CN102785240B - Series-parallel pressing robot - Google Patents

Abstract

The invention relates to a hybrid stamping robot, comprising a turntable mechanism with a rotating assembly, a lifting mechanism fixed on the rotating assembly, a parallel mechanism arranged on the lifting mechanism, and a driving mechanism connected with the parallel mechanism , the driving mechanism is used to drive the parallel mechanism. The hybrid stamping robot of the present invention rotates and lifts the robot through the turntable mechanism and the lifting mechanism to expand the working space range of the robot; the parallel mechanism arranged on the lifting mechanism adopts the RRU and RUU branch chain structures to make the end effector of the robot move flexibly , The RRU and RUU branch chain structures are parallel structures, which enhance the rigidity of the robot. Controlling the above branch chain structures separately can improve the control accuracy and quickly adjust the position of the end of the branch chain structure, so that the work of retrieving and feeding materials can be completed quickly.

Description

Hybrid stamping robot

【Technical field】

The invention relates to a punching robot, in particular to a hybrid punching robot with five degrees of freedom.

【Background technique】

Robots used in industrial production are divided into series type and parallel type according to topology. Serial robots have the advantages of strong adaptability, large working space, good flexibility and operability, and mature technology; typical and successful ones include PUMA manipulators and German KUKA manipulators; parallel robots have high rigidity, high precision, and are easy to operate quickly , typically including Stewart manipulators and Delta manipulators.

Industrial robots can be applied to the stamping process to realize the extraction, feeding, processing and retrieving of raw materials, which can increase labor productivity, stabilize and improve product quality, improve working conditions, reduce production costs, shorten production cycles, and ensure production balance. Significant economic benefits.

However, the serial robot has relatively low stiffness, large accumulated errors, and low precision, and is not suitable for fast and high-precision operation; the parallel robot has a small working space, and is prone to interference of rods and singular positions. Therefore, it is necessary to overcome the shortcomings of series and parallel robots, so that they can meet the requirements of the stamping process, such as high rigidity, high motion precision, large work space, and fast completion of feeding and retrieving.

【Content of invention】

The technical problem to be solved by the present invention is to provide a hybrid stamping robot that satisfies the stamping process with high rigidity of the robot, high motion precision and large working space.

In order to achieve the purpose of the present invention, the present invention provides a hybrid stamping robot, including a turntable mechanism with a rotating assembly, a lifting mechanism fixed on the rotating assembly, a parallel mechanism arranged on the lifting mechanism, and the A drive mechanism connected to the parallel mechanism, the drive mechanism is used to drive the parallel mechanism; wherein, the parallel mechanism includes two RRU branch chains rotating on the first plane, and the second plane perpendicular to the first plane A rotating RUU branch chain and a rotatable end effector, the first ends of the two RRU branch chains and the first ends of the RUU branch chain are arranged on the lifting mechanism, and the second ends of the two RRU branch chains end, the second end of the RUU branch is disposed on the end effector.

Preferably, the RRU branch chain includes a first active arm, a first driven arm, and a connection module, the first end of the first active arm is set on the lifting mechanism, and the second end of the first driven arm is set on the On the end effector, the connecting module is respectively connected to the second end of the first active arm and the first end of the first driven arm; the RUU branch chain includes a driving module, a second active arm, a second Two driven arms, the drive module is fixed on the lifting mechanism, the first end of the second active arm is arranged on the drive module, the first end of the second driven arm is connected with the second end of the second active arm, the second slave The second end of the boom is disposed on the end effector.

Preferably, the first active arm includes a first active rod and at least one first main follower rod parallel to the first drive rod, and one end of the first active rod and the first main follower rod is rotatably connected to the lifting mechanism , the first active lever and the other end of the first main follower lever are rotatably connected to the connection module; the first follower arm includes a first follower lever, at least one follower lever parallel to the first follower lever One end of the first driven rod and the slave follower rod are rotatably connected to the connection module, and the first follower rod and the other end of the slave follower rod are rotatably connected to the end effector.

Preferably, the RUU branch chain also includes a first balance bar; the second active arm includes a second active bar, one end of the second active bar is rotatably connected to the drive module, and the other end is rotatably connected to the first balance bar. on the rod; the second driven arm includes at least two parallel driven rods, one end of which is rotatably connected to the first balance rod, and the other end is rotatably connected to the end effector.

Preferably, the RUU branch chain further includes a second balance rod, the second balance rod is rotatably connected to the end effector, and the other end of the driven rod is rotatably connected to the second balance rod.

Preferably, the end effector includes a moving platform connected to the RRU branch chain and the RUU branch chain, a rotatable end bracket arranged on the lower end surface of the moving platform, and a drive motor connected to the end bracket fixed on the moving platform. The drive motor is used to drive the end support to rotate.

Preferably, the lifting mechanism includes a column arranged on the rotating assembly, an elevating platform that is sleeved on the column and lifts along the column, and is connected with the column and drives the lifting platform through the column. module; the parallel mechanism is set on the lifting platform.

Preferably, the drive mechanism includes two spline shafts arranged on the rotating assembly, and a drive module connected to the spline shafts to drive the spline shafts, and the spline shafts are connected to the RRU branch chain.

Preferably, the drive module further includes a drive motor, and a four-bar mechanism connecting the spline shaft and the drive motor, wherein the four-bar mechanism is composed of three connecting rods that are rotationally connected from end to end.

Preferably, the turntable mechanism includes a base, a support fixed at the bottom of the base, a rotating assembly disposed on the support, and a drive module disposed on the support and connected to the rotating assembly to drive the rotating assembly; wherein, The rotating assembly includes a turntable connection part arranged on the support member, a turntable arranged on the turntable connection part and rotating relative to the turntable connection part, and the turntable is connected with a driving module.

The hybrid stamping robot of the present invention rotates and lifts the robot through the turntable mechanism and the lifting mechanism to expand the working space range of the robot; the parallel mechanism arranged on the lifting mechanism adopts the RRU and RUU branch chain structures to make the end effector of the robot move flexibly , The RRU and RUU branch chain structures are parallel structures, which enhance the rigidity of the robot. Controlling the above branch chain structures separately can improve the control accuracy and quickly adjust the position of the end of the branch chain structure, so that the work of retrieving and feeding materials can be completed quickly.

【Description of drawings】

Fig. 1 shows a schematic structural view of the hybrid stamping robot of the present invention.

Fig. 2 shows a schematic structural diagram of the parallel mechanism of the hybrid stamping robot of the present invention.

Fig. 3 shows a schematic structural view of the lifting mechanism of the hybrid stamping robot of the present invention.

Fig. 4 shows a schematic structural view of the turntable mechanism of the hybrid stamping robot of the present invention.

Fig. 5 shows a cross-sectional view of the RRU branch chain of the hybrid stamping robot of the present invention.

Fig. 6 shows a cross-sectional view of the RUU branch chain of the hybrid stamping robot of the present invention.

Fig. 7 shows a cross-sectional view of the lifting mechanism of the hybrid stamping robot of the present invention.

Fig. 8 shows a cross-sectional view of the turntable mechanism of the hybrid stamping robot of the present invention.

【Detailed ways】

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, the present invention provides a hybrid stamping robot used in the stamping process, so that it can complete the work of taking and feeding the workpiece, including: a turntable mechanism 1, the above-mentioned turntable mechanism 1 has a rotatable rotating assembly 10. The lifting mechanism 2, the above-mentioned lifting mechanism 2 is fixed on the rotating assembly 10; the parallel mechanism 3, the above-mentioned parallel mechanism 3 is arranged on the lifting mechanism 2; the driving mechanism 4, the above-mentioned driving mechanism 4 is connected with the parallel mechanism 3 for driving parallel Institution 3.

Wherein, the above-mentioned parallel mechanism 3 includes two RRU branch chains 31 rotating on a first plane, one RUU branch chain 32 rotating on a second plane perpendicular to the above-mentioned first plane, and a rotatable end effector 33. The plane is roughly parallel to the plane where the turntable mechanism 1 is located; the first ends of the two RRU branch chains 31 and the first ends of the RUU branch chains 32 are respectively arranged on the lifting mechanism 2, and the second ends of the above two RRU branch chains 31, The second ends of the RUU branch chains 32 are respectively arranged on the end effectors 33; the above-mentioned end effectors 33 are used to complete the taking and discharging of the workpiece.

The hybrid stamping robot of the present invention rotates and lifts the robot through the turntable mechanism and the lifting mechanism to expand the working space range of the robot; the parallel mechanism arranged on the lifting mechanism adopts the RRU and RUU branch chain structures to make the end effector of the robot move flexibly , The RRU and RUU branch chain structures are parallel structures, which enhance the rigidity of the robot. Controlling the above branch chain structures separately can improve the control accuracy and quickly adjust the position of the end of the branch chain structure, so that the work of retrieving and feeding materials can be completed quickly.

Referring to FIG. 2 , it is a schematic structural diagram of the parallel mechanism of the present invention. The above parallel mechanism includes two RRU branches and one RUU branch. The two RRU branches have the same structure. For the sake of simplicity, only one of the RRU branches and the RUU branch will be described in detail.

The above-mentioned RRU branch chain 31 includes a first active arm 311, a first driven arm 312, and a connection module 313; the first end of the first active arm 311 is rotatably connected to the lifting mechanism 2 and connected to the above-mentioned driving mechanism 4, the first The second end of the active arm 311 is rotatably connected to the connection module 313; the first end of the first slave arm 312 is rotatably connected to the connection module 313, and the second end of the first slave arm 312 is arranged on the end effector 33 . Wherein, the second end of the first active arm 311 and the first end of the first slave arm 312 are connected to different positions of the connection module 313 . Under the different driving effects of the driving mechanism 4, the above two RRU branch chains 31 can realize the forward, backward, left and right movement of the end effector 33 on the horizontal movement plane parallel to the first plane.

The RUU branch chain 32 includes a driving module 321, a second active arm 322, and a second driven arm 323; the driving module 321 is fixed on the lifting mechanism 2, and the first end of the second active arm 322 is rotationally connected to the driving module 321, The first end of the second slave arm 323 is rotatably connected to the second end of the second master arm 322 , and the second end of the second slave arm 323 is rotatably connected to the end effector 33 . Under the driving action of the driving module 321, the above-mentioned RUU branch chain 32 can realize the fine adjustment of the pitch of the end effector 33, and the control precision of the pitch is significantly improved.

The above-mentioned horizontal movement plane is not a plane with a fixed height, but it is a plane that drives the end effector 33 to float within a certain height range under the driving effect of the lifting mechanism 2 on the parallel mechanism 3 .

Furthermore, in the hybrid stamping robot of the present invention, as shown in FIG. 2 , the first active arm and the first driven arm of the RRU branch adopt the following improved structure.

The above-mentioned first active arm 311 includes a first active rod 3111, at least one first main follower rod 3112 parallel to the first active rod 3111, a first main follower rod 3112 is adopted in the present invention, and the above-mentioned first active rod 3111 The first active rod 3111 and the other end of the first main follower rod 3112 are respectively rotatably connected to the connecting module 313 . The first active arm 311 of the present invention adopts a parallel mechanism to stably transmit force. In order to strengthen the rigidity of the first active arm 311 , two or more first active follower rods 3112 can be used.

The first driven arm 312 includes a first driven rod 3121 and at least one slave driven rod 3122 parallel to the first driven rod 3121. The first driven rod 3121 is rotationally connected to one end of the slave driven rod 3122. On the connection module 313 , the first driven rod 3121 and the other end of the slave driven rod 3122 are rotatably connected to the end effector 33 . In the present invention, two follower rods 3122 are used to strengthen the rigidity of the first follower arm 312, and more than two follower rods 3122 may also be used. The first follower rod 3121 and the follower rod 3122 adopt a parallel mechanism to stably transmit force.

Further, the first driven arm 312 also includes a balance rod 3123 , the other end of the first driven rod 3121 and the slave follower rod 3122 are rotatably connected to the balance rod 3123 , and the balance rod 3123 is rotatably connected to the end effector 33 .

The connection module 313 is a "∟"-shaped bifurcated connector, and the first master arm 311 and the first driven arm 312 are respectively rotatably connected to the two forks of the bifurcated connector. The two RRU branch chains 31 of the present invention are rotated sequentially by the first main arm 311, the first follower arm 312 and the bifurcated link arranged between the first drive arm 311 and the first follower arm 312, which are approximately in parallel structure. connection, the driving mechanism 4 respectively drives one end of the first active arm 311 of the two RRU branch chains 31 to transmit the horizontal movement of the end effector 33 parallel to the first plane via the bifurcated link and the first driven arm 312 Forward, backward, left and right movement on the plane.

Furthermore, for the hybrid stamping robot of the present invention, as shown in FIG. 2 , the second active arm and the second follower arm of the RUU branch adopt the following improved structure.

The above-mentioned RUU branch chain 32 also includes a first balance bar 324, and the above-mentioned second active arm 322 includes at least one second active bar. The embodiment of the present invention adopts a second active bar, and one end of the above-mentioned second active bar is rotatably connected to the drive module 321, the other end of the second active rod is rotatably connected to the first balance rod 324; the second slave arm 323 includes at least two parallel driven rods 3231, and one end of the above-mentioned driven rod 3231 is rotatably connected to the first balance rod 324. The other end of the driven rod 3231 on the rod 324 is rotatably connected to the end effector 33 .

In one embodiment of the present invention, four driven rods 3231 parallel to each other are used, and one end of the driven rods 3231 is respectively rotatably connected to the first balance rod 324 . The above-mentioned RUU branch chain 32 is sequentially connected by the second main arm 322, the second follower arm 323 in a substantially parallel structure, and the first balance bar 324 arranged between the second drive arm 322 and the second follower arm 323. The driving module 321 respectively drives one end of the second active arm 322 to finally drive the finely adjusted pitch of the end effector 33 via the first balance bar 324 and the second follower arm 323 .

Further, the above-mentioned RUU branch chain 32 also includes a second balance rod 325, the second balance rod 325 is rotatably connected to the end effector 33, and the other end of the above-mentioned driven rod 3231 is rotatably connected (according to the modification herein, claim 5 also adapted) on the second balance pole 325. The above-mentioned RUU branch chain 32 connects four parallel driven rods 3231 between the first balance rod 324 and the second balance rod 325, which can improve the rigidity of the second driven arm 325, which is finally reflected in the rigidity of the robot.

In another embodiment of the hybrid stamping robot of the present invention, the end effector 33 includes a moving platform 331 connected to the RRU branch chain 31 and the RUU branch chain 32; The bracket 332 fixes the hand grip or suction cup to clamp the workpiece, and realizes taking and discharging materials; the driving motor 333 that is fixed on the moving platform 331 and connected with the end bracket 332 . The drive motor 333 is used to drive the end bracket 332 to rotate so that the workpiece grasped by the end bracket 332 or the suction cup rotates on a horizontal movement plane parallel to the first plane, so as to precisely adjust the angle of the workpiece.

Further, as shown in FIG. 3 , the above-mentioned lifting mechanism 2 includes a column 21 arranged on the rotating assembly 10, an elevating platform 22 sleeved on the column 21 and lifted along the column 21, connected with the column 21, and driven by the column 21. The driving module 23 of the lifting platform 22; the above-mentioned parallel mechanism 3 is arranged on the lifting platform 22, and moves up and down with the lifting platform 22, so as to realize the lifting adjustment of the parallel mechanism 3 within a large stroke range. Specifically, the first ends of the first active arms 311 of the two RRU branch chains 31 are rotatably connected to the lifting platform 22 , and the driving module 321 of the RUU branch chains 32 is fixed on the lifting platform 22 .

The lifting mechanism 2 further includes at least one platform connecting rod 24 fixed on the rotating assembly 10, the above-mentioned platform connecting rod 24 is parallel to the column 21, and an upper fixed platform 25 is also connected to the upper end surface of the platform connecting rod 24 and the column 21; The invention preferably uses four platform connecting rods 24 to achieve balanced and stable support on the fixed platform 25 so that the column 21 will not tilt and maintain rigidity during the process of driving the lifting platform 22 up and down. The driving module 23 of the lifting mechanism 2 can also be fixed on the upper fixed platform 25, and in order to balance the weight of the robot, the present invention is preferably arranged on the rotating assembly 10.

Above-mentioned upright column 21 can be the upright column driven by hydraulic mode, promptly the elevating bar that adopts hydraulic mode to drive is set outside the upright column so that elevating table 22 lifts; Above-mentioned upright column 21 can be the ball screw rod, and ball screw rod is connected on the rotating assembly in rotation, and above-mentioned The ball screw is connected with the lifting platform 22 by a nut (not shown in the figure), and the lifting platform 22 is driven to move up and down when the ball screw rotates. The drive module 23 is connected to the ball screw via a timing belt, a gear or directly to drive the ball screw. In the present invention, the timing belt 231 is preferred to connect the drive module to the ball screw.

The driving mechanism 4 includes two spline shafts 41 arranged on the rotating assembly 10, and a drive module 42 connected to the spline shafts 41 for driving the spline shafts. The two spline shafts 41 are respectively connected to the two RRU branch chains 31 Connection; the above-mentioned spline shaft 41 is slidingly connected with the lifting platform 22 through the spline sleeve 43 , and the spline shaft 41 is rotatably connected between the above-mentioned rotating assembly 10 and the upper fixed platform 25 . By driving the spline shaft 41 to rotate, the RRU branch chain 31 connected thereto is driven to rotate.

The driving module 42 further includes a driving motor 421 and a three-bar mechanism 422 connecting the spline shaft 41 and the driving motor 421 , wherein the three-bar mechanism 422 is composed of three connecting rods connected head-to-tail. Similarly, the spline shaft 41 and the drive motor 421 can also be connected by a synchronous belt, a gear or directly, so that the drive motor can drive the spline shaft.

The control mode of the lifting mechanism and the driving mechanism of the present invention: the driving module 23 is the power source for the lifting platform 22 to move up and down, output torque and rotational speed, drive the ball screw to rotate through the synchronous belt 231, and the rotation of the ball screw drives the lifting platform 22 through the nut Move up and down along the spline shaft 41; the driving motors 421 of the two spline shafts 41 are respectively the power sources of the two RRU branch chains 31, the output torque and the rotational speed are transmitted to the two spline shafts 41 and the two spline shafts 41 through two three-bar mechanisms 422 respectively. The rotation of the key shaft 41 can respectively drive the rotation of the two RRU branch chains 31 .

Another embodiment of the hybrid stamping robot of the present invention, as shown in FIG. 4, the above-mentioned turntable mechanism 1 includes a base 11, a support 12 fixed on the bottom of the base 11, a rotating assembly 10 arranged on the support 12, and The drive module 13 that is arranged on the support member 12 and connected with the rotation assembly 10 to drive the above rotation assembly 10; wherein, the rotation assembly 10 includes a turntable connector 101 arranged on the support member 12, arranged on the turntable connector 101 and connected to the turntable A turntable 102 on which the component 101 rotates, and the turntable 102 is connected with the drive module 13 . The column 21 and the spline shaft 41 are rotatably connected between the turntable 102 and the upper fixed platform 25 , and the platform connecting rod 24 is fixed between the turntable 102 and the upper fixed platform 25 . The drive module 13 is fixedly connected to the support member 12, the output shaft of the drive module 13 is fixedly connected to the turntable 102 after being decelerated by the reducer 14, the outer side of the turntable connector 101 is fixedly connected to the turntable 102, and the inner side of the turntable connector 101 passes through the bearing 15 and the support member 12 Turn to connect. The driving module 13 is the power source of the turntable 102, which outputs torque and rotational speed to drive the turntable 102 to rotate.

The hybrid stamping robot of the present invention can make the parallel mechanism arranged on it rotate through the transmission of the lifting mechanism through the upper turntable of the turntable mechanism, and the parallel mechanism can be lifted and lowered by the lifting mechanism, so as to expand the working space range of the robot; it is arranged on the lifting mechanism The parallel mechanism on the robot adopts RRU and RUU branched chain structures. Driven by the spline shaft, the high control precision of the branched chain structure is realized and the movement of the end effector of the robot is flexible. The RRU and RUU branched chain structures are parallel structures, so that The rigidity of the robot is enhanced, and the position of the end of the branch chain structure can be quickly adjusted, so that the work of retrieving and feeding materials can be completed quickly.

The specific embodiments of the present invention described above do not constitute a limitation to the protection scope of the present invention. Any other corresponding changes and modifications made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims (9)

1. a series-parallel connection pressing robot, it is characterized in that, comprise the turntable mechanism with a runner assembly, be fixed on the elevating mechanism on described runner assembly, be arranged on the parallel institution on described elevating mechanism, the driving mechanism be connected with described parallel institution, described driving mechanism is for driving described parallel institution; Wherein, described parallel institution is included in two RRU side chains, the RUU side chain at the second Plane Rotation perpendicular to described first plane, a rotating end effector of the first Plane Rotation, the described first end of two RRU side chains, the first end of RUU side chain are arranged on described elevating mechanism, and described second end of two RRU side chains, the second end of RUU side chain are arranged on described end effector;

Described RRU side chain comprises the first master arm, the first slave arm, link block, the first end of the first master arm is arranged on described elevating mechanism, second end of the first slave arm is arranged on described end effector, and link block is connected with the second end of described first master arm and the first end of described first slave arm respectively; Described RUU side chain comprises driver module, the second master arm, the second slave arm, driver module is fixed on elevating mechanism, the first end of the second master arm is arranged on driver module, the first end of the second slave arm is connected with the second end of the second master arm, and the second end of the second slave arm is arranged on end effector;

Described link block is Cheng “ ∟ " the y-bend connector of type, described first master arm, the first slave arm are rotatably connected on two forks of described y-bend connector respectively.

2. series-parallel connection pressing robot according to claim 1, it is characterized in that, described first master arm comprises the first driving lever, at least one first main tappet parallel with the first driving lever, one end of first driving lever and the first main tappet is rotatably connected on elevating mechanism, and the other end of the first driving lever and the first main tappet is rotatably connected in link block; Described first slave arm comprises the first follower lever, parallel with the first follower lever at least one from tappet, first follower lever be rotatably connected on link block from one end of tappet, the first follower lever be rotatably connected on described end effector from the tappet other end.

3. series-parallel connection pressing robot according to claim 1, is characterized in that, described RUU side chain also comprises the first balancing pole; Described second master arm comprises the second driving lever, and one end of described second driving lever is rotatably connected on driver module, and the other end is rotatably connected on the first balancing pole; Described second slave arm comprises at least two follower levers be parallel to each other, and described follower lever one end is rotatably connected on described first balancing pole, the other end is rotatably connected on described end effector.

4. series-parallel connection pressing robot according to claim 3, it is characterized in that, described RUU side chain also comprises the second balancing pole, and described second balancing pole is rotatably connected on end effector, and the other end of described follower lever is rotatably connected on described second balancing pole.

5. series-parallel connection pressing robot according to claim 1, it is characterized in that, described end effector comprises the moving platform be connected with RRU side chain, RUU side chain, be arranged on the lower surface of moving platform, rotating end support, be fixed on the drive motors that moving platform is connected with end support, described drive motors rotates for driving described end support.

6. series-parallel connection pressing robot according to claim 1, it is characterized in that, described elevating mechanism comprises the column be arranged on runner assembly, to be set on described column and along the lifting platform of described column up-down, to be connected, to drive through described column the driver module of described lifting platform with described column; Described lifting platform arranges described parallel institution.

7. series-parallel connection pressing robot according to claim 6, is characterized in that, described driving mechanism comprises two splined shafts be arranged on runner assembly, and is connected with described splined shaft the driver module driving splined shaft, and described splined shaft is connected with RRU side chain.

8. series-parallel connection pressing robot according to claim 7, it is characterized in that, described driver module further comprises drive motors, and connects three linkages of splined shaft and drive motors, wherein, the connecting rod that described three linkages are rotationally connected by three head and the tail forms.

9. series-parallel connection pressing robot according to claim 1, it is characterized in that, described turntable mechanism comprises pedestal, is fixed on the support member of base bottom, be arranged on the runner assembly on support member, and be arranged on driver module support member being connected with runner assembly and driving described runner assembly; Wherein, described runner assembly comprises the turntable connector be arranged on support member, and be arranged on the turntable that turntable connector also rotates relative to turntable connector, described turntable is connected with driver module.