CN104002299A - Six-degree-of-freedom parallel micro platform - Google Patents
Six-degree-of-freedom parallel micro platform Download PDFInfo
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- CN104002299A CN104002299A CN201410197870.2A CN201410197870A CN104002299A CN 104002299 A CN104002299 A CN 104002299A CN 201410197870 A CN201410197870 A CN 201410197870A CN 104002299 A CN104002299 A CN 104002299A
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Abstract
The invention discloses a six-degree-of-freedom parallel micro platform which comprises a fixed platform body and a movable platform body. The lower surface of the movable platform body is evenly provided with three sets of fixing bearing bases, and each fixing bearing base is connected with the fixed platform body downwards in a transmission mode through two branch chains, namely, the three sets of the bearing bases and six branch chains are arranged between the fixed platform body and the movable platform body. According to the six-degree-of-freedom parallel micro platform, the fixed platform body is fixed to the installation end face at the tail end of a macro robot through a micro platform installation hole, a tail end actuator is fixed to the movable platform body through a gripper installation hole in the movable platform body, the size is small, the weight is low, rigidity and precision are high, six-degree-of-freedom precise trimming of space postures of a workpiece in the assembly process is achieved, and the aim of precise assembly is achieved.
Description
Technical field
The invention belongs to industrial assembly robot technical field, be installed on the arm end of grand micro industry assembly robot, be specifically related to a kind of six-freedom parallel microfluidic platform.
Background technology
Along with continuous expansion and the assembly robot of assembly robot application are controlled deepening continuously of research, require assembly robot to there is certain compliance.The compliance of assembly robot is mainly divided into passive compliance and active compliance, and wherein passive compliance cannot be competent in the situation that some are special, and such as the assembling situation contacting with 2 without chamfering etc., workpiece stressed large in assembling process, affects assembly precision simultaneously.And active compliance is to increase the monitoring device of power on the basis of passive compliance, form the servo link of force feedback, in assembly manipulation process, the power being produced by contact-impact can regulate the state of workpiece on one's own initiative to the moment of active compliance center, and it is carried out to the direction that is conducive to assemble.Consider the submissive performance of robot, meet rigidity and the assembly precision of robot in assembling process, people have proposed the strategy of macro micro manipulator assembling.So-called grand mechanical arm robot for space structure refers at the end of a large-scale Flexible Macro manipulator installs a small-sized mechanical arm.
Existing mechanical arm, its deficiency is: have plenty of and adjust that precision is low, poor rigidity, the number of degrees of freedom, of adjustment assembly workpiece is few simultaneously; Some physical dimensions are too large, weight is too heavy, cannot be directly installed on the end of grand manipulator.
Summary of the invention
The object of this invention is to provide a kind of six-freedom parallel microfluidic platform, solve that existing microfluidic platform adjusts that number of degrees of freedom, is few, precision is low, poor rigidity, weight and size problem bigger than normal.
The technical solution adopted in the present invention is: a kind of six-freedom parallel microfluidic platform, comprise silent flatform and moving platform, moving platform lower surface is evenly provided with three groups of fixed bearing blocks, every group of fixed bearing block is in transmission connection by two side chains and silent flatform downwards, between silent flatform and moving platform, is altogether provided with three groups of fixed bearing blocks and six side chains thereof.
Six-freedom parallel microfluidic platform of the present invention, is further characterized in that:
Silent flatform has a plurality of microfluidic platform installing holes in inner ring groove vertically, silent flatform vertically outer ring has the slideway of a plurality of fluted bodies, every two adjacent slideways are one group, and the axle center perforate of each slideway, as motor shaft installing hole, is provided with the driving shaft of linear electric motors in motor shaft installing hole.
Moving platform vertically inner ring has a plurality of paw installing holes, outer ring has many group bearing block fixing holes vertically, every group of four the bearing block fixing hole respectively bearing block hold-down screw by are separately installed with one group of bearing block jointly, three groups of bearing block symmetries are fixedly mounted on moving platform lower surface altogether, are provided with bearing block locating hole in the middle of every group of four bearing block fixing hole.
Every branched structure is, comprise linear electric motors, on the driving axial of linear electric motors, be connected with a slide block base, slide block base is upwards fixedly connected with slider shaft holder, end ring and the first oscillating bearing are installed in the cavity between slide block base and slider shaft holder, this the first oscillating bearing outer ring is fixed in slider shaft holder, this the first oscillating bearing inner ring is upwards connected with second joint bearing inner race by a connecting rod, second joint bearing outer ring is fixedly mounted in bearing (ball) cover, bearing (ball) cover is upwards fixedly connected with bearing block, bearing block is fixedly connected with moving platform lower surface.
The first shaft end ring of the first oscillating bearing is also arranged in slider shaft holder, the first shaft end ring is fixedly connected with connecting rod lower end by the first axle head hold-down screw, the second shaft end ring of second joint bearing is also arranged in bearing (ball) cover, and the second shaft end ring is fixedly connected with small end by the second axle head hold-down screw.
On the driving axial of linear electric motors, by a hex screw, be connected with a slide block base, the housing of linear electric motors is fixed in motor shaft installing hole by a motor hold-down nut.
Dead eye in bearing block and slider shaft holder is corresponding incline structure.
The invention has the beneficial effects as follows, adopt six-degree-of-freedom parallel applicator platform, realize omnibearing adjustment, be applicable to being arranged on the end of grand mechanical hand, can carry out to the spatial pose of workpiece in assembling process the adjustment of six-freedom degree simultaneously, solved some mechanical arms in the past the problem that can not meet size, precision, weight simultaneously and adjust number of degrees of freedom, requirement, specific features comprises:
1) be to be that motor is fixed on silent flatform, in the situation that guaranteeing driving force and load, reduced the motional inertia of motion parts, connecting rod adopts regular length simultaneously, its length can change according to the designing requirement of the spacing of sound platform and control, is easy to miniaturization.Solved the requirement that linear electric motors driving shaft can not bearing radial force, by slideway, can decompose the power that connecting rod passes over, made the motor only bear axial force.
2) be that the dead eye that is slider shaft holder and fixed bearing block adopts certain angle of inclination design, to make microfluidic platform when initial position, the inner ring axis hole of oscillating bearing is in center, can make like this range of movement of oscillating bearing be fully utilized, also strengthen the range of movement of moving platform simultaneously.
3) be to be directly to process cylindrical slideway on silent flatform, replace guide rail, can bear the radial load from all directions, reduced manufacturing cost, also alleviated the weight of whole platform, the more important thing is by slideway and can bear from the next radial load of connecting rod transmission, thereby reduced the flexural deformation of motor drive rod because caused by radial load, improved kinematic accuracy.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of apparatus of the present invention;
Fig. 2 is the decomposition texture schematic diagram of apparatus of the present invention;
Fig. 3 is the silent flatform surface structure schematic diagram in apparatus of the present invention;
Fig. 4 is the moving platform lower surface configuration schematic diagram in apparatus of the present invention;
Fig. 5 is the assembly structure schematic diagram of a side chain in apparatus of the present invention
Fig. 6 is the structural representation of fixed bearing block part in Fig. 5;
Fig. 7 is the structural representation of slide block built-up section in Fig. 5.
In figure, 1. silent flatform, 1-1. microfluidic platform installing hole, 1-2. slideway, 1-3. motor shaft installing hole, 2. moving platform, 2-1. bearing block locating hole, 2-2. bearing block fixing hole, 2-3. paw installing hole, 3. bearing block hold-down screw, 4. bearing block, 5. axle head hold-down screw, 6. shaft end ring, 7. oscillating bearing, 8. bearing (ball) cover, 9. end cap hold-down screw, 10. connecting rod, 11. slide block hold-down screws, 12. slider shaft holders, 13. end rings, 14. hex screws, 15. slide block bases, 16. motor hold-down nuts, 17. linear electric motors.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
See figures.1.and.2, the structure of six-freedom parallel microfluidic platform of the present invention is, comprise silent flatform 1 and moving platform 2, moving platform 2 lower surfaces are evenly provided with three groups of fixed bearing blocks, every group of fixed bearing block is in transmission connection by two side chains and silent flatform 1 downwards, between silent flatform 1 and moving platform 2, is altogether provided with three groups of fixed bearing blocks and six side chains thereof;
With reference to Fig. 3, silent flatform 1 has a plurality of microfluidic platform installing hole 1-1 in inner ring groove vertically, silent flatform 1 vertically outer ring has the slideway 1-2 of a plurality of fluted bodies, every two adjacent slideway 1-2 are one group, the axle center perforate of each slideway 1-2, as motor shaft installing hole 1-3, is provided with the driving shaft of linear electric motors 17 in motor shaft installing hole 1-3;
With reference to Fig. 4, moving platform 2 vertically inner ring has a plurality of paw installing hole 2-3, outer ring has many group bearing block fixing hole 2-2 vertically, every group four the bearing block fixing hole 2-2 respectively bearing block hold-down screw 3 by are separately installed with one group of bearing block 4 jointly, three groups of bearing block 4 symmetries are fixedly mounted on moving platform 2 lower surfaces altogether, are provided with bearing block locating hole 2-1 in the middle of four every group bearing block fixing hole 2-2.
Bearing block locating hole 2-1 is used for bearing block 4 to position, and is equivalent to the effect of a locating surface, and that 2-2 bearing block fixing hole only plays a part is fixing, does not play the role of positioning.
With reference to Fig. 1, Fig. 5, every described branched structure is, (describing from bottom to top), comprise linear electric motors 17, on the driving axial of linear electric motors 17, by a hex screw 14, be connected with a slide block base 15, the housing of linear electric motors 17 is fixed in motor shaft installing hole 1-3 by a motor hold-down nut 16, slide block base 15 is upwards fixedly connected with by slide block hold-down screw 11 with slider shaft holder 12, end ring 13 and the first oscillating bearing 7 are installed in the cavity between slide block base 15 and slider shaft holder 12, these the first oscillating bearing 7 outer rings are fixed in slider shaft holder 12, these the first oscillating bearing 7 inner rings are upwards connected with second joint bearing 7 inner rings by a connecting rod 10, second joint bearing 7 outer rings are fixedly mounted in bearing (ball) cover 8, (the first shaft end ring 6 of the first oscillating bearing 7 is also arranged in slider shaft holder 12, the first shaft end ring 6 is fixedly connected with connecting rod 10 lower ends by the first axle head hold-down screw 5, the second shaft end ring 6 of second joint bearing 7 is also arranged in bearing (ball) cover 8, the second shaft end ring 6 is fixedly connected with connecting rod 10 upper ends by the second axle head hold-down screw 5), bearing (ball) cover 8 is upwards fixedly connected with bearing block 4 by end cap hold-down screw 9, bearing block 4 is fixedly connected with moving platform 2 lower surfaces by bearing block hold-down screw 3.
With reference to Fig. 6, each bearing block 4 and bearing (ball) cover 8 thereof form one group of fixed bearing block, every group of bearing block 4 is connected with moving platform 2 by four bearing block hold-down screws 3, and the bearing (ball) cover 8 on every group of bearing block 4 two inclined-planes of lower surface is fixedly connected with bearing block 4 by four end cap hold-down screws 9 respectively.
With reference to Fig. 7, above-mentioned slide block base 15, end ring 13 are called a slide block combination together with slider shaft holder 12.
Dead eye in bearing block 4 and slider shaft holder 12 is corresponding incline structure, adapts to installation and the motion of six connecting rods 10.
On silent flatform 1, be processed with slideway 1-2 and be used for substituting guide rail, bear the radial load that linear electric motors 17 driving shafts and connecting rod 10 transmission come.Each linear electric motors 17 are all connected with controlling organization signal, accept the unified control of coordinating, and realize the attitude regulation of moving platform 2.
Operation principle of the present invention is:
Be mainly used in the pose inching of end effector in assembling process, by microfluidic platform installing hole 1-1, silent flatform 1 be fixed on to grand robot end end face is installed, by the paw installing hole 2-3 on moving platform 2, end effector is fixed on moving platform 2,
In assembling process, when the pose of end effector needs trace to adjust, according to the adjustment amount needing, by the contrary driving shaft elongation that calculates each linear electric motors 17 of six free parallel connection platforms, thereby the driving shaft elongation that can control conversely each linear electric motors 17 is controlled the pose of moving platform 2, comprising the translation of three directions of moving platform 2 and around the rotation of three axles.In control procedure, the slideway 1-2 on silent flatform 1 guarantees that each slide block base 15 is straight-line vertically, has guaranteed the kinematic accuracy of six-freedom parallel microfluidic platform; The angle of inclination of slider shaft holder 12 with being used in conjunction with of upper and lower oscillating bearing 7, make the tiltable angular range of connecting rod 10 in moving platform 2 motion processes become large, thereby reduced the impact that microfluidic platform range of movement is subject to joint motions angle.
Main Function of the present invention is the deficiency that makes up grand robot precision, when grand platform is adjusted complete on a large scale, during its intense adjustment, by microfluidic platform, complete, thus for the requirement of microfluidic platform, be mainly that precision meets the demands, as long as its movement travel scope has covered the error of grand platform maximum.In grand micro-assembling, the range of movement of assembly robot depends on the range of movement of grand robot, and assembly precision depends on the adjustment precision of microfluidic platform, so grand micro-assembly robot has improved assembling flexibility and assembly precision greatly.
Claims (7)
1. a six-freedom parallel microfluidic platform, it is characterized in that: comprise silent flatform (1) and moving platform (2), moving platform (2) lower surface is evenly provided with three groups of fixed bearing blocks, every group of fixed bearing block is in transmission connection by two side chains and silent flatform (1) downwards, between silent flatform (1) and moving platform (2), is altogether provided with three groups of fixed bearing blocks and six side chains thereof.
2. six-freedom parallel microfluidic platform according to claim 1, it is characterized in that: described silent flatform (1) has a plurality of microfluidic platform installing holes (1-1) in inner ring groove vertically, silent flatform (1) vertically outer ring has the slideway (1-2) of a plurality of fluted bodies, every two adjacent slideways (1-2) are one group, the axle center perforate of each slideway (1-2), as motor shaft installing hole (1-3), is provided with the driving shaft of linear electric motors (17) in motor shaft installing hole (1-3).
3. six-freedom parallel microfluidic platform according to claim 1, it is characterized in that: described moving platform (2) vertically inner ring has a plurality of paw installing holes (2-3), outer ring has many group bearing block fixing holes (2-2) vertically, every group four bearing block fixing holes (2-2) the respectively bearing block hold-down screw (3) by are separately installed with one group of bearing block (4) jointly, three groups of bearing blocks (4) symmetry is fixedly mounted on moving platform (2) lower surface altogether, is provided with bearing block locating hole (2-1) in the middle of four every group bearing block fixing holes (2-2).
4. six-freedom parallel microfluidic platform according to claim 1, it is characterized in that: every described branched structure is, comprise linear electric motors (17), on the driving axial of linear electric motors (17), be connected with a slide block base (15), slide block base (15) is upwards fixedly connected with slider shaft holder (12), end ring (13) and the first oscillating bearing (7) are installed in the cavity between slide block base (15) and slider shaft holder (12), this the first oscillating bearing (7) outer ring is fixed in slider shaft holder (12), this the first oscillating bearing (7) inner ring is upwards connected with second joint bearing (7) inner ring by a connecting rod (10), second joint bearing (7) outer ring is fixedly mounted in bearing (ball) cover (8), bearing (ball) cover (8) is upwards fixedly connected with bearing block (4), bearing block (4) is fixedly connected with moving platform (2) lower surface.
5. six-freedom parallel microfluidic platform according to claim 4, it is characterized in that: first shaft end ring (6) of described the first oscillating bearing (7) is also arranged in slider shaft holder (12), the first shaft end ring (6) is fixedly connected with connecting rod (10) lower end by the first axle head hold-down screw (5), second shaft end ring (6) of second joint bearing (7) is also arranged in bearing (ball) cover (8), and the second shaft end ring (6) is fixedly connected with connecting rod (10) upper end by the second axle head hold-down screw (5).
6. six-freedom parallel microfluidic platform according to claim 1, it is characterized in that: on the driving axial of described linear electric motors (17), by a hex screw (14), be connected with a slide block base (15), the housing of linear electric motors (17) is fixed in motor shaft installing hole (1-3) by a motor hold-down nut (16).
7. six-freedom parallel microfluidic platform according to claim 1, is characterized in that: the dead eye in described bearing block (4) and slider shaft holder (12) is corresponding incline structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410197870.2A CN104002299B (en) | 2014-05-12 | 2014-05-12 | Six-freedom parallel microfluidic platform |
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| CN201410197870.2A CN104002299B (en) | 2014-05-12 | 2014-05-12 | Six-freedom parallel microfluidic platform |
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| CN104002299A true CN104002299A (en) | 2014-08-27 |
| CN104002299B CN104002299B (en) | 2015-09-30 |
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| CN104820439A (en) * | 2015-04-16 | 2015-08-05 | 华南理工大学 | Parallel connection platform tracking control device and method using visual equipment as sensor |
| CN105834619A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Welding manipulator of welding robot based on delta parallel mechanism |
| CN105945470A (en) * | 2016-05-23 | 2016-09-21 | 丁士林 | Welding robot welding manipulator based on Stewart parallel mechanism |
| CN106112332A (en) * | 2016-07-20 | 2016-11-16 | 张学衡 | A kind of vehicle bodywork soldering welding robot |
| CN107065113A (en) * | 2017-05-18 | 2017-08-18 | 中国科学院长春光学精密机械与物理研究所 | High-precision six-freedom degree optical module pose adjusting apparatus |
| CN107688220A (en) * | 2017-08-24 | 2018-02-13 | 中国科学院长春光学精密机械与物理研究所 | One kind regulation platform |
| CN107791236A (en) * | 2016-08-29 | 2018-03-13 | 上海铼钠克数控科技股份有限公司 | Milling robot, the control system and method for robot polishing |
| WO2018072265A1 (en) * | 2016-10-19 | 2018-04-26 | 泉州装备制造研究所 | 3d printing system on the basis of multi-axis coordinated control and machine vision measurement |
| CN108406740A (en) * | 2018-02-02 | 2018-08-17 | 浙江工业大学 | It is a kind of to grab clamping manipulator with multiple degree of freedom movement locus |
| CN109814514A (en) * | 2019-03-25 | 2019-05-28 | 苏州小男孩智能科技有限公司 | Assembly automation pipeline system with view touching fusion function |
| CN110509311A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | The more redundant drive six-freedom parallel posture adjustment platforms of underloading based on three legs |
| CN110683073A (en) * | 2019-11-08 | 2020-01-14 | 上海上飞飞机装备制造有限公司 | Orthogonal parallel platform device for butt joint of aircraft components |
| CN110802620A (en) * | 2019-11-08 | 2020-02-18 | 东北大学 | End effector of heading machine tool-changing robot suitable for hobbing cutter box |
| CN112223254A (en) * | 2020-08-21 | 2021-01-15 | 南京航空航天大学 | Parallel passive compliant device |
| CN112659099A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local two-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN114654499A (en) * | 2022-02-16 | 2022-06-24 | 南京航空航天大学 | Rigidity-variable industrial robot passive compliant device and cooperative assembly method |
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| CN105834619B (en) * | 2016-05-23 | 2018-07-13 | 吕衍荣 | A kind of welding robot welding manipulator based on delta parallel institutions |
| CN105834619A (en) * | 2016-05-23 | 2016-08-10 | 丁士林 | Welding manipulator of welding robot based on delta parallel mechanism |
| CN105945470A (en) * | 2016-05-23 | 2016-09-21 | 丁士林 | Welding robot welding manipulator based on Stewart parallel mechanism |
| CN106112332A (en) * | 2016-07-20 | 2016-11-16 | 张学衡 | A kind of vehicle bodywork soldering welding robot |
| CN106112332B (en) * | 2016-07-20 | 2018-04-06 | 重庆瑞特精密模具有限公司 | A kind of vehicle bodywork soldering welding robot |
| CN107791236B (en) * | 2016-08-29 | 2023-12-26 | 上海铼钠克数控科技有限公司 | Polishing robot, robot polishing control system and robot polishing control method |
| CN107791236A (en) * | 2016-08-29 | 2018-03-13 | 上海铼钠克数控科技股份有限公司 | Milling robot, the control system and method for robot polishing |
| DE112016007358T5 (en) | 2016-10-19 | 2019-07-25 | Quanzhou Institute Of Equipment Manufacturing | 3D printing system based on multi-axis joint control and machine vision measurement |
| WO2018072265A1 (en) * | 2016-10-19 | 2018-04-26 | 泉州装备制造研究所 | 3d printing system on the basis of multi-axis coordinated control and machine vision measurement |
| CN107065113B (en) * | 2017-05-18 | 2019-06-11 | 中国科学院长春光学精密机械与物理研究所 | High-precision six-freedom degree optical module pose adjusts device |
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| CN107688220A (en) * | 2017-08-24 | 2018-02-13 | 中国科学院长春光学精密机械与物理研究所 | One kind regulation platform |
| CN107688220B (en) * | 2017-08-24 | 2019-08-09 | 中国科学院长春光学精密机械与物理研究所 | A kind of adjusting platform |
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| CN108406740A (en) * | 2018-02-02 | 2018-08-17 | 浙江工业大学 | It is a kind of to grab clamping manipulator with multiple degree of freedom movement locus |
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| CN110802620A (en) * | 2019-11-08 | 2020-02-18 | 东北大学 | End effector of heading machine tool-changing robot suitable for hobbing cutter box |
| CN110802620B (en) * | 2019-11-08 | 2023-08-15 | 东北大学 | End effector of heading machine tool changing robot suitable for cutter roller box |
| CN110683073A (en) * | 2019-11-08 | 2020-01-14 | 上海上飞飞机装备制造有限公司 | Orthogonal parallel platform device for butt joint of aircraft components |
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| CN112659099B (en) * | 2020-11-17 | 2022-07-29 | 燕山大学 | Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint |
| CN114654499A (en) * | 2022-02-16 | 2022-06-24 | 南京航空航天大学 | Rigidity-variable industrial robot passive compliant device and cooperative assembly method |
| CN114654499B (en) * | 2022-02-16 | 2023-10-24 | 南京航空航天大学 | Variable-rigidity passive compliance device of industrial robot and cooperative assembly method |
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