CN104002299B - Six-freedom parallel microfluidic platform - Google Patents
Six-freedom parallel microfluidic platform Download PDFInfo
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- CN104002299B CN104002299B CN201410197870.2A CN201410197870A CN104002299B CN 104002299 B CN104002299 B CN 104002299B CN 201410197870 A CN201410197870 A CN 201410197870A CN 104002299 B CN104002299 B CN 104002299B
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- bearing block
- moving platform
- silent flatform
- installing hole
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Abstract
The invention discloses 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, often organize fixed bearing block and pass downwardly through two side chains and silent flatform is in transmission connection, namely between silent flatform and moving platform, be altogether provided with three groups of fixed bearing blocks and six side chains thereof.Device of the present invention, by microfluidic platform installing hole, silent flatform is fixed on grand robot end and end face is installed, by the paw installing hole on moving platform, end effector is fixed on moving platform, size is little, lightweight, rigidity and precision high, achieve the six-freedom degree high precision fine tuning of workpiece space pose in assembling process, reach the object of Fine Boring.
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 the continuous expansion of assembly robot application and deepening continuously of assembly robot control research, require that assembly robot has certain compliance.The compliance of assembly robot is mainly divided into passive compliance and active compliance, and wherein passive compliance cannot be competent in some special cases, and such as, without the assembling situation etc. of chamfering and two-point contact, workpiece greatly stressed in assembling process, affects assembly precision simultaneously.And active compliance is the monitoring device increasing power on the basis of passive compliance, form force feedback servo link, in assembly manipulation process, the power produced by contact-impact can regulate the state of workpiece on one's own initiative to the moment of active compliance center, makes it carry out to the direction being conducive to having assembled.Consider the submissive performance of robot, meet rigidity and the assembly precision of robot in assembling process, there has been proposed the strategy of macro micro manipulator assembling.So-called grand mechanical arm robot for space structure refers to installs a small-sized mechanical arm at the end of a large-scale Flexible Macro manipulator.
Existing mechanical arm, its deficiency is: have plenty of that Adjustment precision is low, poor rigidity, can the number of degrees of freedom, of adjustment assembly workpiece simultaneously few; 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 the problem that existing microfluidic platform adjustment number of degrees of freedom, is few, precision is low, poor rigidity, weight and size are 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, often organize fixed bearing block and pass downwardly through two side chains and silent flatform is in transmission connection, namely between silent flatform and moving platform, be 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 multiple microfluidic platform installing hole in inner ring groove vertically, silent flatform vertically outer ring has the slideway of multiple fluted body, 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 multiple paw installing hole, outer ring has many group bearing block fixing holes vertically, often organize four bearing block fixing holes and be jointly installed with one group of bearing block respectively by respective bearing block hold-down screw, three groups of bearing block symmetries are fixedly mounted on moving platform lower surface altogether, often organize in the middle of four bearing block fixing holes and are provided with bearing block locating hole.
Every bar branched structure is, comprise linear electric motors, the driving axial of linear electric motors is 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.
Second joint bearing is arranged in bearing (ball) cover by a shaft end ring, and this shaft end ring is fixedly connected with small end by an axle head hold-down screw; First oscillating bearing utilizes another one shaft end ring to be arranged in slider shaft holder, and this another one shaft end ring is fixedly connected with connecting rod lower end by another one axle head hold-down screw.
The driving axial of linear electric motors is connected with a slide block base by a hex screw, and 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 the end being arranged on grand mechanical hand, the adjustment of six-freedom degree can be carried out to the spatial pose of workpiece in assembling process simultaneously, solve some mechanical arms in the past can not meet the problem of size, precision, weight and the requirement of adjustment number of degrees of freedom, simultaneously, specific features comprises:
1) be that motor is fixed on silent flatform, when ensureing driving force and load, reduce 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 miniaturized.Solve the requirement that linear electric motors driving shaft can not bear radial load, can decompose by slideway the power that connecting rod passes over, make motor only bear axial force.
2) be that the dead eye of slider shaft holder and fixed bearing block adopts certain angle of inclination design, make microfluidic platform when initial position, the inner ring axis hole of oscillating bearing is in center, the range of movement of oscillating bearing can be made like this to be fully utilized, also to increase the range of movement of moving platform simultaneously.
3) be directly to process cylindrical slideway on silent flatform, replace guide rail, the radial load from all directions can be born, reduce manufacturing cost, also mitigate the weight of whole platform, the more important thing is and can bear by slideway the radial load come from connecting rod transmission, thus reduce motor drive rod because the flexural deformation that causes by radial load, improve 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. the first 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, 18. second joint bearings.
Detailed description of the invention
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 surface is evenly provided with three groups of fixed bearing blocks, often organize fixed bearing block and pass downwardly through two side chains and silent flatform 1 is in transmission connection, namely between silent flatform 1 and moving platform 2, be altogether provided with three groups of fixed bearing blocks and six side chains thereof;
With reference to Fig. 3, silent flatform 1 has multiple microfluidic platform installing hole 1-1 in inner ring groove vertically, silent flatform 1 vertically outer ring has the slideway 1-2 of multiple fluted body, 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 multiple paw installing hole 2-3, outer ring has many group bearing block fixing hole 2-2 vertically, often organize four bearing block fixing hole 2-2 and be jointly installed with one group of bearing block 4 respectively by respective bearing block hold-down screw 3, three groups of bearing block 4 symmetries are fixedly mounted on moving platform 2 lower surface altogether, often organize in the middle of four bearing block fixing hole 2-2 and are provided with bearing block locating hole 2-1.
Bearing block locating hole 2-1 is used for positioning bearing block 4, be equivalent to the effect of a locating surface, and 2-2 bearing block fixing hole only plays fixing, does not play the role of positioning.
With reference to Fig. 1, Fig. 5, described every bar branched structure is, (describing from bottom to top), comprise linear electric motors 17, the driving axial of linear electric motors 17 is connected with a slide block base 15 by a hex screw 14, 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, 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 18 inner ring by a connecting rod 10, second joint bearing 18 outer ring is fixedly mounted in bearing (ball) cover 8, (second joint bearing 18 is arranged in bearing (ball) cover 8 by a shaft end ring 6, this shaft end ring 6 is fixedly connected with connecting rod 10 upper end by an axle head hold-down screw 5, first oscillating bearing 7 utilizes another one shaft end ring 6 to be arranged in slider shaft holder 12, this another one shaft end ring 6 is fixedly connected with connecting rod 10 lower end by another one 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, and bearing block 4 is fixedly connected with moving platform 2 lower surface 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, often organize bearing block 4 to be connected with moving platform 2 by four bearing block hold-down screws 3, the bearing (ball) cover 8 often organizing bearing block 4 lower surface two inclined-planes is fixedly connected with bearing block 4 respectively by four end cap hold-down screws 9.
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.
Silent flatform 1 is processed with slideway 1-2 and is used for alternative guide rail, bear the radial load that linear electric motors 17 driving shaft and connecting rod 10 transmission are come.Each linear electric motors 17 are all connected with controlling organization signal, accept the unified control coordinated, 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 grand robot end and 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 needed, by the inverse driving shaft elongation calculating each linear electric motors 17 of six free parallel connection platforms, thus the driving shaft elongation that can control each linear electric motors 17 is conversely to control the pose of moving platform 2, comprising the translation in three directions of moving platform 2 and the rotation around three axles.In control procedure, the slideway 1-2 on silent flatform 1 guarantees that each slide block base 15 is rectilinear motions vertically, ensure that the kinematic accuracy of six-freedom parallel microfluidic platform; The angle of inclination of slider shaft holder 12 with lower articular bearing 7 with the use of, make the tiltable angular range of connecting rod 10 in moving platform 2 motion process become large, thus reduce the impact of microfluidic platform range of movement by joint motions angle.
Main Function of the present invention is the deficiency making up grand robot precision, when grand platform adjusts complete on a large scale, come by microfluidic platform during its intense adjustment, thus for microfluidic platform requirement mainly precision meet the demands, as long as its movement travel scope covers the maximum error of grand platform.In grand micro assemby, 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 assemby robot substantially increases assembling flexibility and assembly precision.
Claims (6)
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, often organize fixed bearing block and pass downwardly through two side chains and silent flatform (1) is in transmission connection, be namely altogether provided with three groups of fixed bearing blocks and six side chains thereof between silent flatform (1) and moving platform (2);
Described silent flatform (1) has multiple microfluidic platform installing hole (1-1) in inner ring groove vertically, silent flatform (1) vertically outer ring has the slideway (1-2) of multiple fluted body, 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).
2. six-freedom parallel microfluidic platform according to claim 1, it is characterized in that: described moving platform (2) vertically inner ring has multiple paw installing hole (2-3), outer ring has many groups bearing block fixing hole (2-2) vertically, often organize four bearing block fixing holes (2-2) and be jointly installed with one group of bearing block (4) respectively by respective bearing block hold-down screw (3), three groups of bearing block (4) symmetries are fixedly mounted on moving platform (2) lower surface altogether, often organize in the middle of four bearing block fixing holes (2-2) and be provided with bearing block locating hole (2-1).
3. six-freedom parallel microfluidic platform according to claim 1, it is characterized in that: the structure of described every bar side chain is, comprise a linear electric motors (17), the driving axial of linear electric motors (17) is 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 (18) inner ring by a connecting rod (10), second joint bearing (18) 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.
4. six-freedom parallel microfluidic platform according to claim 3, it is characterized in that: described second joint bearing (18) is arranged in bearing (ball) cover (8) by a shaft end ring (6), this shaft end ring (6) is fixedly connected with connecting rod (10) upper end by an axle head hold-down screw (5); First oscillating bearing (7) utilizes another one shaft end ring (6) to be arranged in slider shaft holder (12), and this another one shaft end ring (6) is fixedly connected with connecting rod (10) lower end by another one axle head hold-down screw (5).
5. six-freedom parallel microfluidic platform according to claim 3, it is characterized in that: the driving axial of described linear electric motors (17) is connected with a slide block base (15) by a hex screw (14), the housing of linear electric motors (17) is fixed in motor shaft installing hole (1-3) by a motor hold-down nut (16).
6. six-freedom parallel microfluidic platform according to claim 3, is characterized in that: the dead eye in described bearing block (4) and slider shaft holder (12) is corresponding incline structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410197870.2A CN104002299B (en) | 2014-05-12 | 2014-05-12 | Six-freedom parallel microfluidic platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410197870.2A CN104002299B (en) | 2014-05-12 | 2014-05-12 | Six-freedom parallel microfluidic platform |
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| CN104002299A CN104002299A (en) | 2014-08-27 |
| CN104002299B true CN104002299B (en) | 2015-09-30 |
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| CN201410197870.2A Expired - Fee Related CN104002299B (en) | 2014-05-12 | 2014-05-12 | Six-freedom parallel microfluidic platform |
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| 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 |
| 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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| FR2754205A1 (en) * | 1996-10-07 | 1998-04-10 | Gec Alsthom Syst Et Serv | ROBOT WITH PARALLEL STRUCTURE |
| CN2576434Y (en) * | 2002-11-18 | 2003-10-01 | 哈尔滨工业大学博实精密测控有限责任公司 | Six-freedom precision paralleled robot |
| CN100354069C (en) * | 2003-04-10 | 2007-12-12 | 哈尔滨工业大学 | Six-degree of freedom precise parallel macroscopic moving positioning stage and cone axis hookes coupling used for same |
| CN1297373C (en) * | 2004-03-17 | 2007-01-31 | 哈尔滨工业大学 | High precision flexible parallel robot with six degreed of freedom and large travel |
| CN1962209B (en) * | 2006-12-08 | 2010-05-19 | 哈尔滨工业大学 | Three-branch chain six-freedom degree parallel flexible hinge micromotion mechanism |
| CN103267210B (en) * | 2013-05-16 | 2015-06-10 | 燕山大学 | Six-freedom-degree parallel pointing platform |
| CN103507063A (en) * | 2013-10-08 | 2014-01-15 | 苏州大学 | 6-SPS type micro-motion parallel robot on the basis of piezoelectric ceramic drive |
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2014
- 2014-05-12 CN CN201410197870.2A patent/CN104002299B/en not_active Expired - Fee Related
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