CN103753520A - High-precision heavy-load hexapod parallel robot - Google Patents
High-precision heavy-load hexapod parallel robot Download PDFInfo
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- CN103753520A CN103753520A CN201410022367.3A CN201410022367A CN103753520A CN 103753520 A CN103753520 A CN 103753520A CN 201410022367 A CN201410022367 A CN 201410022367A CN 103753520 A CN103753520 A CN 103753520A
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Abstract
The invention provides a high-precision heavy-load hexapod parallel robot. The high-precision heavy-load hexapod parallel robot comprises an upper platform, a lower base plate, a plurality of kinematic chains and an air cylinder, wherein the kinematic chains are parallelly connected between the upper platform and the lower base plate, the upper ends of the kinematic chains are movably connected with the upper platform via spherical hinges while the lower ends of the same are movably connected with the lower base plate via spherical hinges, the air cylinder is connected between the upper platform and the lower base plate, and the upper end of the air cylinder is connected with the upper platform via a spherical hinge while the lower end of the same is connected with the lower base plate via a spherical hinge. By the aid of the added air cylinder, loading capability of the hexapod parallel robot is increased greatly, and load on the kinematic chains is lowered. Electric cylinders with higher precision can be adopted for the kinematic chains, so that when the loading capability is increased, the positioning precision is improved. Furthermore, the degree of moving freedom and moving speed of the parallel robot are guaranteed.
Description
Technical field
The present invention relates to industrial automation, be specifically related to the sufficient parallel robot of a kind of high-precision high-load type six.
Background technology
Industrial robot is automation equipment conventional in industrial automation.Wherein, the feature that parallel robot has is simple in structure, freedom of motion is high is widely used in various lathes and experimental facilities.
Parallel robot of the prior art, adopts pneumatic element or the element drives of surging, and positioning precision is low.If adopt leading screw to drive to improve precision, load capacity can reduce again greatly.The parallel kinematic positioning robot simultaneously with hi-Fix and heavy load ability, not only needs heavy-duty motor, and leading screw also will bear very large load.Positioning precision is higher, and the screw thread of leading screw will be finer and closely woven, and load capacity also declines thereupon, and load is excessive, and leading screw will break down.Along with the development of high-accuracy industry, for parallel kinematic, positioning robot has higher requirement, and urgent need can have the positioning robot of the features such as high accuracy, high rigidity, high capacity, high-speed, multiple degrees of freedom.
Being not difficult to find out, also there is certain defect in prior art.
Summary of the invention
Technical problem to be solved by this invention is to provide the sufficient parallel robot of a kind of high-precision high-load type six, and the cylinder of increase strengthens the load capacity of six sufficient parallel robots greatly, alleviates the load that kinematic chain bears.Make kinematic chain can adopt the electric cylinder module that precision is higher, when having improved load capacity, also improved positioning precision.And freedom of motion and the movement velocity of parallel robot have been guaranteed.
For achieving the above object, the present invention is by the following technical solutions:
The sufficient parallel robot of a kind of high-precision high-load type six, comprise: upper mounting plate, lower seat board, be connected in parallel in a plurality of kinematic chains between upper mounting plate and lower seat board, each kinematic chain upper end is flexibly connected with upper mounting plate by spherical linkage, and each kinematic chain lower end is flexibly connected with lower seat board by spherical linkage; Also comprise and be connected in upper mounting plate and the middle cylinder of lower seat board, cylinder upper end is connected with upper mounting plate by spherical linkage, and cylinder lower end is connected with lower seat board by spherical linkage.
Further, described kinematic chain comprises: electric cylinder module and connecting rod; Electricity cylinder module has a telescopic movable end, and connecting rod is connected with the movable end of electric cylinder module.
Further, described upper mounting plate is provided with end face flange.
Further, described kinematic chain is six.
Further, described six kinematic chains meet following positioning relation:
1) six spherical linkages that are connected with upper mounting plate are divided into three groups, every group of two spherical linkages that comprise adjacent setting, and these three groups of spherical linkages are respectively on the uniform trisection angular bisector that is arranged on circumference;
2) six spherical linkages that are connected with lower seat board are divided into three groups, every group of two spherical linkages that comprise adjacent setting, and these three groups of spherical linkages are respectively on the uniform trisection angular bisector that is arranged on circumference;
3) three groups of spherical linkages that are connected with upper mounting plate and three groups of spherical linkages that are connected with lower seat board, be evenly crisscross arranged on six decile angular bisectors of circumference.
The sufficient parallel robot of a kind of high-precision high-load type six provided by the present invention, helps load-bearing by cylinder, and the weight capacity of six sufficient parallel robots is promoted greatly.Meanwhile, alleviate the load-bearing burden of kinematic chain, thereby can adopt high-precision electric cylinder module, promoted the positioning precision of six sufficient parallel robots.Also freedom of motion and the movement velocity of parallel robot have been guaranteed simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The overall structure schematic diagram of a kind of high-precision high-load type six sufficient parallel robots that Fig. 1 provides for the embodiment of the present invention.
Description of reference numerals:
1, end face flange 2, upper mounting plate
3, connecting rod 4, cylinder
5, kinematic chain 6, lower seat board
The specific embodiment
For making object, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention and accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.It should be noted that, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment
Refer to Fig. 1, the sufficient parallel robot of a kind of high-precision high-load type six, comprise: upper mounting plate 2, lower seat board 6, be connected in parallel in a plurality of kinematic chains 5 between upper mounting plate 2 and lower seat board 6, each kinematic chain 5 upper end is flexibly connected with upper mounting plate 2 by spherical linkage, and each kinematic chain 5 lower end is flexibly connected with lower seat board 6 by spherical linkage; Also comprise and be connected in upper mounting plate 2 and the middle cylinder 4 of lower seat board 6, cylinder 4 upper ends are connected with upper mounting plate 2 by spherical linkage, and cylinder 4 lower ends are connected with lower seat board 6 by spherical linkage.
As improvement, the upper end of cylinder 4 is connected in the center of gravity place, bottom of upper mounting plate 2, and the lower end of cylinder 4 is connected in the center of gravity place, top of lower seat board 6.
The present invention has increased cylinder 4 newly on the basis of existing parallel robot, and 4 pairs of parallel robots of cylinder play important load-bearing effect.
Parallel robot of the prior art, lacks cylinder 4, and weight capacity merely self guarantees by kinematic chain 5, thereby the lower screw mandrel of kinematic chain 5 employing precision, adopts the driven by servomotor of high-power large volume simultaneously.Not only make the kinematic accuracy of parallel robot reduce, and volume is increased, structure burden.And possess high capacity and high-precision parallel robot simultaneously, and positioning precision is higher, and the screw thread of leading screw will be finer and closely woven, be subject to the screw thread technique of leading screw and the restriction of motor, and load capacity also declines thereupon.When load is excessive, leading screw even there will be fault, damages parallel robot.
The newly-increased cylinder 4 of the present invention has strengthened the load capacity of parallel robot greatly.Under the load-bearing effect of cylinder 4, the load of kinematic chain 5 greatly alleviates, even if kinematic chain 5 adopts lower, the high-precision electric cylinder module of load capacity, the overall load ability of parallel robot is still protected.Thus, make parallel robot possess the advantage of high accuracy and high capacity simultaneously, and simple in structure, volume is tiny, is active in one's movements rapidly.
Described kinematic chain 5 comprises: electric cylinder module and connecting rod 3; Electricity cylinder module has a telescopic movable end, and connecting rod 3 is connected with the movable end of electric cylinder module.
Kinematic chain 5 is the vitals that drive parallel robot motion, is the important guarantee of freedom of motion.The stretching motion of the kinematic chain 5 driving by Parallel Control, parallel robot can be realized the motion of a plurality of frees degree.If only, for merely to realize the motion of parallel robot, kinematic chain 5 can adopt pneumatic element or the element that surges etc. to have the equipment of stretching motion ability.But in order to improve the kinematic accuracy of parallel robot, in the present embodiment, as preferably, kinematic chain 5 adopts high-precision electric cylinder modules and connecting rod 3 to connect to form.Not only precision is high for electricity cylinder module, and easily controls, and stable working is reliable, and rigidity is high, and speed is fast.Under the load-bearing effect of cylinder 4, the burden of kinematic chain 5 is on behalf of alleviating, even if adopt high-precision electric cylinder module, load capacity is still protected.The parallel robot that adopts said structure, displacement repetitive positioning accuracy is less than 10 μ m.
As preferably, in the present embodiment, described kinematic chain 5 is six.Described six kinematic chains 5 meet following positioning relation:
1) six spherical linkages that are connected with upper mounting plate 2 are divided into three groups, every group of two spherical linkages that comprise adjacent setting, and these three groups of spherical linkages are respectively on the uniform trisection angular bisector that is arranged on circumference;
2) six spherical linkages that are connected with lower seat board 6 are divided into three groups, every group of two spherical linkages that comprise adjacent setting, and these three groups of spherical linkages are respectively on the uniform trisection angular bisector that is arranged on circumference;
3) three groups of spherical linkages that are connected with upper mounting plate 2 and three groups of spherical linkages that are connected with lower seat board 6, be evenly crisscross arranged on six decile angular bisectors of circumference.
The freedom of motion of parallel robot is relevant with its kinematic chain 5 quantity.In the middle of actual conditions, if parallel robot only needs lower freedom of motion, the quantity of kinematic chain 5 can be reduced to two to five.And there is the parallel robot of six kinematic chains 5, can realize the Linear-moving on horizontal, longitudinal and vertical three axles, and can, around horizontal, longitudinal and vertical three axis rotations, possess six degrees of freedom of motion simultaneously.By programming Parallel Control electricity cylinder module, reach cooperative motion, can realize the freely-movable of parallel robot six degree of freedom.
Described upper mounting plate 2 is provided with end face flange 1.In order to make the parallel robot can be compatible with external equipment, with external equipment collaborative work, just need to increase link structure to parallel robot.End face flange 1 is for being installed on external equipment on upper mounting plate 2.
The sufficient parallel robot of a kind of high-precision high-load type six provided by the present invention, has increased cylinder 4 newly on the basis of existing technology to carry out load-bearing, and the load capacity of parallel robot is promoted greatly, has alleviated the load that kinematic chain 5 bears simultaneously.Thus, make kinematic chain 5 can adopt high precision electro cylinder module to form, make the present invention possess the advantage of high accuracy and high capacity simultaneously.The advantages such as meanwhile, the present invention is simple in structure, and volume is light and handy, is easy to control, and has high rigidity, and freedom of motion is high, and movement velocity is rapid, can be used for hi-Fix in Flight Simulator, fixed space, high-speed, high precision milling machine etc.
The above embodiment has only expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (5)
1. the sufficient parallel robot of high-precision high-load type six, comprise: upper mounting plate, lower seat board, be connected in parallel in a plurality of kinematic chains between upper mounting plate and lower seat board, each kinematic chain upper end is flexibly connected with upper mounting plate by spherical linkage, and each kinematic chain lower end is flexibly connected with lower seat board by spherical linkage; It is characterized in that: also comprise and be connected in upper mounting plate and the middle cylinder of lower seat board, cylinder upper end is connected with upper mounting plate by spherical linkage, and cylinder lower end is connected with lower seat board by spherical linkage.
2. the sufficient parallel robot of high-precision high-load type six according to claim 1, is characterized in that, described kinematic chain comprises: electric cylinder module and connecting rod; Electricity cylinder module has a telescopic movable end, and connecting rod is connected with the movable end of electric cylinder module.
3. the sufficient parallel robot of high-precision high-load type six according to claim 1, is characterized in that: described upper mounting plate is provided with end face flange.
4. the sufficient parallel robot of high-precision high-load type six according to claim 1, is characterized in that: described kinematic chain is six.
5. the sufficient parallel robot of high-precision high-load type six according to claim 4, is characterized in that, described six kinematic chains meet following positioning relation:
1) six spherical linkages that are connected with upper mounting plate are divided into three groups, every group of two spherical linkages that comprise adjacent setting, and these three groups of spherical linkages are respectively on the uniform trisection angular bisector that is arranged on circumference;
2) six spherical linkages that are connected with lower seat board are divided into three groups, every group of two spherical linkages that comprise adjacent setting, and these three groups of spherical linkages are respectively on the uniform trisection angular bisector that is arranged on circumference;
3) three groups of spherical linkages that are connected with upper mounting plate and three groups of spherical linkages that are connected with lower seat board, be evenly crisscross arranged on six decile angular bisectors of circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410022367.3A CN103753520A (en) | 2014-01-17 | 2014-01-17 | High-precision heavy-load hexapod parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410022367.3A CN103753520A (en) | 2014-01-17 | 2014-01-17 | High-precision heavy-load hexapod parallel robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175317A (en) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN105798884A (en) * | 2016-05-16 | 2016-07-27 | 中国地质大学（武汉） | Heavy-load parallel movement stabilization platform for offshore drilling |
| WO2018120606A1 (en) * | 2016-12-31 | 2018-07-05 | 广东恒聚医疗科技有限公司 | Dual parallel positioning mechanism for seated radiotherapy |
| CN108943004A (en) * | 2018-06-13 | 2018-12-07 | 中航工程集成设备有限公司 | A kind of space multiple degrees of freedom flexural pivot joint and its support device |
| CN110815170A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Heavy-load hoisting robot based on parallel flexible cable mechanism |
| CN113303699A (en) * | 2021-07-08 | 2021-08-27 | 长春工业大学 | Six-foot robot for stair cleaning |
| CN114212219A (en) * | 2021-11-17 | 2022-03-22 | 北京航天控制仪器研究所 | Compact underwater parallel stable platform and working method thereof |
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| US20070113700A1 (en) * | 2002-07-09 | 2007-05-24 | Amir Khajepour | Light weight Parallel manipulators using active/passive cables |
| DE102008010269A1 (en) * | 2008-02-19 | 2009-08-20 | Volkswagen Ag | Positioning device for moving and aligning mounting platform, has drive arrangement driving mounting platform with respect to base platform such that translatory degrees of freedom of mounting platform are defined by drive arrangement |
| TW201217126A (en) * | 2010-10-29 | 2012-05-01 | Hon Hai Prec Ind Co Ltd | Parallel robot |
| CN103050046A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Parallel motion simulation platform with load-bearing mechanism |
| CN103317498A (en) * | 2013-05-31 | 2013-09-25 | 燕山大学 | Folding type five-degree-of-freedom parallel connected attitude adjustment platform |
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| US20070113700A1 (en) * | 2002-07-09 | 2007-05-24 | Amir Khajepour | Light weight Parallel manipulators using active/passive cables |
| DE102008010269A1 (en) * | 2008-02-19 | 2009-08-20 | Volkswagen Ag | Positioning device for moving and aligning mounting platform, has drive arrangement driving mounting platform with respect to base platform such that translatory degrees of freedom of mounting platform are defined by drive arrangement |
| TW201217126A (en) * | 2010-10-29 | 2012-05-01 | Hon Hai Prec Ind Co Ltd | Parallel robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175317A (en) * | 2014-07-24 | 2014-12-03 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN104175317B (en) * | 2014-07-24 | 2017-02-22 | 合肥工业大学 | Pneumatic artificial muscle and hydraulic hybrid driven six-DOF (degree of freedom) parallel robot |
| CN105798884A (en) * | 2016-05-16 | 2016-07-27 | 中国地质大学（武汉） | Heavy-load parallel movement stabilization platform for offshore drilling |
| WO2018120606A1 (en) * | 2016-12-31 | 2018-07-05 | 广东恒聚医疗科技有限公司 | Dual parallel positioning mechanism for seated radiotherapy |
| CN108943004A (en) * | 2018-06-13 | 2018-12-07 | 中航工程集成设备有限公司 | A kind of space multiple degrees of freedom flexural pivot joint and its support device |
| CN110815170A (en) * | 2018-08-14 | 2020-02-21 | 中国科学院沈阳自动化研究所 | Heavy-load hoisting robot based on parallel flexible cable mechanism |
| CN113303699A (en) * | 2021-07-08 | 2021-08-27 | 长春工业大学 | Six-foot robot for stair cleaning |
| CN113303699B (en) * | 2021-07-08 | 2024-05-03 | 长春工业大学 | Six-foot robot for cleaning stairs |
| CN114212219A (en) * | 2021-11-17 | 2022-03-22 | 北京航天控制仪器研究所 | Compact underwater parallel stable platform and working method thereof |
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Application publication date: 20140430 |