CN103433918B - A kind of five degree of freedom series-parallel connection industrial robot - Google Patents

A kind of five degree of freedom series-parallel connection industrial robot Download PDF

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Publication number
CN103433918B
CN103433918B CN201310405360.5A CN201310405360A CN103433918B CN 103433918 B CN103433918 B CN 103433918B CN 201310405360 A CN201310405360 A CN 201310405360A CN 103433918 B CN103433918 B CN 103433918B
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China
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industrial robot
joint
drive
motor
wrist
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CN201310405360.5A
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Chinese (zh)
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CN103433918A (en
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刘辛军
李�杰
谢福贵
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清华大学
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Abstract

The present invention relates to a kind of working space big, there is high degree of flexibility and flexible five degree of freedom series-parallel connection industrial robot. This five degree of freedom series-parallel connection industrial robot is by vertically rotating joint, and vertical lifting joint, dual-rotational freedom wrist joint, parallel operation mechanism and end quick-change tool form jointly. This five degree of freedom series-parallel connection industrial robot structure is compact, and working range is big, and pose adjustment is flexible, level of automation height, and control is relatively simple, applied range, it may be achieved carrying, spraying, the various engineering operations such as assembling.

Description

A kind of five degree of freedom series-parallel connection industrial robot
Technical field
The invention belongs to machinofacture design neck, it is specifically related to a kind of working range big, there is high degree of flexibility and flexible a kind of five degree of freedom series-parallel connection industrial robot.
Background technology
Along with developing rapidly of China's process industry, industrial robot has become raising production efficiency, ensures to generate the important technical of quality. In the production process of the typical industry such as automobile, aircraft equipment, industrial robot is progressively replacing the main force that artificial work becomes on production line.
Current industrial robot mainly contains serial manipulator, parallel robot and not only contains series connection but also contain series-parallel robot three kinds of forms in parallel. Serial manipulator has that working range is big, and pose adjustment is advantage flexibly, but its deficiency to be rigidity poor, control accuracy is lower. The feature of parallel robot then contrast, parallel robot rigidity height, control accuracy height, easily realizes High-speed Control, and its deficiency is that working range is less, and handiness is relative with flexibility poor. Series-parallel robot, then with the feature of serial manipulator and parallel robot, has huge application prospect in industrial robot field.
Industrial robot on current most of production line have employed the serial manipulator of joint form, the typical structure of this kind of industrial robot is by rotation fuselage, rotate large arm (or mobile large arm), wrist joint and the end effector composition rotating forearm (or mobile forearm) with there are two or three rotatably mounted degree. This kind of topological framework determines handiness and the flexibility that industrial robot has height in working range and pose adjustment, but tediously long cantilever structure makes the carrying capacity of industrial robot and dynamic property quite limited. In packaging industry, the sorting machine people on a lot of production line have selected parallel robot. The constructional feature of parallel operation mechanism is, multiple input side chain connects a moving platform jointly, is realized the pose adjustment of moving platform by the coordinative role of multiple driving, thus has high rigidity, the features such as quick and high dynamic accuracy. Such as, De Erta mechanism on pack-thread is with exclusive high speed characteristics and high dynamic accuracy so that the sorting efficiency of bottle cap improves several times. But parallel robot because of working range limited, flexible not enough, it is difficult to be extended to more wide Application Areas.
In view of the respective relative merits of series and parallel robot, drawing in the enterprising professional etiquette of robot topological framework, form that to have working range big, high rigidity, high flexibility and handiness, the series-parallel robot that dynamic property is superior will be the direction of futurity industry robot development. For this reason, this patent uses for reference the handiness of serial manipulator wrist joint pose adjustment, the wrist joint with two orthogonal rotatably mounted degree is directly connected with linear joint large arm, output terminal in wrist joint connects plane two-freedom parallel operation mechanism again, and plane two-freedom parallel operation mechanism moving platform is in order to the quick-change tool that is installed. What so formed has working range concurrently greatly, handiness and flexibility height, and rigidity is big, and the series-parallel connection industrial robot that dynamic accuracy is high, can effectively make up the deficiency of unitary series of operations or parallel robot.
Summary of the invention
It is an object of the invention to provide a kind of five degree of freedom series-parallel connection industrial robot, the features such as this five degree of freedom series-parallel connection industrial robot has that working range is big, handiness and flexibility height, rigidity height, dynamic property are good, it is thus possible to effectively make up the deficiency of unitary series of operations or parallel robot.
The claimed a kind of five degree of freedom series-parallel connection industry device people of the present invention, this industrial robot is by vertically rotating joint, vertical lifting joint, dual-rotational freedom wrist joint, plane two-freedom parallel operation mechanism and end quick-change tool form jointly, vertically rotating joint drives universal stage to complete by universal stage drive-motor, and this rotation joint expands the scope of work of described industrial robot in same level; Vertical lifting joint drives screw mandrel to drive upper slide block, sliding block, arc sway brace by lifting drive-motor, supports the lifting of axle, F shape Connection Block, expands the scope of work of described industrial robot in same vertical plane; Orthogonal rotation joint near drive respectively by wrist drive-motor first and wrist motor second two, dual-rotational freedom wrist joint forms, dual-rotational freedom wrist joint realizes the multiple work attitude of industrial robot by the co-ordination of two rotatably mounted degree, thus strengthens handiness and the flexibility of industrial robot; Plane two-freedom parallel operation mechanism is made up of large arm drive-motor, crank drive motor, large arm, forearm, crank, connecting rod, moving platform etc., this plane two-freedom parallel operation mechanism has the function keeping moving platform attitude, and the to-and-fro movement of any direction under same attitude in mechanism's place plane is realized by the co-ordination of large arm drive-motor and crank drive motor, it is to increase the execution efficiency of industrial robot working in reciprocating mode; The moving platform of described industrial robot arranges rapid-mounted interface, and the different quick-change tool that is installed on moving platform can realize different engineering duties.
According to five degree of freedom series-parallel connection industrial robot of the present invention, vertically rotation joint is respectively coaxial and orthogonality relation with two rotatably mounted degree in dual-rotational freedom wrist joint, and universal stage is coaxial with wrist rotating shaft first, and universal stage is orthogonal with wrist rotating shaft second.
According to five degree of freedom series-parallel connection industrial robot of the present invention, axle supports F shape Connection Block to arc sway brace jointly with supporting, and lifting up and down under the effect of upper slide block and sliding block so that this industrial machine robot mechanism mount pad that is compact and dual-rotational freedom wrist joint has stronger rigidity. Wrist rotation seat first is function transition part, both as the output of serial mechanism, simultaneously again as the input of the basic pose of plane two-freedom parallel operation mechanism, makes this industrial robot have the characteristic of series and parallel operating mechanism concurrently on the topology.
According to five degree of freedom series-parallel connection industrial robot of the present invention, the different quick-change tool that is installed on moving platform can realize different operation tasks. Such as the spraying of the spray gun that is installed on moving platform for mechanized equipment, the welding gun that is installed on moving platform is for spot weld operation, and the clamper that is installed on moving platform is for carrying and piling.
According to it is an advantage of the current invention that: rotate the lifting with vertical guide rail by the circumference of universal stage, considerably increase the motion scope of industrial robot end effector; Industrial robot is greatly strengthen in the handiness of working space and flexibility by the pose adjustment in dual-rotational freedom wrist joint; Plane two-freedom parallel operation mechanism has the mechanism characteristics keeping attitude, it is possible to greatly strengthen the working in reciprocating mode efficiency of industrial robot in local and load stiffness. In addition, it is compact that this five degree of freedom series-parallel connection industrial robot also has mechanism, and modularization feature is obvious, controls the features such as easy, therefore has wide using value.
Accompanying drawing explanation
Fig. 1 is five degree of freedom series-parallel connection industrial robot overall schematic of the present invention.
Fig. 2 is five degree of freedom series-parallel connection industrial robot side direction of the present invention work schematic diagram (for capable corresponding with the label of each component in Fig. 1, the label in Fig. 2 does not launch by fixing order).
In figure: 1-pedestal, 2-wire casing, 3-universal stage, 4-rotating cylinder, 5-lifting drive-motor, 6-universal stage drive-motor, 7-quick-change tool, 8-moving platform, 9-forearm connecting rod, 10-forearm, 11-large arm, 12-triangular coupling rod, 13-large arm connecting rod, the bent connecting rod of 14-, 15-crank, 16-wrist drive-motor first, 17-E shape rotation seat, 18-wrist drive-motor second, 19-wrist small synchronous pulley, the synchronous greatly belt wheel of 20-wrist, 21-wrist rotating shaft first, 22-wrist rotating shaft second, 23-F shape Connection Block, 24-wrist rotation seat first, 25-cover plate, 26-arc sway brace, 27-supports axle, 28-leading screw, 29-column, the upper slide block of 30-, 31-sliding block, 32-large arm drive-motor, 33-crank drive motor, 34-lifting drives small synchronous pulley, 35-lifting drives big synchronous belt wheel, 36-universal stage drives big synchronous belt wheel, 37-universal stage drives small synchronous pulley, 38-seals base plate.
Embodiment
The accompanying drawing of a kind of five degree of freedom series-parallel connection industrial robot of the present invention illustrates and detailed rules for the implementation are described as follows:
The technical scheme of the present invention is by being described shown in Fig. 1, Fig. 2 and illustration.
A kind of five degree of freedom series-parallel connection industrial robot of the present invention is by vertically rotating joint, vertical lifting joint, dual-rotational freedom wrist joint, plane two-freedom parallel operation mechanism and end quick-change tool form jointly, and the concrete connection relation of each integral part and detailed rules for the implementation are as follows.
Pedestal 1 is the cylindrical interior empty round platform of band four installation feet, and pedestal 1 is bolted with the earth fastening. Wire casing 2 is the arc tank circuit of an offer cable activity, and wire casing 2 is bolted with pedestal 1 upper surface fastening, and the two keeps concentric relation. Universal stage 3 is one with the cylinder turntable of step shaft, the step shaft of universal stage 3 formed by the centre hole of bearing fit and pedestal 1 upper surface rotate secondary. Rotating cylinder 4 is the cylinder that a upper surface is closed, and rotating cylinder 4 is bolted and is fastenedly connected the upper surface of its lower surface and universal stage 3. Universal stage drive-motor 6 is fastening by the upper surface of bolt and pedestal 1, and the motor shaft of universal stage drive-motor 6 then drives small synchronous pulley 37 to be connected by general flat key and universal stage. Universal stage drives the step shaft of the greatly synchronously circular hole neck bearing that belt wheel 36 passes pedestal 1 by general flat key and universal stage 3 to be connected, the big synchronous belt wheel 36 of universal stage driving drives small synchronous pulley 37 to transmit moment by synchronous band with universal stage, thus the moment of torsion of universal stage drive-motor 6 passes to universal stage 3 and top connection component thereof. Sealing base plate 38 is one with the disk of only mouth, sealing base plate 38 is connected fastening by only mouth and bolt with pedestal 1, thus the synchronous belt pulley transmission system of base interior (can also be herein gear train assembly, or other functionally similar transmission system) is sealed. Lifting drive-motor 5 is fastenedly connected by the upper surface of bolt and rotating cylinder 4, and the motor shaft of lifting drive-motor 5 then passes the circular hole of rotating cylinder 4 upper surface and drives small synchronous pulley 34 to be connected by general flat key and lifting. Column 29 is arc thick the stand like a wall post of bottom with bolt hole, and the bottom of column 29 is fastenedly connected by the upper surface of bolt and rotating cylinder 4. The upper surface symmetry of rotating cylinder 4 is installed with in the inboard, upright plane of two columns, 29, two columns 29 to be respectively a line slideway (or a guide rail is fastened on side in column 29 by the form being bolted). Upper slide block 30 and sliding block 31 coordinate formation moving sets by the dovetail-indent of both sides respectively with the line slideway inside two columns 29. The middle part of sliding block 31 has threaded hole, and forms screw-pair by threaded hole and leading screw 28. While leading screw 28 transmission screw thread coordinates with sliding block 31 threaded hole, its lower end step shaft is connected by bearing fit with the circular hole in the middle part of rotating cylinder 4, and its step shaft part passing bearing drives big synchronous belt wheel 35 to be connected by general flat key and lifting. Lifting drives big synchronous belt wheel 35 and lifting to drive small synchronous pulley 34 to transmit power by synchronous band, thus the moment of torsion of lifting drive-motor 5 is converted into the power of slide block 31 lifting. Arc sway brace 26 is the thick wall circular arc sway brace that a rigidity is bigger, and its upper and lower ends all has the connection face of level. The lower end of arc sway brace 26 connects face and is bolted effect, and upper surface and upper slide block 30 are fastening, and lower surface and sliding block 31 are fastening; The connection face, upper end of arc sway brace 26 is then bolted effect and is fastenedly connected with F shape Connection Block. Upper slide block 30 upper surface middle part has through hole, and leading screw 28 freely can rotate through through hole. Each uniform four threaded holes in side, upper slide block 30 upper surface left and right, upper slide block 30 upper surface threaded hole and the threaded hole pairing supporting axle 27 lower surface ladder round platform, then it is bolted the upper surface acting on and two support axles 27 being fastened on upper slide block 30.Cover plate 25 is bolted with two columns 29 fastening, cover plate about 25 side respectively has a smooth circular hole can form moving sets with support axle 27 cylinder surface engagement, and it is secondary that the circular hole in the middle part of cover plate 25 can coordinate formation to rotate built with bearing with the step shaft of leading screw 28 upper end. Cover plate 25 1 aspect is bolted the rigidity that effect can strengthen column 29, then leading screw 28 and supporting axle 27 is played constraint positioning action on the other hand, and support axle 27 is also played guide effect by this outer cover plate 25 in lifting process. Two upper surfaces supporting axle 27 are bolted with F shape Connection Block 23 fastening. The upper surface of the upper surface and arc sway brace 26 that support axle 27 in same level, thus must support F shape Connection Block 23 and guarantee that F shape Connection Block 23 is in horizontality jointly. F shape Connection Block 23 is the shoring of foundation parts in dual-rotational freedom wrist joint, and it is secondary that the step shaft at wrist rotating shaft second 22 two ends coordinates formation to rotate by bearing and the two of F shape Connection Block 23 perpendicular upright plates respectively. Outside wrist rotating shaft second 22, step shaft passes the bearing in the outer cant board of F shape Connection Block 23, and wrist rotating shaft second 22 outermost end step shaft is connected by the synchronous greatly belt wheel 20 of general flat key and wrist. Wrist drive-motor second 18 is bolted in the top of the outer cant board of F shape Connection Block 23, with the axis of wrist rotating shaft second 22 in same vertical plane. The motor shaft of wrist drive-motor second 18 is connected by general flat key and wrist small synchronous pulley 19, wrist small synchronous pulley 19 is by being synchronously with belt wheel 20 synchronous greatly with wrist to transmit power, thus the swinging moment of wrist drive-motor second 18 is converted to the swinging moment of wrist rotating shaft second 22. Wrist rotating shaft second 22 is fastening by form and the E shape rotation seat 17 of welding or bolt connection, and E shape rotation seat 17 is the support of the rotatably mounted degree in dual-rotational freedom wrist joint the 2nd. Wrist drive-motor first 16 is bolted the vertical plate (shown in Fig. 1) being anchored on E shape rotation seat 17 upper end, and the step shaft at wrist rotating shaft first 21 two ends rotates secondary by standing the circular hole formation of plate in the middle part of bearing and E shape rotation seat 17 with lower end. Wrist rotating shaft first 21 is coaxial with the motor shaft of wrist drive-motor first 16, and the two is connected by shaft coupling, thus the moment of torsion of wrist drive-motor first 16 is passed to wrist rotating shaft first 21. Wrist rotating shaft first 21 is connected by general flat key and wrist rotation seat first 24, further the rotation of wrist drive-motor first 16 is passed to wrist rotation seat first 24. Wrist rotation seat first 24 is a U shape Connection Block, it plays the effect that transition connects in whole series-parallel connection industrial robot, it is the output of serial mechanism, it it is again the input of the basic pose of plane two-freedom parallel operation mechanism unit simultaneously, thus make this industrial robot have the characteristic of series and parallel operating mechanism concurrently on the topology, formed and there is excellent mechanism characteristic series-parallel connection industrial robot.
In plane two-freedom parallel operation mechanism, the connection relation of each component is as follows. Crank 15 and large arm 11 are formed by bearing fit respectively to rotate and secondary connect with wrist rotation seat first 24, and large arm drive-motor 32 and crank drive motor 33 by being connected by general flat key with it is driven respectively. Large arm drive-motor 32 and crank drive motor 33 are fastened on the outside of wrist rotation seat first 24U type structure respectively by mechanical screw, and two motor shafts are coaxial. Forming passive rotation pair by bearing and large arm 11 end in the middle part of forearm 10, forearm 10 front end is rotated pair by bearing fit formation and is connected with moving platform 8, and forearm 10 rear end forms rotation pair by bearing fit and bent connecting rod 14 connects. The other end of bent connecting rod 14 then forms rotation pair by bearing fit and connects with crank 15. Triangular coupling rod 12 obtuse angle apex circular hole forms rotation pair by bearing and connects with large arm 11, and the rotation that this rotation is secondary and forearm 10 and large arm 11 are formed is secondary coaxial. Triangular coupling rod 12 profile is trilateral, and its long limit is I connecting rod, and it is II connecting rod in two short limits. I connecting rod forms the secondary one end of rotation by bearing fit and is connected with forearm connecting rod 9, and the other end connects with large arm connecting rod 13. The other end of large arm connecting rod 13 then forms rotation pair by bearing fit and connects with the ear shape connecting rod in wrist rotation seat first 24; The other end of forearm connecting rod 9 then forms rotation pair by bearing fit and connects with moving platform 8. Be installed in the circular hole of moving platform 8 quick-change tool 7, and the different quick-change tool that is installed can carry out different engineer operations.
The scope of work of the quick-change tool 7 that the vertical rotation joint of the industrial robot of five degree of freedom series-parallel connection in the present invention can expand industrial machine robot end in same level, lifting joint then can expand the scope of work of industrial machine robot end quick-change tool in same vertical plane, vertically rotate joint coordinates effect to expand the job space scope of industrial robot with vertical lifting joint so that this industrial robot has operational capability on a large scale. Dual-rotational freedom wrist joint has two orthogonal rotatably mounted degree, industrial machine robot end quick-change tool attitude can be adjusted by the co-ordination of two rotatably mounted degree, in order to realize the requirement of the colourful state of various engineering task, thus enhance handiness and the flexibility of industrial robot. Plane two-freedom parallel operation mechanism not only has the function keeping end quick-change tool athletic posture, the to-and-fro movement of any direction in mechanism's place plane can also be realized by the cooperation effect of two input queued switches of plane two-freedom parallel operation mechanism, thus substantially increasing the execution efficiency of industrial robot, plane two-freedom parallel operation mechanism has the characteristic of quick and high rigidity such that it is able to greatly promote carrying capacity and the high-speed motion characteristic of industrial robot in addition. In addition, owing to plane two-freedom parallel operation mechanism has the function keeping end quick-change tool attitude, the minimizing so that serial mechanism be coupled with the kinematics of plane two-freedom parallel operation mechanism, controls complexity accordingly and decreases.
The present invention is illustrated with an exemplary embodiments, the technician of this area is not when exceeding the scope of the invention, the relative position relation of universal stage and vertical guide rail can be changed, or universal stage drives the driving part driven with lifting do the variation within the scope of common engineering. As driven part and the synchronous V belt translation of elevation actuating part to change to geartransmission universal stage. The size and dimension in some joint can also be made apparent change and amendment, adapt to different engineering duty to be used for.

Claims (1)

1. a five degree of freedom series-parallel connection industrial robot, by vertically rotating, joint, vertical lifting joint, dual-rotational freedom wrist joint, plane two-freedom parallel operation mechanism and end quick-change tool form this industrial robot jointly, vertically rotating joint is the first movable joint, drives universal stage (3) to complete by universal stage drive-motor (6), expands the scope of work of described industrial robot in same level, vertical lifting joint is the 2nd movable joint, drive slide block (30) in screw mandrel (28) drive, sliding block (31), arc sway brace (26), support axle (27), F shape Connection Block (23) lifting by lifting drive-motor (5), expand the scope of work of described industrial robot in same vertical plane, dual-rotational freedom wrist joint is the 3rd movable joint and the 4th movable joint, and the orthogonal rotation joint near two driven respectively by wrist drive-motor first (16) and wrist drive-motor second (18) forms, dual-rotational freedom wrist joint realizes the multiple work attitude of this industrial robot by the co-ordination of two rotatably mounted degree, thus strengthens handiness and the flexibility of industrial robot, wrist rotation seat first (24) is function transition part, both as the output of serial mechanism, simultaneously again as the input of basic pose of plane two-freedom parallel operation mechanism, this industrial robot is made to have the feature of series and parallel mechanism concurrently on the topology, large arm drive-motor, crank drive motor, forearm connecting rod (9), forearm (10), large arm (11), triangular coupling rod (12), large arm connecting rod (13), bent connecting rod (14), crank (15), moving platform (8) forms plane two-freedom parallel operation mechanism, this plane two-freedom parallel operation mechanism's formation the 5th movable joint and the 6th movable joint, there is the function keeping moving platform attitude, and by the co-ordination of large arm drive-motor and crank drive motor, realize the to-and-fro movement of any direction under same attitude in plane two-freedom parallel operation mechanism place plane, improve the execution efficiency of this industrial robot working in reciprocating mode.
CN201310405360.5A 2013-09-09 2013-09-09 A kind of five degree of freedom series-parallel connection industrial robot CN103433918B (en)

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