CN102935639B - Triple-claw 3 SPR+3RPS type series-parallel robot - Google Patents
Triple-claw 3 SPR+3RPS type series-parallel robot Download PDFInfo
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- CN102935639B CN102935639B CN201210394480.5A CN201210394480A CN102935639B CN 102935639 B CN102935639 B CN 102935639B CN 201210394480 A CN201210394480 A CN 201210394480A CN 102935639 B CN102935639 B CN 102935639B
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Abstract
The invention relates to a triple-claw 3 SPR+3RPS type series-parallel robot which comprises a 3 SPR+3RPS type series-parallel mechanism and three claw operating devices, and is characterized in that the 3 SPR+3RPS type series-parallel mechanism is composed of a 3 SPR parallel mechanism and a 3 RPS parallel mechanism which are connected in series; the 3 SPR parallel mechanism comprises a machine base, a middle platform and three same SPR branches; the 3 RPS parallel mechanism comprises the middle platform which is shared with the 3SPR, an upper platform and three same RPS branches, and the three claw operating devices are uniformly distributed on the upper platform along the periphery. The 3 SPR+3RPS type series-parallel robot provided by the invention has the advantages that the 3 SPR+3RPS type series-parallel mechanism is distributed everywhere of an operating space and has a larger posture working space, the rigidity is high, the structure is simple, and the 3 SPR+3RPS type series-parallel robot has a wide application prospect on aspects of high-end numerical control manufacturing equipment, automatic high-speed complex product installation and debugging equipment, underground digging and exploiting equipment, disaster rescue equipment, navigation and spaceflight detection equipment and medical treatment operating devices.
Description
Technical field
The invention belongs to robotics, particularly a kind of three paw 3SPR+3RPS type series-parallel robots.
Background technology
It is good that series-parallel robot had both had serial manipulator flexibility, the advantage that working space is large, has again parallel robot rigidity high, and bearing capacity is large, drives without end, drives drive path short, the advantages such as precision is high.In a lot of fields with series connection with parallel institution series-parallel connection or utilize multi-drive series connection branch to form parallel institution to increase working space and flexibility.Its key technology merged robotics, cybernetics, theory of mechanisms, information and sensing technology, artificial intelligence, bionics etc. multidisciplinary and formed new and high technology, become the developing direction of current robot and lathe research field, play an important role in national economy and national security, be subject to Chinese scholars and show great attention to.
Inquiry Chinese invention patent is in recent years known, and University Of Tianjin Huang Tian etc. has invented series parallel robot in five degrees of freedom, Asymmetrical five-degree-of-freedparallel parallel serial robot and Four-degree-of-freedhybrid hybrid robot; Tsing-Hua University closes vertical literary composition and waits with a series branch and a parallel institution and combination, forms a kind of series parallel robot in five degrees of freedom.This kind of robot is in essence on Limited-DOF Parallel Robot basis, suitably increases serial mechanism, forms a New-type mixed-coupled robot of class, improves the speed of robot, precision, rigidity property index in varying degrees, expand working space.Shanghai Communications University Cao Chong to shake etc. and drives branches to form movable type robot in 6 defrees with three identical two, and realize moving platform six-freedom motion, each side chain decoupling of gained mechanism is good, without accumulated error during each chain movement.BJ University of Aeronautics & Astronautics Liu Da etc. proposes a kind of nine-degree of freedom series-parallel robot comprising serial mechanism and parallel institution, for carrying out operation under the constrained operation spaces such as CT.A kind of single-gun-type spraying series-parallel robot of the design such as Changzhou University and many spray guns cooperating type spray five axle series-parallel robots, utilize 3DOF parallel robot and the series-parallel connection of 2DOF lance head to form flexible compact, the high efficiency spray robot of low cost of manufacture.University On The Mountain Of Swallows's Zhao Tieshis etc. propose a kind of dual drive four-freedom parallel institution, containing four side chains, each side chain has two mobile drivings of connecting secondary, and this mechanism has eight drivings in essence, merge 4-PUU and 4-UPU two kinds of parallel institutions, realize the dual grand and micro-move device of four-degree-of-freedom; It has five side chains to propose again a kind of five-freedom dual-driving parallel mechanism afterwards, and each side chain has two to connect mobile to drive secondary, and principle is similar to dual drive four-freedom parallel institution, realizes the grand and micro-move device of five-freedom dual.The ankle joint rehabilitation training device based on serial parallel mechanism invented by Sichuan University Xu Li hard iron etc., its structure mainly comprises the rotating mechanism of one degree of freedom, the sphere parallel mechanism of two frees degree and pallet, form a kind of sphere serial parallel mechanism of Three Degree Of Freedom, the motion of simulation ankle-joint, realizes functions such as ankle-joint traction, rehabilitation trainings.Work Dayu, Anhui stream dawn waits a kind of pose detecting based on serial parallel mechanism of invention, its position detecting device be made up of Three Degree Of Freedom serial mechanism and 3-freedom parallel mechanism series-parallel connection in essence, the requirement of accuracy of detection and working space two aspects can be taken into account, realize composite measurement and the display in real time of the position and attitude of testee, improve detection efficiency.A kind of load simulator based on hybrid mechanism of the disclosure of the invention such as Beijing Institute of Aeronautics university ancestor brilliance, this load simulator is by a support, a moving platform, with the side chain of sensor series forms identical with three of center bound branch, for the performance test of instrument and equipment, this load simulator has the ability of multiple direction load Combined Loading.
Comprehensively analyze discovery to said mechanism and device, these mechanisms are not inherently the mechanisms by two parallel institution series configuration.How at increase parallel institution rigidity and position working space simultaneously, in the working space of position, have again larger locus orientation-workspace and the structure of simplification everywhere, be the crucial problem waiting to solve.
Summary of the invention
The object of this invention is to provide a kind of structure simple, in the working space of larger position, there is again larger locus orientation-workspace everywhere, there are three paw 3SPR+3RPS type series-parallel robots of wide application prospect in high-end numerical control manufacturing equipment, complex product automatic high speed installation and debugging equipment, mine working Mining Equipment, disaster relief equipment, navigation space flight detection equipment and medical operation apparatus etc.
Technical scheme of the present invention is as follows:
The present invention includes 3SPR+3RPS type serial parallel mechanism and three paw operating means, described 3SPR+3RPS type serial parallel mechanism by a 3SPR parallel institution and a 3RPS parallel institution in series; Described 3SPR parallel institution comprises a support, SPR branch that a halfpace is identical with three, SPR branch is by lower end ball pair, middle moving sets and a upper end revolute pair linear drives branch in series, the ball pair end of each SPR branch is hinged with support, revolute pair connects with halfpace, and connecting of three SPR branches and support and halfpace is all circumferentially uniform; 3RPS parallel institution comprise one with the halfpace that 3SPR shares, RPS branch that a upper mounting plate is identical with three, described RPS branch is by the secondary linear drives branch in series of lower end revolute pair, middle moving sets and upper end ball, the revolute pair end of each RPS branch connects with halfpace, ball pair end is hinged with upper mounting plate, and connecting of three RPS branches and halfpace and upper mounting plate is all circumferentially uniform; Three paw operating means circumference uniform distributions are on upper mounting plate.
Described support is provided with the secondary bearing of three balls, and circumference uniform distribution is on a circle;
Described upper mounting plate is provided with the secondary bearing of three balls, and circumference uniform distribution is on a circle;
Described halfpace is circumferentially provided with in uniform way the first axle, the second axle, the 3rd axle, the axis of each axle is all tangent with a circle of halfpace; The revolute pair of the revolute pair of a SPR branch and a RPS branch is connected on halfpace by each axle simultaneously;
Described SPR branch or RPS branch are electric cylinder, and described electric cylinder comprises motor, determines cylinder, lever; Motor orders about lever by the screw mechanism determined between cylinder and lever and does reciprocating linear motion;
Described paw operating means comprises a gripper motor, the first pin, a cylinder body, a support, push rod, the second pin, the 3rd pin and a paw; Gripper motor coaxially connects with cylinder body, first pin rotates and connects cylinder body and support, second pin rotates and connects push rod and paw, and the 3rd pin rotates connecting rack and paw, and gripper motor drives push rod to do reciprocating linear motion by the screw mechanism between cylinder body and push rod and paw swings; Realize the operations such as robot crawl, excavation, rescue, detection and operation.
Advantage of the present invention is: because 3SPR parallel institution position working space is large, 3RPS parallel institution locus orientation-workspace is large, therefore 3SPR+3RPS type serial parallel mechanism has again larger locus orientation-workspace everywhere in the working space of larger position, and it is high to have rigidity, the simple advantage of structure.Therefore, the present invention has wide application prospect in high-end numerical control manufacturing equipment, complex product automatic high speed installation and debugging equipment, mine working Mining Equipment, disaster relief equipment, navigation space flight detection equipment and medical care precess device etc.
Accompanying drawing explanation
Fig. 1 is the structural representation of three paw 3SPR+3RPS type series-parallel robots.
In FIG, 1 support, 2-1 lever, 2-2 determines cylinder, 2-3 motor, 3-1 first axle, 3-2 second axle, 3-3 the 3rd axle, 4 halfpaces, 5 upper mounting plates, 6-1 gripper motor, 6-2 first pin, 6-3 cylinder body, 6-4 support, 6-5 push rod, 6-6 second pin, 6-7 the 3rd pin, 6-8 paw.
Detailed description of the invention
Fig. 1 is an embodiment disclosed by the invention, and described one three paw 3SPR+3RPS type series-parallel robot, comprises a 3SPR+3RPS type serial parallel mechanism and three paw devices.3SPR+3RPS type serial parallel mechanism by a 3SPR parallel institution and a 3RPS parallel institution in series.3SPR parallel institution comprises a support 1, halfpace 4 SPR branch identical with three.SPR branch is secondary by lower end ball, middle moving sets and a upper end revolute pair linear drives branch in series, and ball pair and revolute pair connect with support 1 and halfpace 4 respectively, and circumferentially uniform.3RPS parallel institution is the reverse structure of 3SPR parallel institution in essence, and difference is that revolute pair and ball pair connect with halfpace 4 and upper mounting plate 5 respectively.
The secondary bearing of three balls on support 1 is circumferentially uniform on a circle, and the ball pair end of SPR branch is connected with support by the secondary bearing of ball.The secondary bearing of three balls on upper mounting plate 5 is circumferentially uniform on a circle, and the ball pair end of RPS branch is connected with upper mounting plate by the secondary bearing of ball.First axle 3-1, the second axle 3-2, the 3rd axle 3-3 are tangent with a circle on halfpace 4, and circumferentially uniform; The revolute pair of the revolute pair of a SPR branch and a RPS branch is connected on halfpace by each axle simultaneously.
SPR branch or RPS branch are conventional electric cylinders, and motor 2-3 orders about lever linear reciprocating motion by the screw mechanism determined between cylinder 2-2 and lever 2-1.
Three paw operating means circumference uniform distributions are on moving platform 5; Each paw operating means comprises a gripper motor 6-1, the first pin 6-2, a cylinder body 6-3, a support 6-4, a push rod 6-5, the second pin 6-6, a 3rd pin 6-7 and paw 6-8; Gripper motor coaxially connects with cylinder body, first pin rotates and connects cylinder body and support, second pin rotates and connects push rod and paw, and the 3rd pin rotates connecting rack and paw, and gripper motor drives push rod linear reciprocating motion and paw to swing by the screw mechanism between cylinder body and push rod; Realize the operations such as robot crawl, excavation, rescue, detection and operation.
Claims (5)
1. a paw 3SPR+3RPS type series-parallel robot, comprise 3SPR+3RPS type serial parallel mechanism and three paw operating means, it is characterized in that: described 3SPR+3RPS type serial parallel mechanism by a 3SPR parallel institution and a 3RPS parallel institution in series; Described 3SPR parallel institution comprises a support, SPR branch that a halfpace is identical with three, SPR branch is by lower end ball pair, middle moving sets and a upper end revolute pair linear drives branch in series, the ball pair end of each SPR branch is hinged with support, revolute pair connects with halfpace, and connecting of three SPR branches and support and halfpace is all circumferentially uniform; 3RPS parallel institution comprise one with the halfpace that 3SPR parallel institution shares, RPS branch that a upper mounting plate is identical with three, described RPS branch is by the secondary linear drives branch in series of lower end revolute pair, middle moving sets and upper end ball, the revolute pair end of each RPS branch connects with halfpace, ball pair end is hinged with upper mounting plate, and connecting of three RPS branches and halfpace and upper mounting plate is all circumferentially uniform; Three paw operating means circumference uniform distributions are on upper mounting plate; Described halfpace is circumferentially provided with in uniform way the first axle, the second axle, the 3rd axle, the axis of each axle is all tangent with a circle of halfpace; The revolute pair of the revolute pair of a SPR branch and a RPS branch is connected on halfpace by each axle simultaneously.
2. three paw 3SPR+3RPS type series-parallel robots according to claim 1, is characterized in that: on described support, be provided with the secondary bearing of three balls, and circumference uniform distribution is on a circle.
3. three paw 3SPR+3RPS type series-parallel robots according to claim 1, is characterized in that: on described upper mounting plate, be provided with the secondary bearing of three balls, and circumference uniform distribution is on a circle.
4. three paw 3SPR+3RPS type series-parallel robots according to claim 1, is characterized in that: described SPR branch or RPS branch entirety are for electric cylinder structure, and described electric cylinder comprises motor, determines cylinder, lever; Motor orders about lever by the screw mechanism determined between cylinder and lever and does reciprocating linear motion.
5. three paw 3SPR+3RPS type series-parallel robots according to claim 1, is characterized in that: described paw operating means comprises a gripper motor, the first pin, a cylinder body, a support, push rod, the second pin, the 3rd pin and a paw; Gripper motor coaxially connects with cylinder body, first pin rotates and connects cylinder body and support, second pin rotates and connects push rod and paw, and the 3rd pin rotates connecting rack and paw, and gripper motor drives push rod to do reciprocating linear motion by the screw mechanism between cylinder body and push rod and paw swings.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210394480.5A CN102935639B (en) | 2012-10-17 | 2012-10-17 | Triple-claw 3 SPR+3RPS type series-parallel robot |
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| CN201210394480.5A CN102935639B (en) | 2012-10-17 | 2012-10-17 | Triple-claw 3 SPR+3RPS type series-parallel robot |
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| CN102935639A CN102935639A (en) | 2013-02-20 |
| CN102935639B true CN102935639B (en) | 2015-04-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009350A (en) * | 2017-04-28 | 2017-08-04 | 河南理工大学 | A kind of determination method of 3 PRS serial parallel mechanism equivalent mass |
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| CN108481307B (en) * | 2018-03-29 | 2021-01-08 | 燕山大学 | Continuous robot for large load bearing |
| CN110394777B (en) * | 2019-08-20 | 2022-06-17 | 哈尔滨工程大学 | Multi-degree-of-freedom parallel grabbing robot for model recovery |
| CN111195923A (en) * | 2020-01-14 | 2020-05-26 | 中南大学 | Novel series connection mechanism based on three-degree-of-freedom spherical joint and robot |
| CN111185632A (en) * | 2020-01-15 | 2020-05-22 | 江苏众远智能装备有限公司 | Automatic equipment of real-axis grooving robot |
| CN111872916B (en) * | 2020-07-22 | 2021-12-21 | 燕山大学 | Posture-adjustable three-degree-of-freedom parallel rescue robot |
| CN113246104A (en) * | 2021-06-02 | 2021-08-13 | 中国科学院苏州生物医学工程技术研究所 | Parallel-series-parallel type high-load self-weight ratio mechanical arm |
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| CN2187524Y (en) * | 1993-09-18 | 1995-01-18 | 中国科学院沈阳自动化研究所 | Imitating trunk flexible mechanism |
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| CN107009350A (en) * | 2017-04-28 | 2017-08-04 | 河南理工大学 | A kind of determination method of 3 PRS serial parallel mechanism equivalent mass |
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