CN103419192B - Four-degree-of-freedhybrid hybrid robot - Google Patents
Four-degree-of-freedhybrid hybrid robot Download PDFInfo
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- CN103419192B CN103419192B CN201310370332.4A CN201310370332A CN103419192B CN 103419192 B CN103419192 B CN 103419192B CN 201310370332 A CN201310370332 A CN 201310370332A CN 103419192 B CN103419192 B CN 103419192B
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Abstract
The invention discloses a kind of Four-degree-of-freedhybrid hybrid robot, belong to robotics.The present invention includes lower bottom base, the top of lower bottom base is connected with revolution casing I by vertical rotation axis I, revolution casing I has upper bed-plate by lower parallel quadrangular mechanism hinged in series, the top of upper bed-plate is connected with revolution casing II by vertical rotation axis II, and revolution casing II is hinged with top workbench by upper parallel quadrangular mechanism; Two drive motors of each parallel-crank mechanism are independently arranged in parallel in revolution casing.The present invention realizes along 3 translational degree of freedom of X, Y, Z axis and 1 around Z axis rotational freedom.Structure of the present invention is simple, and take up room relatively little, torsional rigidity is higher, and working face remains level, and working space is symmetrical, the advantages such as working range is larger, can be used for spraying on a large scale, the occasion such as measurement.
Description
Technical field
The present invention relates to a kind of industrial robot, belong to Industrial Robot Technology field.
Background technology
Should there be four power set in existing conventional four-degree-of-freedom robot.Its arrangement has three kinds of selections:
1, serial mechanism: four independently each self-configuring power set of hinge.
2, mixed organization: partial power device is connected, part in parallel.
3, parallel institution: four drive units are arranged on same basis.
Serial mechanism is very general in the robot system of SCARA form, and to wrist from shoulder to ancon, each hinge has a dynamical element.In addition, the wrist moving sets of connecting with revolute pair in addition.
An example of mixed organization is exactly Delta robot.It has the feature of parallel institution, when doing plane motion, has the translation in three directions.Three motor drive operational platform motions, workbench is connected to fixed coordinates and fastens (being generally ceiling).The axis of motor forms equilateral triangle, the lifting of the 4th motor drive operational platform, and the normal of the plane formed around three motors above rotates.
Serial mechanism provides abundant, complicated mechanism form, and parallel institution provides simple version.Mixed organization is between therebetween.
If only simply considered from structure, parallel institution can be selected.But parallel institution is just somewhat unable to do what one wishes when working space is restricted and needs larger working range and very high flexibility.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art part, the invention provides a kind of Four-degree-of-freedhybrid hybrid robot, two the parallelogram driver modules be based upon on basis in parallel are connected in series, realize along 3 translational degree of freedom of X, Y, Z axis and 1 around Z axis rotational freedom.
The present invention is achieved through the following technical solutions: a kind of Four-degree-of-freedhybrid hybrid robot, it comprises lower bottom base, the top of lower bottom base is connected with revolution casing I by vertical rotation axis I, revolution casing I has upper bed-plate by lower parallel quadrangular mechanism hinged in series, the top of upper bed-plate is connected with revolution casing II by vertical rotation axis II, and revolution casing II is hinged with top workbench by upper parallel quadrangular mechanism;
Described lower parallel quadrangular mechanism is by parallel connecting rod I and connecting rod II, and two parallel connecting rods IV are hinged forms, the connecting rod III parallel with connecting rod IV is hinged with between connecting rod I and connecting rod II, connecting rod IV described in two adopts hinges I to be connected with between described connecting rod I and connecting rod II, connecting rod IV described in two adopts fixed hinge I to be connected with described revolution casing I with fixed hinge II respectively, the upper end of described connecting rod IV connects described upper bed-plate by fixed hinge III, the bottom drive motors of two platform independent is arranged in parallel in described revolution casing I, wherein a bottom drive motors connected by transmission described in vertical rotation axis I, another bottom drive motors connects power output shaft I, power output shaft I connects described connecting rod III,
Described upper parallel quadrangular mechanism is by parallel connecting rod V and connecting rod VI, and two parallel connecting rods VIII are hinged forms, the connecting rod VII parallel with connecting rod VIII is hinged with between connecting rod V and connecting rod VI, connecting rod VIII described in two adopts hinges II to be connected with between described connecting rod V and connecting rod VI, connecting rod VIII described in two adopts fixed hinge IV to be connected with described revolution casing II with fixed hinge V respectively, the upper end of described connecting rod VIII connects described top workbench by fixed hinge VI, the top drive motors of two platform independent is arranged in parallel in described revolution casing II, wherein a top drive motors connected by transmission described in vertical rotation axis II, another top drive motors connects power output shaft II, power output shaft II connects described connecting rod VII.
The invention has the beneficial effects as follows: the present invention is connected in series two the parallelogram driver modules be based upon on basis in parallel, realize along 3 translational degree of freedom of X, Y, Z axis and 1 around Z axis rotational freedom.Structure of the present invention is simple, and take up room relatively little, torsional rigidity is higher, and working face remains level, and working space is symmetrical, the advantages such as working range is larger, can be used for spraying on a large scale, the occasion such as measurement.
Accompanying drawing explanation
The present invention is further described according to drawings and embodiments below.
Fig. 1 is structural representation of the present invention.
In figure, (1) lower bottom base; (1-1) vertical rotation axis I; (2) fixed hinge I; (3) casing I is turned round; (4) connecting rod I; (5) hinges I; (6) fixed hinge II; (7) connecting rod II; (8) power output shaft I; (9) connecting rod III; (10) connecting rod IV; (11) fixed hinge III; (12) upper bed-plate; (12-1) vertical rotation axis II; (13) connecting rod V; (14) fixed hinge IV; (15) hinges II; (16) fixed hinge V; (17) power output shaft II; (18) casing II is turned round; (19) connecting rod VI; (20) connecting rod VII; (21) connecting rod VIII; (22) fixed hinge VI; (23) top workbench.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is further described.
A kind of Four-degree-of-freedhybrid hybrid robot, it is characterized in that: it comprises lower bottom base 1, the top of lower bottom base 1 is connected with revolution casing I 3 by vertical rotation axis I 1-1, revolution casing I 3 has upper bed-plate 12 by lower parallel quadrangular mechanism hinged in series, the top of upper bed-plate 12 is connected with revolution casing II 18 by vertical rotation axis II 12-1, and revolution casing II 18 is hinged with top workbench 23 by upper parallel quadrangular mechanism;
Described lower parallel quadrangular mechanism is by parallel connecting rod I 4 and connecting rod II 7, and two parallel connecting rods IV 10 are hinged forms, the connecting rod III 9 parallel with connecting rod IV 10 is hinged with between connecting rod I 4 and connecting rod II 7, connecting rod IV 10 described in two adopts hinges I 5 to be connected with between described connecting rod I 4 and connecting rod II 7, connecting rod IV 10 described in two adopts fixed hinge I 2 to be connected with described revolution casing I 3 with fixed hinge II 6 respectively, the upper end of described connecting rod IV 10 is by the upper bed-plate 12 described in fixed hinge III 11 connection, the bottom drive motors of two platform independent is arranged in parallel in described revolution casing I 3, wherein a bottom drive motors connected by transmission described in vertical rotation axis I 1-1, another bottom drive motors connects power output shaft I 8, connecting rod III 9 described in power output shaft I 8 connects,
Described upper parallel quadrangular mechanism is by parallel connecting rod V 13 and connecting rod VI 19, and two parallel connecting rods VIII 21 are hinged forms, the connecting rod VII 20 parallel with connecting rod VIII 21 is hinged with between connecting rod V 13 and connecting rod VI 19, connecting rod VIII 21 described in two adopts hinges II 15 to be connected with between described connecting rod V 13 and connecting rod VI 19, connecting rod VIII 21 described in two adopts fixed hinge IV 14 to be connected with described revolution casing II 18 with fixed hinge V 16 respectively, the upper end of described connecting rod VIII 21 is by the top workbench 23 described in fixed hinge VI 22 connection, the top drive motors of two platform independent is arranged in parallel in described revolution casing II 18, wherein a top drive motors connected by transmission described in vertical rotation axis II 12-1, another top drive motors connects power output shaft II 17, connecting rod VII 20 described in power output shaft II 17 connects.
Operation principle of the present invention is: require that robot wants to realize three independently translation and the rotations around vertical axis, and must can sustain the stressed of larger vertical and horizontal direction, namely higher torsional rigidity, requires that workbench remains in level as much as possible simultaneously.
The power of robot comes from the motion of both direction, and one is the pitch motion around trunnion axis, and another is the rotary motion around vertical axis, thus makes top workbench 23 remain level as shown in Figure 1.
Can produce in different loads situation for making motor and independently vert and rotary motion, select 2 groups of identical parallel-crank mechanisms of structure carry out connecting and often organize the transmission mechanism of parallel-crank mechanism dynamical element parallel connection.Each group parallelogram element is formed by hinge links by the connecting rod that several length are different, as shown in Figure 1.Often organize parallel-crank mechanism and provide power by two direct current generators be arranged in corresponding revolution casing, for Fig. 1 lower parallel quadrangular mechanism, direct current generator provides the rotary motion around Z axis, and speed is
another motor passes through power output shaft I 8 by power transmission to connecting rod III 9, connecting rod I 4 and connecting rod II 7 and hinges I 5 is passed through by power transmission to whole parallel-crank mechanism again by connecting rod III 9, parallelogram is rotated for rotating the center of circle with fixed hinge I 2 and fixed hinge II 6, thus rotational movement around a horizontal axis is provided, speed is
.
In layout, two drive motors of each parallel-crank mechanism are independently arranged in parallel in revolution casing, and provided the motion rotated around Z axis (vertical rotation axis I 1-1, vertical rotation axis II 12-1) respectively by gear drive, speed is
, and around the motion of horizontal rotational shaft, speed is
.
Upper parallel quadrangular mechanism and lower parallel quadrangular mechanism, by being connected in series, finally pass motion to top workbench 23.
In mechanism, use
,
represent the anglec of rotation around Z axis, directly generate; With
,
represent pendulum angle, by the angular speed of parallelogram
,
indirect generation, as shown in Figure 1.
Two parallel-crank mechanisms be cascaded, two can be produced respectively in corresponding vertical plane and independently move (rotating around the axle perpendicular to respective planes in two mutual vertical planes), first moves through a revolute pair and rotates around the vertical axis Z axis be fixed on base 1, namely
,
; Second motion for the plane of parallelogram shown in Fig. 1 is around the rotation of X-axis or Y-axis, namely
,
.
Fig. 1 mechanism exists
,
,
,
acting in conjunction under can produce the motion of 4 frees degree, namely around the rotation of Z axis and the translation along X, Y, Z axis.
Claims (1)
1. a Four-degree-of-freedhybrid hybrid robot, it is characterized in that: it comprises lower bottom base (1), the top of lower bottom base (1) is connected with revolution casing I (3) by vertical rotation axis I (1-1), revolution casing I (3) has upper bed-plate (12) by lower parallel quadrangular mechanism hinged in series, the top of upper bed-plate (12) is connected with revolution casing II (18) by vertical rotation axis II (12-1), and revolution casing II (18) is hinged with top workbench (23) by upper parallel quadrangular mechanism;
Described lower parallel quadrangular mechanism is by parallel connecting rod I (4) and connecting rod II (7), and two parallel connecting rods IV (10) are hinged forms, the connecting rod III (9) parallel with connecting rod IV (10) is hinged with between connecting rod I (4) and connecting rod II (7), connecting rod IV (10) described in two adopts hinges I (5) to be connected with between described connecting rod I (4) and connecting rod II (7), connecting rod IV (10) described in two adopts fixed hinge I (2) to be connected with described revolution casing I (3) with fixed hinge II (6) respectively, the upper end of described connecting rod IV (10) is by the upper bed-plate (12) described in fixed hinge III (11) connection, the bottom drive motors of two platform independent is arranged in parallel in described revolution casing I (3), wherein a bottom drive motors connected by transmission described in vertical rotation axis I (1-1), another bottom drive motors connects power output shaft I (8), connecting rod III (9) described in power output shaft I (8) connects,
Described upper parallel quadrangular mechanism is by parallel connecting rod V (13) and connecting rod VI (19), and two parallel connecting rods VIII (21) are hinged forms, the connecting rod VII (20) parallel with connecting rod VIII (21) is hinged with between connecting rod V (13) and connecting rod VI (19), connecting rod VIII (21) described in two adopts hinges II (15) to be connected with between described connecting rod V (13) and connecting rod VI (19), connecting rod VIII (21) described in two adopts fixed hinge IV (14) to be connected with described revolution casing II (18) with fixed hinge V (16) respectively, the upper end of described connecting rod VIII (21) is by the top workbench (23) described in fixed hinge VI (22) connection, the top drive motors of two platform independent is arranged in parallel in described revolution casing II (18), wherein a top drive motors connected by transmission described in vertical rotation axis II (12-1), another top drive motors connects power output shaft II (17), connecting rod VII (20) described in power output shaft II (17) connects.
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| CN103419192B true CN103419192B (en) | 2015-09-30 |
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| CN106976078B (en) * | 2017-01-22 | 2019-06-25 | 浙江厚达智能科技股份有限公司 | Pharmaceutical purpose batch turning manipulator |
| US20200025326A1 (en) * | 2018-07-19 | 2020-01-23 | Visioner Inc. | Novel holder |
| CN109573853B (en) * | 2019-01-17 | 2023-12-22 | 吉林大学 | Three-section arm type translational crane carrying device |
| CN110481890B (en) * | 2019-09-03 | 2020-12-01 | 浙江神泰包装股份有限公司 | A distraction device for corrugated box |
| CN110682272A (en) * | 2019-09-30 | 2020-01-14 | 东北大学 | Four-degree-of-freedom double-parallel serial-parallel hybrid manipulator |
| CN110695965A (en) * | 2019-09-30 | 2020-01-17 | 东北大学 | Three-dimensional space translational series-parallel hybrid manipulator |
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| US5656905A (en) * | 1995-04-03 | 1997-08-12 | Tsai; Lung-Wen | Multi-degree-of-freedom mechanisms for machine tools and the like |
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1269619C (en) * | 2003-11-28 | 2006-08-16 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
| CN2693436Y (en) * | 2003-12-16 | 2005-04-20 | 广东工业大学 | Bi-free degree mobile flat surface parallel mechanism |
| CN101564840A (en) * | 2009-01-21 | 2009-10-28 | 上海广茂达伙伴机器人有限公司 | Robot component based on parallel mechanism, optimum design method and robot |
| DE102011105616A1 (en) * | 2011-06-28 | 2013-01-03 | Jozef Ezechias | Hybrid robot based on three linear axes whose axes intersect, a parellelity holder, a multifunctional space joint, a multi-axis space joint and a space orientation unit |
| CN203427028U (en) * | 2013-08-23 | 2014-02-12 | 江苏建筑职业技术学院 | Four-degree-of-freedom hybrid robot |
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Effective date of registration: 20181206 Address after: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province Patentee after: Bengbu Dingrong Science and Technology Information Consulting Co., Ltd. Address before: 221116 No. 26 Xueyuan Road, Tongshan New District, Xuzhou City, Jiangsu Province Patentee before: Jiangsu Institute of Architectural Technology |
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Effective date of registration: 20181229 Address after: No. 26, Xue Yuan Road, Quanshan District, Xuzhou, Jiangsu Patentee after: Jiangsu Institute of Architectural Technology Address before: 233010 Pioneering Building 316, Huineng Small and Micro Enterprises Pioneering Center, 1750 Shengli West Road, Yuhui District, Bengbu City, Anhui Province Patentee before: Bengbu Dingrong Science and Technology Information Consulting Co., Ltd. |