CN102950946A - Novel 3/3-RPRS six-degree-of-freedom robot arm carving mechanism - Google Patents
Novel 3/3-RPRS six-degree-of-freedom robot arm carving mechanism Download PDFInfo
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- CN102950946A CN102950946A CN2011102373309A CN201110237330A CN102950946A CN 102950946 A CN102950946 A CN 102950946A CN 2011102373309 A CN2011102373309 A CN 2011102373309A CN 201110237330 A CN201110237330 A CN 201110237330A CN 102950946 A CN102950946 A CN 102950946A
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- screw mandrel
- robot arm
- slide block
- guide rail
- elbow joint
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Abstract
A six-degree-of-freedom robot arm carving machine capable of realizing planar carving, stereo embossments and three-dimensional carving consists of a support and three rotor arms identical in structure. Each robot arm is a two-degree-of-freedom mechanism formed by sequentially connecting a rotary pair, a moving pair, a rotary pair and a ball pair. Each robot arm is driven and controlled by an upper motor and a lower motor to realize six-degree-of-freedom spatial motion of a movable platform to drive a carver to move according to a preset path for caving.
Description
Affiliated technical field
This practicality invention relates to a kind of motion simulation of new machine robot mechanism, by to the control of different mechanical parts and the freely-movable on the cooperation realization six-freedom degree, realizes the two and three dimensions engraving thereby drive graver.
Background technology
The good characteristics such as that parallel robot has is simple in structure, good rigidity, positioning accuracy is high, dynamic response is fast have remedied serial machine people's deficiency, are specially adapted to high accuracy, large load and the less occasion of working space.Have broad application prospects in fields such as machining, military affairs.So, it is carried out comprehensively and systematic research and push practical application to, have important theory significance and practical value.At present, become in recent years a focus in robot research field, its application is also increasingly extensive, and application is constantly expanded.
Now general computer engraving machine is by computer, the engraving machine controller, and engraving machine main frame three parts form.Operation principle: be to design and set type by the special-purpose engraving software that configures in the computer, and by computer design and the information of setting type are sent in the engraving machine controller automatically, by controller these information are changed into again the signal with power (train of pulse) of energy Driving Stepping Motor or servomotor, control engraving machine main frame generates X, Y, the engraving feed roadbed footpath of Z three axles.Simultaneously, High Rotation Speed engraving member on the engraving machine by pressing the cutter of Material Processing configuration, cuts the rapidoprint that is fixed on the host work platform, get final product various planes or three-dimensional relief pattern and literal that carve designs in computer, realize the engraving automated job.
Engraving machine mainly contains two types at present.A kind of relief pattern and literal that is applicable to carve plane and solid, the another kind of engraving 3 D stereo sculpture that is used for.The structure of these two kinds of engraving machines is fully different with principle, and an engraving machine can not be finished cam plane engraving and 3 D stereo engraving simultaneously.
And the problem that the 3 D stereo engraving machine exists is that the engraving object need to have corresponding two ends fixed structure, need to carry out the again processing in later stage.
Summary of the invention
Can not finish simultaneously plane and 3 D stereo engraving in order to solve an engraving machine, and the 3 D stereo engraving machine needs the two ends fixed structure.This applicable Novel engraving machine is applied to engraving with six-DOF robot, can realize simultaneously plane and middle-size and small-size 3 D stereo engraving, has also solved the 3 D stereo engraving and has needed the fixing problem in two ends, only need carry out single-ended fixing getting final product.
The technical solution adopted for the present invention to solve the technical problems is: this six degree of freedom engraving machine basic structure is three robot arms, up and down carrier base, connecting rod and a mobile platform composition.Three robot arm configurations are identical, are by top chock, step, and motor base (frame), screw mandrel, support bar, guide rail, slide block, the robot arm elbow joint, the robot arm ball-joint forms.The screw mandrel upper and lower side passes respectively the through hole at the middle part of metal (upper seat, the central axes of screw mandrel central axis and bearing saddle bore.Established angle contact ball bearing between screw mandrel and the bearing saddle bore guarantees freely rotating of screw mandrel.The guide rail two ends are helicitic texture.Two guide rail poles pass respectively the through hole of the two ends symmetry of metal (upper seat, fix with nut.The central axis of two guide rail poles and screw mandrel is parallel to each other, and two guide rail poles are symmetrical about the screw mandrel central axis.Three through holes on the slide block pass respectively screw mandrel and two guide rail poles, and the central axis of three through holes is respectively at the central axes of screw mandrel and guide rail pole on the slide block, and slide block is to be threaded with screw mandrel, and slide block can move along the screw mandrel axis direction.Thin bar end on the slide block is connected end and is connected with a connecting rod with the elbow joint upper arm.The central axis of connecting rod and slide block, the shaft-like end central axes of elbow joint upper arm, and for being threaded, can free adjustment length.The elbow joint upper arm is connected by pin with the elbow joint underarm, and elbow joint upper arm and underarm can freely rotate around the pin central axis.The elbow joint underarm other end is connected with the shaft-like end of ball-joint by connecting rod.Connected mode is identical with the connected mode of above-mentioned slide block and elbow joint upper arm.Mobile flat board is regular hexagon thin plate, and place, alternate three limits has swash plate, swash plate and regular hexagon thin plate to be 120 degree.Manhole is arranged on the swash plate.Mobile platform carries out bolt with three ball-joint underarms by through hole and is connected.Mobile platform and engine are connected by screw, and the driven by engine graver rotates, and carves.The supporting base of each robot arm screw mandrel upper end passes bracing frame place through hole, central axes.Supporting base, bracing frame are connected four through holes and carry out the bolt connection with motor rack.
Bearing bracket stand has two external parts, and angle is 60 degree.Three the bearing bracket stand external parts in top connect by bar linkage structure each other, and connected mode is that bolt connects.The lower bracket structure is identical with above-mentioned version.For the stability of reinforced support, two support bars are installed between per two screw mandrels, the support bar central axis is parallel with the screw mandrel central axis.Support bar up and down two ends is helicitic texture, is connected with upper and lower strut by nut.
The invention has the beneficial effects as follows, can drive graver carries out any track in the space motion, thereby realize simultaneously plane and plastic relief, the 3 D stereo engraving.And, the size that can regulate easily according to the morphology volume of carved object support, applied widely.In addition, 3 D stereo engraving object does not need the two ends fixed structure, need only single-endedly fix.
Description of drawings
The present invention is further described below in conjunction with accompanying drawing and embodiment.
Fig. 1 is robot arm sliding pair installation diagram of the present invention.
Fig. 2 is robot of the present invention support installation diagram.
Fig. 3 is robots arm's elbow joint front view of the present invention.
Fig. 4 is the top view of Fig. 3.
Fig. 5 is the robot arm mechanism kinematic sketch.
Fig. 6 is the front view of robots arm's elbow.
Fig. 7 is the top view of robots arm's elbow.
Fig. 8 is the front view of robots arm's ball-joint bar.
Fig. 9 is design sketch of the present invention.
1. lower carriage seats among Fig. 1,2. angular contact bearing, 3. screw mandrel, 4. guide rail, 5. nut, 6. spring shim, 7. step, 8. linear motion bearing, 9. slide block, 10. top chock, 11. upper bracket seats, 12. angular contact bearings, 13. motor cabinets, 14. hexagonal socket nuts.
1. upper bracket seats among Fig. 2,2. lower carriage seat, 3. bolt, 4. nut, 5. spring shim, 6. spring shim, 7. alignment pin, 8. support bar, 9. nut, 10. spring shim, 11. connecting plates.
1. robot arm elbow joint upper arm among Fig. 4,2. needle bearing, 3. robot arm elbow joint underarm, 4. bearing pin, 5. cotter pin
The specific embodiment
Support motor up and down cooperates by rotating speed, realizes that slide block 1-9 moves up and down at screw mandrel 1-3 along guide rail 1-4.The upper arm 4-1 of elbow joint is connected with connecting rod with slide block 1-9.So elbow joint upper arm 4-1 keeps relative static with slide block 1-9,1-9 moves up and down together along with slide block.Elbow joint underarm 4-3 is connected with the 4-2 needle bearing with bearing pin 4-4 with elbow joint upper arm 4-1, and elbow joint underarm 4-4 is along with elbow joint upper arm 4-1's moves up and down, and 4-4 freely rotates around bearing pin.Elbow joint underarm 4-4 and ball-joint bar 8 are connected with connecting rod, and another sphere end of ball-joint bar and robot elbow 6 are connected with the spherical pair form.Ball-joint is along with spatial movement is done in the plane motion of elbow joint underarm.Elbow 6 is fixedly connected with the mode of mobile platform with screw.So, cooperate by the motion of three robot arms, can realize that just mobile platform moves in the space by desired trajectory, drive graver and carve operation.Kinematic sketch of mechanism as shown in Figure 5
Claims (3)
1. six-DOF robot arm engraving machine, described engraving machine is by three robot arms, carrier base up and down, support bar, connecting rod and a mobile platform form, three robot arm configurations are identical, are by top chock (1-10), step (1-7), motor base (frame) (1-13), screw mandrel (1-3), guide rail (1-4), slide block (1-9), the robot arm elbow joint, the robot arm ball-joint forms, and it is characterized in that: the screw mandrel upper and lower side passes respectively the through hole at the middle part of metal (upper seat, the central axes of screw mandrel central axis and bearing saddle bore.Established angle contact ball bearing between screw mandrel and the bearing saddle bore guarantees freely rotating of screw mandrel.The guide rail two ends are helicitic texture.Two guide rail poles pass respectively the through hole of the two ends symmetry of metal (upper seat, fix with nut.The central axis of two guide rail poles and screw mandrel is parallel to each other, and two guide rail poles are symmetrical about the screw mandrel central axis.Three through holes on the slide block pass respectively screw mandrel and two guide rail poles, and the central axis of three through holes is respectively at the central axes of screw mandrel and guide rail pole on the slide block, and slide block is to be threaded with screw mandrel, and slide block can move along the screw mandrel axis direction.Thin bar end on the slide block is connected end and is connected with a connecting rod with the elbow joint upper arm.The central axis of connecting rod and slide block, the shaft-like end central axes of elbow joint upper arm, and for being threaded, can free adjustment length.The elbow joint upper arm is connected by pin with the elbow joint underarm, and elbow joint upper arm and underarm can freely rotate around the pin central axis.The elbow joint underarm other end is connected with the shaft-like end of ball-joint by connecting rod.Connected mode is identical with the connected mode of above-mentioned slide block and elbow joint upper arm.Mobile flat board is regular hexagon thin plate, and place, alternate three limits has swash plate, swash plate and regular hexagon thin plate to be 120 degree.Manhole is arranged on the swash plate.Mobile platform carries out bolt with three ball-joint underarms by through hole and is connected.Mobile platform and engine are connected by screw, and the driven by engine graver rotates, and carves.The supporting base of each robot arm screw mandrel upper end passes bracing frame place through hole, central axes.Supporting base, bracing frame are connected four through holes and carry out the bolt connection with motor rack.Bearing bracket stand has two external parts, and angle is 60 degree.Three the bearing bracket stand external parts in top connect by bar linkage structure each other, and connected mode is that bolt connects.The lower bracket structure is identical with above-mentioned version.For the stability of reinforced support, two support bars are installed between per two screw mandrels, the support bar central axis is parallel with the screw mandrel central axis.Support bar up and down two ends is helicitic texture, is connected with upper and lower strut by nut.
2. six-DOF robot arm engraving machine according to claim 1, it is characterized in that: robot arm upper motor axle is connected with screw mandrel, drives screw mandrel and rotates; Robot arm lower motor axle is connected with step, drives guide rail and rotates; By regulating the rotating speed of two motor, adjusting slider moves up and down speed.
3. six-DOF robot arm engraving machine according to claim 1, it is characterized in that: three robot arms are connected with connecting rod by carrier base, robot arm is by revolute pair, moving sets, revolute pair, the ball pair connects and composes the mechanism with two-freedom successively, and three robots arm's actings in conjunction realize the Six-freedom-degree space motion of mobile platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110237330.9A CN102950946B (en) | 2011-08-18 | 2011-08-18 | Novel 3/3-RPRS six-degree-of-freedom robot arm carving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110237330.9A CN102950946B (en) | 2011-08-18 | 2011-08-18 | Novel 3/3-RPRS six-degree-of-freedom robot arm carving mechanism |
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| Publication Number | Publication Date |
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| CN102950946A true CN102950946A (en) | 2013-03-06 |
| CN102950946B CN102950946B (en) | 2015-04-22 |
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| CN201110237330.9A Expired - Fee Related CN102950946B (en) | 2011-08-18 | 2011-08-18 | Novel 3/3-RPRS six-degree-of-freedom robot arm carving mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443987A (en) * | 2017-09-16 | 2017-12-08 | 中北大学 | A kind of sphere parallel mechanism and sphere engraving machine |
| CN108248264A (en) * | 2018-03-14 | 2018-07-06 | 吴江市佳格精密机械有限公司 | A kind of hardware surface detail carving device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001315494A (en) * | 2000-05-01 | 2001-11-13 | Chuo Factoring Kk | Apparatus and method for automatically continuously engraving image |
| DE102004012346A1 (en) * | 2004-03-11 | 2005-09-22 | Dräger, Kai-Uwe | Processing stone, especially preparing crude stone for sculptures, involves using processing tool(s) connected to bending arm robot controlled so processing tool can be brought into processing position and/or processes stone by moving arm |
| CN2858329Y (en) * | 2006-02-13 | 2007-01-17 | 扬州大学 | Five-axis linkage carving machine |
| CN201659821U (en) * | 2010-04-06 | 2010-12-01 | 西安理工大学 | Cable-driven parallel engraving machine |
| CN201761259U (en) * | 2010-07-15 | 2011-03-16 | 常州精华数控设备有限公司 | Drilling and tapping carving machine |
| CN202507817U (en) * | 2011-08-18 | 2012-10-31 | 曹毅 | Novel 3/3-RPRS robot arm engraving mechanism with six freedom degrees |
-
2011
- 2011-08-18 CN CN201110237330.9A patent/CN102950946B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001315494A (en) * | 2000-05-01 | 2001-11-13 | Chuo Factoring Kk | Apparatus and method for automatically continuously engraving image |
| DE102004012346A1 (en) * | 2004-03-11 | 2005-09-22 | Dräger, Kai-Uwe | Processing stone, especially preparing crude stone for sculptures, involves using processing tool(s) connected to bending arm robot controlled so processing tool can be brought into processing position and/or processes stone by moving arm |
| CN2858329Y (en) * | 2006-02-13 | 2007-01-17 | 扬州大学 | Five-axis linkage carving machine |
| CN201659821U (en) * | 2010-04-06 | 2010-12-01 | 西安理工大学 | Cable-driven parallel engraving machine |
| CN201761259U (en) * | 2010-07-15 | 2011-03-16 | 常州精华数控设备有限公司 | Drilling and tapping carving machine |
| CN202507817U (en) * | 2011-08-18 | 2012-10-31 | 曹毅 | Novel 3/3-RPRS robot arm engraving mechanism with six freedom degrees |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443987A (en) * | 2017-09-16 | 2017-12-08 | 中北大学 | A kind of sphere parallel mechanism and sphere engraving machine |
| CN107443987B (en) * | 2017-09-16 | 2023-09-15 | 中北大学 | Sphere parallel mechanism and sphere engraver |
| CN108248264A (en) * | 2018-03-14 | 2018-07-06 | 吴江市佳格精密机械有限公司 | A kind of hardware surface detail carving device |
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| CN102950946B (en) | 2015-04-22 |
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