CN102114632A - Rope-driven parallel robot capable of realizing rapid reconfiguration - Google Patents
Rope-driven parallel robot capable of realizing rapid reconfiguration Download PDFInfo
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Abstract
The invention provides a rope-driven parallel robot capable of realizing rapid reconfiguration, which comprises a robot body stand (1), a drive module (2), a flexible rope (3), a movable platform (4), a reversing device (5) and an output device (6), wherein the drive module (2) is fixed on the lower end of the body stand (1) through a drive module bottom plate (14); the reversing device (5) is fixed on the lower end of the body stand (1) through a reversing device bottom plate (24); the output device (6) is fixed on the body stand (1) through an output module bottom plate (32); and the movable platform (4) is connected with a winding wheel (11) of the drive module (2) through the flexible rope (3), the reversing device (5) and the output device (6). The drive module is separated from a connecting point of the rope and a static platform, thus the robot can rapidly carry out reconfiguration according to a task demand, and has better adaptability. The rope-driven parallel robot has a higher practical value and wide application prospect in the technical field of robots.
Description
One, technical field:
The present invention relates to rope and drive parallel robot mechanism, specifically relate to a kind of rope of quick reconfiguration of realizing and drive parallel robot, belong to the Robotics field.
Two, technical background:
Rope drives parallel robot and has advantages such as simple in structure, that working space is big and movement velocity is fast, is used widely in fields such as haptic interaction, aircraft wind tunnel test.Rope drives parallel robot and generally is made up of silent flatform, end effector, driver module and several parts of gentle rope.Gentle rope is that the hinge point that passes through between silent flatform and end effector connects, and these hinge points are similar to the ball pair.
In the practice, the online wheel of winding that the gentle rope of rope driven Parallel Kinematic Manipulator must rule, under the situation of outage, gentle rope needs to keep the state of tensioning, takes turns situation about coming off from line to avoid gentle rope.Under different tasks, the configuration of robot and operational tip actuator may need change, how can realize fast that the change of robot configuration and the replacing of end effector (operation tool) also are the problems that needs solution.
Three, summary of the invention:
1, purpose: the rope that the objective of the invention is to mention in the technical solution background drives the problem that parallel robot exists, provide a kind of rope of quick reconfiguration of realizing to drive parallel robot, it can realize configuration conversion fast and tool changing, satisfies different mission requirements.Driver module can guarantee the gentle online orderly winding of taking turns of restricting, and can not occur the situation that gentle rope relaxes simultaneously when outage.Driver module adopts modularized design, is convenient to processing and fabricating; Gentle rope separates with driver module with the tie point of frame, and it is convenient and swift that configuration is changed.
2, technical scheme: a kind of rope of quick reconfiguration of realizing of the present invention drives parallel robot, and it is characterized in that: it is made up of robot body frame 1, driver module 2, gentle rope 3, moving platform 4, reversing arrangement 5 and output device 6; Position annexation between it is: driver module 2 is fixed on the lower end of body frame 1 by its driver module base plate 14; Reversing arrangement 5 is fixed on the lower end of body frame 1 by its reversing arrangement base plate 24; Output device 6 is fixed on the body frame 1 by its output module base plate 32; Moving platform 4 is connected by the reel 11 of gentle rope 3, reversing arrangement 5, output device 6 and driver module 2.
Described body frame 1 is interconnected and the three-dimensional square metal framework formed by section bar 17.
Described driver module 2 is to be made of encoder 7, flange 8, motor 9, motor bracing frame 10, reel 11, brake bracing frame 12, brake 13 and driver module base plate 14; Position annexation between it is: encoder 7 is connected with motor 9 afterbodys by flange 8; One end of reel 11 is connected with the output shaft of motor 9, and the other end is connected with brake 13; Motor 9 is fixed on the motor bracing frame 10, and brake 13 is fixed on the brake bracing frame 12, and motor bracing frame 10 is vertical fixed with driver module base plate 14 with brake bracing frame 12.This encoder 7 is used to obtain the rotating speed of line wheel current time, obtains the position of line wheel current time simultaneously, and it is long to be used to calculate real-time rope; This flange 8 is middle circular pieces with holes; This motor bracing frame 10 is the rectangle plates that have the fixed electrical machinery aperture; This reel 11 is its cylindrical members that are provided with thread groove, makes being wound on the reel 11 of gentle rope 3 rules; This brake 13 time unclamps in energising, holds tightly during outage, and reel 11 is not rotated under the situation of outage, and then gentle rope 3 still closely is wrapped on the reel 11, lax situation about coming off can not occur.This driver module base plate 14 is to have the fixedly rectangle plate of aperture; Driver module 2 is fixed on the section bar 17 of robot body frame 1 by T type bolt 16 and flange nut 15.
Described gentle rope 3 is steel wire ropes of diameter 0.8mm.
Described moving platform 4 is seen Figure 10, and it comprises: a moving platform pedestal 37 is cylindrical of the top that is square, bottom, is processed with semicircle spacing hole 37-1 and open slot 37-2 and screwed hole on it, is used for fixing end effector 33; 4 gentle rope connecting rod 36 1 ends are connected with moving platform pedestal 37 by screw thread, and the other end has aperture by the gentle rope attachment cap 35 that is threaded on the gentle rope attachment cap 35, and gentle rope one end can penetrate in the hole fixing; Two strong magnets 34 place respectively on tight locking button 38 and the moving platform pedestal 37, are used for fixing tight locking button 38; This tight locking button 38 is semicircle rings; This end effector 33 is the L type handles that can be hold by one hand.
Described reversing arrangement 5 is seen Fig. 4, and it is by being made of nut 18, pulley 20, sleeve 21, pulley is adjustable pedestal 19, carrying bolt 22, nut 18, angle pulley bracing frame 23, reversing arrangement base plate 24.Position annexation between it is: angle pulley bracing frame 23 and reversing arrangement base plate 24 vertical fixing; Pulley is adjustable, and pedestal 19 is fixed on the angle pulley bracing frame 23 by connector, and pulley 20 is installed between two risers of the adjustable pedestal 19 of pulley, and sleeve 21 is placed on pulley one side, and is after carrying bolt 22 passes sleeve 21 and pulley 20, fastening with nut 18.This pulley 20 is cylindrical members that circumference has groove; This sleeve 21 is cylindrical members of middle perforate; The base plate of this pulley is adjustable pedestal 19 is provided with circular hole in the middle of being, both sides have the arcuate member of arc groove, the position when installing by adjusting, can obtain to satisfy design requirement pulley groove towards.This carrying bolt 22 and nut 18 are commercial standard components of choosing as required; This angle pulley bracing frame 23 is rectangle plates that circular hole and retaining thread hole are set on it, and pulley 20 all can be installed in its both sides, and gentle rope 3 can pass the hole at the adjustable pedestal of pulley 19 centers to opposite side; This reversing arrangement base plate 24 is its rectangle plates that are provided with fixing hole.
Described output device 6, see Fig. 5, it is made up of pulley 20, sleeve 21, carrying bolt 22, angle pulley bracing frame 23, location end cap 25, bearing (ball) cover 26, bearing 27, T type bracing frame 28, output module bracing frame 29, pulley support post 30, pulley servo-actuated pedestal 31 and output module base plate 32, and the position annexation between it is: output module bracing frame 29 is connected with output module base plate 32 vertical fixing; The hole of output module bracing frame 29 cooperates with bearing 27 outer rings, and is fixing by bearing (ball) cover 26; Pulley servo-actuated pedestal 31 cooperates with bearing inner race, and fixing by location end cap 25, pulley 20-3 is installed between two risers of pulley servo-actuated pedestal 31, and sleeve 21 is placed on pulley one side, and is after carrying bolt 22 passes sleeve 21 and pulley 20-3, fastening with nut 18; T type bracing frame 28 is directly fixed on output module base plate 32 both sides by screw, is fixed with pulley 20-4 by screw on it.This pulley 20 is cylindrical members that circumference has groove; This sleeve 21 is cylindrical members of middle perforate; This carrying bolt 22 and nut 18 are commercial standard components of choosing as required; This angle pulley bracing frame 23 is rectangle plates that circular hole and retaining thread hole are set on it; This location end cap 25 is its circular plates that are provided with the hole; This bearing (ball) cover 26 is its annular spares that are provided with the hole and have boss; This bearing 27 is that model is 61903 commercial standard component; This T type bracing frame 28 is its T shape parts that are provided with the hole; This output module bracing frame 29 is its rectangle plates that are provided with circular hole and retaining thread hole; This pulley support post 30 is cylindrical members of middle perforate; These pulley servo-actuated pedestal 31 1 ends have the riser that is used for fixing landing to be supported, and an end is the axle that cooperates with bearing 27 internal diameters; Output module base plate 32 is its rectangle plates that are provided with fixing hole.
Wherein, this encoder 7 E6B2 relative coding device that is Omrons;
Wherein, this motor 9 is 370355 type motors of maxon company;
Wherein, this brake 13 is ALS0S2AW type brakes of thousand Mount Tai, Taiwan;
Wherein, this strong magnet 34 is diameter 3mm, the cylinder type neodymium iron boron magnet of high 2mm;
Wherein, this bearing 27 is that model is 61903 standard rolling bearing.
3, advantage and effect:
(1). relative link-type parallel institution, the rope driven Parallel Kinematic Manipulator is with low cost.Equipment can satisfy the mission requirements of big working space, can change gentle rope length and mechanism configuration simultaneously according to demand, satisfies different mission requirementses, has good adaptability.
(2). the driver module of robot can be realized the rule winding of gentle rope on reel.In the time of in working order, utilize the gentle rope of motor self tension force tensioning; Under powering-off state, rotate by brake restriction reel, guarantee that gentle rope is in the tensioning state of power down previous moment, can not cause gentle rope from the line race, to come off.
(3). the driver module of robot is comparatively heavy, is not easy to be installed in the robot top, and need rearrange power line and data wire when changing the position of driver module in robot, comparatively trouble.The design separates with rope driver module with the tie point of frame, when the change device configurations, only need to change the installation site of gentle rope reversing arrangement and output device, and do not need to reinstall driver module.
(4). when moving platform moves, output device can be along with the change of gentle rope direction the rotating pulley pedestal, thereby guarantee that the gentle rope direction and the tangential direction of pulley groove are consistent, thereby avoid the gentle situation of restricting and from race, coming off.
(5). have tool interface, can conveniently change end effector according to different mission requirements.
Four, description of drawings:
Fig. 1 is a robot general assembly schematic diagram;
Fig. 2 is a robot driver module structural representation;
Fig. 3 is the assembling schematic diagram of driver module and body frame;
Fig. 4 is the reversing arrangement explosive view;
Fig. 5 is the output device explosive view;
The gentle rope of Fig. 6 is by the output device schematic diagram;
The gentle rope of Fig. 7 is by output device (Fig. 6) side view;
Fig. 8 is a schematic diagram of realizing changing gentle rope direction;
Fig. 9 is that reel and reversing arrangement installation concern schematic diagram;
Figure 10 is the explosive view of robot moving platform;
Figure 11 is the tool interface schematic diagram of robot moving platform;
Figure 12 is that the position that changes reversing arrangement obtains new configuration schematic diagram;
Number in the figure is described as follows:
1. body frame, 2. driver module, 3. gentle rope, 4. moving platform, 5. reversing arrangement, 6. output device, 7. encoder, 8. flange, 9. motor, 10. motor bracing frame, 11. reels, 12. brake bracing frames, 13. brake, 14. driver module base plates, 15. flange nuts, 16.T type bolt, 17. section bar, 18. nuts, the adjustable pedestal of 19. pulleys, 20-(1,2,3,4). pulley, 21. sleeves, 22. carrying bolts, 23. the angle pulley bracing frame, 24. reversing arrangement base plates, 25. location end caps, 26. bearing (ball) cover, 27. bearings, 28.T type bracing frame, 29. the output module bracing frame, 30. pulley support posts, 31. pulley servo-actuated pedestals, 32. the output module base plate, 33. end effectors, 33-1. confined planes, 33-2. stopper slot, 34. strong magnets, 35. gentle rope attachment caps, 36. gentle rope connecting rod, 37. moving platform pedestals, 37-1. spacing hole, 37-2. open slot, 38. tight locking buttons, 39. bolts.
Five, the specific embodiment:
Below in conjunction with accompanying drawing invention is further described in detail.
A kind of rope of quick reconfiguration of realizing of the present invention drives parallel robot, and it is made up of robot body frame 1, driver module 2, gentle rope 3, moving platform 4, reversing arrangement 5 and output device 6; Position annexation between it is: driver module 2 is fixed on the lower end of body frame 1 by its driver module base plate 14; Reversing arrangement 5 is fixed on the lower end of body frame 1 by its reversing arrangement base plate 24; Output device 6 is fixed on the body frame 1 by its output module base plate 32; Moving platform 4 is connected by the reel 11 of gentle rope 3, reversing arrangement 5, output device 6 and driver module 2.
Referring to Fig. 1, laid 8 driver modules 2 in robot body frame (1) bottom, every driver module is drawn a gentle rope 3, the controller control of driver module by being connected with computer, the control of tension force and folding and unfolding rope is gone up in realization to restricting; Gentle rope finally is connected with moving platform 4 by one or more reversing arrangements 5.Can obtain different configurations by the position that changes the illusion device, simultaneously by selecting 1～8 driver module can realize 1～6 free degree.
Referring to Fig. 2, in the driver module 2 of robot, motor bracing frame 10 support motor 9, brake bracing frame 12 supports brake 13, supports reel 11 by brake bracing frame 12 middle (center) bearings and motor (8) simultaneously.Driving force is directly passed to reel 11 by motor 9, makes its rotation work, and middle no deceleration link has reduced unnecessary friction.Thread groove is arranged in order to guarantee that gentle rope (3) can regular being wrapped on the reel on the reel 11.Brake 13 locking when power down stops reel to rotate, and avoids gentle rope 3 lax and gentle rope that cause comes off from reel.Driver module is connected (as shown in Figure 3) with flange nut 15 with the section bar 17 of frame 1 by T type bolt 16
Referring to Fig. 4, this is the explosive view of the gentle rope reversing arrangement of robot.Pulley 20-1 is fixed on the adjustable pedestal 19 of pulley by carrying bolt 22 and nut 18; By screw the adjustable pedestal of pulley is connected with angle pulley bracing frame 23, on the adjustable pedestal 19 of pulley, has arc groove, be used to realize the rotation of the adjustable pedestal of pulley, thus change to drive pulley groove towards; Pulley support frame 23 both sides can be installed pulley respectively to adapt to different demands; Reversing arrangement equally is connected with section bar with flange nut by T type bolt with driver module.
Referring to Fig. 5, this is the explosive view of the gentle rope output device of robot.Pulley 20-3 is fixed on the pulley servo-actuated pedestal 31 by carrying bolt 22 and nut 18; Pulley servo-actuated pedestal 31 rear end axles cooperate with bearing 27 inner rings, by location end cap 25 both are fixed; Bearing cooperates with the hole of output module bracing frame 29, by bearing (ball) cover 26 both is fixed; Pulley support post 30 is used for bed hedgehopping auxiliary pulley 20-2, and the axis of pulley servo-actuated pedestal 31 can be cut earlier by tangent bottom land circle with auxiliary pulley 20-2; T type bracing frame 28 is used to support auxiliary pulley 20-4; Output module can realize that pulley servo-actuated pedestal 31 rotates with gentle direction variation of restricting, and guarantees the direction and the gentle direction basically identical of restricting of the pulley groove of pulley 20-3, and the rope of avoiding softening is deviate from the excessive gentle rope that causes of pulley groove tangential direction angle.Fig. 6 is that gentle rope passes through the output device schematic diagram, and output device is connected with section bar with flange nut by T type bolt equally.
Figure 8 shows that the implementation procedure of gentle rope commutation, by the direction of the gentle rope of reversing arrangement change, promptly identical with demand direction by the gentle direction of restricting of the change of output device, gentle rope can drive.Simultaneously need satisfy some primary conditions when reversing arrangement is installed, as shown in Figure 9, need to guarantee θ＜5 °, gentle rope can come off out from thread groove when angle theta is excessive, thereby gentle rope can not rule is wrapped on the reel.
Referring to Figure 10, this is the moving platform structure chart of robot.Gentle rope attachment cap 35 is used for being connected with gentle rope, is connected with gentle rope connecting rod 36 by screw thread, and same gentle rope connecting rod 36 is connected with moving platform pedestal 37 by screw thread, and gentle rope connecting rod middle-end adopts carbon fibre material, effectively weight reduction.Tight locking button 38 is connected with moving platform by bolt 21, can realize the rotation around bolt 39.Confined planes 33-1 by end effector 33 cooperates the rotation of confinement end actuator dotted line in Figure 10 with the plane of moving platform pedestal 37 upper limit hole 37-1; Engagement limits end effector by tight locking button and stopper slot 33-1 moving in addition along dotted line.In the open slot 37-2 of moving platform pedestal 37 and in the tight locking button 38, embed strong magnet 34 respectively, strong magnet absorption when tight locking button lock, the fixing and locking button when the people acts on external force on the tight locking button enough greatly the time, gets final product release.Can be convenient for changing end effector at different task.
Referring to Figure 12, can realize the variation of the configuration of equipment by the position that changes reversing arrangement, owing to separate with driving mould the tie point position of restricting with the frame body, the position of driver module needn't be changed in change configuration process, the troublesome operation when having avoided driver module integral body mobile.Device configurations among Fig. 1 is 3-3-1-1, can change to 2-2-2-2 by simple variation, and different configurations has different character, can realize the replacement of mechanism configuration fast according to mission requirements.
Claims (1)
1. the rope that can realize quick reconfiguration drives parallel robot, it is characterized in that: it is made up of robot body frame (1), driver module (2), gentle rope (3), moving platform (4), reversing arrangement (5) and output device (6); Driver module (2) is fixed on the lower end of body frame (1) by its driver module base plate (14); Reversing arrangement (5) is fixed on the lower end of body frame (1) by its reversing arrangement base plate (24); Output device (6) is fixed on the body frame (1) by its output module base plate (32); Moving platform (4) is connected by gentle reel (11) of restricting (3), reversing arrangement (5), output device (6) and driver module (2);
Described body frame (1) is interconnected and the three-dimensional square metal framework formed by section bar (17);
Described driver module (2) is to be made of encoder (7), flange (8), motor (9), motor bracing frame (10), reel (11), brake bracing frame (12), brake (13) and driver module base plate (14); Encoder (7) is connected with motor (9) afterbody by flange (8); One end of reel (11) is connected with the output shaft of motor (9), and the other end is connected with brake (13); Motor (9) is fixed on the motor bracing frame (10), and brake (13) is fixed on the brake bracing frame (12), and motor bracing frame (10) is vertical fixed with driver module base plate (14) with brake bracing frame (12); This encoder (7) is used to obtain the rotating speed of line wheel current time, obtains the position of line wheel current time simultaneously and be used to calculate real-time rope long; This flange (8) is middle circular piece with holes; This motor bracing frame (10) is the rectangle plate that has the fixed electrical machinery aperture; This reel (11) is its cylindrical member that is provided with thread groove, makes being wound on the reel (11) of gentle rope (3) rule; This brake (13) time unclamps in energising, holds tightly during outage, and reel (11) is not rotated under the situation of outage, and then gentle rope (3) still closely is wrapped on the reel (11), lax situation about coming off can not occur; This driver module base plate (14) is to have the fixedly rectangle plate of aperture; Driver module (2) is fixed on the section bar (17) of robot body frame (1) by T type bolt (16) and flange nut (15);
Described moving platform (4), it comprises: a moving platform pedestal (37) is cylindrical of the top that is square, bottom, is processed with semicircle spacing hole (37-1) and open slot (37-2) and screwed hole on it, is used for fixing end effector (33); 4 gentle rope connecting rod (36) one ends are connected with moving platform pedestal (37) by screw thread, and the other end has aperture by the gentle rope attachment cap (35) that is threaded on the gentle rope attachment cap (35), and gentle rope one end can penetrate in the hole fixing; Two strong magnets (34) place respectively on tight locking button (38) and the moving platform pedestal (37), are used for fixing tight locking button (38); This tight locking button (38) is the semicircle ring; This end effector (33) is the L type handle that can be hold by one hand;
Described reversing arrangement (5), it is to be made of nut (18), pulley (20), sleeve (21), the adjustable pedestal of pulley (19), carrying bolt (22), nut (18), angle pulley bracing frame (23) and reversing arrangement base plate (24); Angle pulley bracing frame (23) and reversing arrangement base plate (24) vertical fixing; The adjustable pedestal of pulley (19) is fixed on the angle pulley bracing frame (23) by connector, pulley (20) is installed between two risers of the adjustable pedestal of pulley (19), sleeve (21) is placed on pulley one side, after carrying bolt (22) passes sleeve (21) and pulley (20), fastening with nut (18); This pulley (20) is the cylindrical member that circumference has groove; This sleeve (21) is the cylindrical member of middle perforate; The base plate of the adjustable pedestal of this pulley (19) is provided with circular hole in the middle of being, both sides have the arcuate member of arc groove, the position when installing by adjusting, can obtain to satisfy design requirement pulley groove towards; This angle pulley bracing frame (23) is the rectangle plate that circular hole and retaining thread hole are set on it, and pulley (20) all can be installed in its both sides, and gentle rope (3) can pass the hole at the adjustable pedestal of pulley (19) center to opposite side; This reversing arrangement base plate (24) is its rectangle plate that is provided with fixing hole;
Described output device (6), it is made up of pulley (20), sleeve (21), carrying bolt (22), angle pulley bracing frame (23), location end cap (25), bearing (ball) cover (26), bearing (27), T type bracing frame (28), output module bracing frame (29), pulley support post (30), pulley servo-actuated pedestal (31) and output module base plate (32), and output module bracing frame (29) is connected with output module base plate (32) vertical fixing; The hole of output module bracing frame (29) cooperates with bearing (27) outer ring, and is fixing by bearing (ball) cover (26); Pulley servo-actuated pedestal (31) cooperates with bearing inner race, fixing by location end cap (25), pulley (20-3) is installed between two risers of pulley servo-actuated pedestal (31), sleeve (21) is placed on pulley one side, after carrying bolt (22) passes sleeve (21) and pulley (20-3), fastening with nut (18); T type bracing frame (28) is directly fixed on output module base plate (32) both sides by screw, is fixed with pulley (20-4) by screw on it; This pulley (20) is the cylindrical member that circumference has groove; This sleeve (21) is the cylindrical member of middle perforate; This angle pulley bracing frame (23) is the rectangle plate that circular hole and retaining thread hole are set on it; This location end cap (25) is its circular plate that is provided with the hole; This bearing (ball) cover (26) is its annular spare that is provided with the hole and has boss; This T type bracing frame (28) is its T shape part that is provided with the hole; This output module bracing frame (29) is its rectangle plate that is provided with circular hole and retaining thread hole; This pulley support post (30) is the cylindrical member of middle perforate; These pulley servo-actuated pedestal (31) one ends have the riser that is used for fixing landing to be supported, and an end is the axle that cooperates with bearing (27) internal diameter; Output module base plate (32) is its rectangle plate that is provided with fixing hole.
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