07-10 경남대학교 산학협력단 Parallel robot having extended workspace
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US4974372A (en) * 1989-04-12 1990-12-04 Chantalat Vinit P Universal device for sharpening drill bits
CN1268419A (en) * 2000-01-05 2000-10-04 东北大学 Two parallel-rods virtual shaft multifunctional machine tool
CN1470359A (en) * 2003-07-11 2004-01-28 北京工业大学 Special five-freedom cutter grinding machine working head for parallel mechanism based mixing mechanism
CN1500588A (en) * 2002-11-12 2004-06-02 台湾佑能工具股份有限公司 Drill bit holding unit for tool edge processing device of the front end of a drill bit

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4974372A (en) * 1989-04-12 1990-12-04 Chantalat Vinit P Universal device for sharpening drill bits
CN1268419A (en) * 2000-01-05 2000-10-04 东北大学 Two parallel-rods virtual shaft multifunctional machine tool
CN1500588A (en) * 2002-11-12 2004-06-02 台湾佑能工具股份有限公司 Drill bit holding unit for tool edge processing device of the front end of a drill bit
CN1470359A (en) * 2003-07-11 2004-01-28 北京工业大学 Special five-freedom cutter grinding machine working head for parallel mechanism based mixing mechanism

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