CN104057442A - Series-parallel robot with five degrees of freedom - Google Patents

Series-parallel robot with five degrees of freedom Download PDF

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Publication number
CN104057442A
CN104057442A CN201410255722.1A CN201410255722A CN104057442A CN 104057442 A CN104057442 A CN 104057442A CN 201410255722 A CN201410255722 A CN 201410255722A CN 104057442 A CN104057442 A CN 104057442A
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China
Prior art keywords
bevel gear
moving platform
shaft
freedom
degrees
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CN201410255722.1A
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CN104057442B (en
Inventor
付庄
刘文红
闫维新
赵言正
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Shanghai joint card machine Qi Ren Science and Technology Ltd.
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Shanghai Jiaotong University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0045Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators

Abstract

The invention provides a series-parallel robot with five degrees of freedom. The series-parallel robot comprises a power-driven system, a positioning system and an orientation system, wherein the power-driven system is arranged on the top end of the positioning system, the orientation system comprises a supporting mechanism and a power steering mechanism, the supporting mechanism comprises three groups of inverting sub-mechanisms, the three groups of inverting sub-mechanisms are linearly and symmetrically distributed between a fixed platform and a movable platform, the rotation torque of the power-driven system is transmitted to the power steering mechanism by virtue of the three groups of inverting sub-mechanisms, the power steering mechanism comprises a rotating mechanism and a swinging mechanism, and the rotation torque transmitted by the supporting mechanism is converted into the rotation of the orientation system around a Z axis and swinging of the orientation system by virtue of the rotating mechanism and the swinging mechanism. The degree of freedom of the robot is added to five degrees of freedom by virtue of a series-parallel mode, so that the translational motion of the three coordinate axes and the rotation around the Z axis can be realized; the swinging of an operation tail end can be applied to the high-rigidity high-precision or high-load field without need of great working space.

Description

Series parallel robot in five degrees of freedom
Technical field
The present invention relates to industrial robot field, particularly, relate to a kind of series parallel robot in five degrees of freedom, for to parallel connection, serial machine people control, motion, dynamics research, and can further be applied to industrial circle, carry out packaging, sorting, welding, assembling etc.
Background technology
Parallel robot is a kind of brand-new robot, it has, and rigidity is large, bearing capacity is strong, error is little, precision is high, deadweight duty ratio is little, power performance good, control the series of advantages such as easy, in application, form complementary relationship with the serial machine people of current extensive use, thereby expanded the application of whole robot.
At present the research of parallel robot is mainly concentrated on control, kinematics analysis and the dynamic analysis aspect of parallel robot.The appearance of parallel institution can date back the thirties in 20th century, and 1931, Gwinnett proposed a kind of entertainment device based on sphere parallel mechanism in its patent; 1940, Pollard proposed a kind of space industry parallel institution in its patent, for spraying paint of automobile; Afterwards, Gough invented a kind of six degree of freedom tyre detection device based on parallel institution in 1962; Nineteen sixty-five, German Stewart has carried out the research in theory of mechanisms meaning to this mechanism of Gough invention first, and is applied the motion-generating device into flight simulator, as flight simulator, is used for training flight person; 1978, Hunt proposed a six-degree-of-freedom parallel connection mechanism first as robotic manipulator, pulled open thus the prelude of parallel robot research, but in subsequently nearly 10 years, parallel robot research seems to stagnate.Until the beginning of the nineties at the end of the eighties, parallel manipulator the talent attract wide attention, and becomes the focus of international research.At home, the professor Huang Zhen of University On The Mountain Of Swallows professor developed China's First six-degree-of-freedom parallel robot model machine in 1991, develop a flexible hinge parallel six degrees of freedom robot inaccuracy compensator in 1994.
Industrial most widely used parallel robot is exactly Delta parallel robot now, You Santiao branch of this robot, in space, become 120 degree to distribute, be divided into moving platform and silent flatform, but the restriction due to mechanism itself, moving platform only has 3 frees degree: along the translation of X-axis, along the translation of Y-axis and along the translation of Z axis, the athletic posture of robot is strictly limited; After have again people to add a rotating shaft in the middle of the moving platform, Delta robot has been increased to a rotational freedom, make robot manipulation's end can adjust rotation attitude, this has just improved the range of application of Delta robot greatly, is generally used for industrial sorting, assembling, carrying etc.
Yet along with the extensive popularization of Delta robot, only four frees degree can not meet more complicated operating mode.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of series parallel robot in five degrees of freedom, this robot is in the mode of series-parallel, the free degree of robot is increased to 5DOF, can realize the translation of 3 reference axis, and around the rotation of Z axis, also have the swing of operational tip.
For realizing above object, the invention provides a kind of series parallel robot in five degrees of freedom, comprise power-driven system, navigation system and orientation system, wherein:
Described power-driven system, is positioned at the top of described navigation system, is used to navigation system and orientation system that power drive is provided, and is provided with silent flatform simultaneously;
Described navigation system comprises:
Actuating arm mechanism, is the space symmetr structure that is mutually 120 degree consisting of three actuating arms, and wherein: actuating arm is connected with power-driven system, and power-driven system drives actuating arm to rotate;
Slave arm mechanism, is the space symmetr mechanism being comprised of three groups of parallelogram sturcutres, and is connected to actuating arm mechanism and moving platform mechanism with the form of spherical hinge;
Moving platform mechanism, comprises a moving platform end cap and a moving platform, and moving platform end cap connects slave arm mechanism, is provided with the electronic-controlled power steering mechanism of orientation system in the cavity of moving platform;
Described orientation system comprises:
Supporting mechanism, comprises three groups of commutation clamp mechanisms, and three groups of commutation clamp mechanisms are linearly symmetrically distributed on silent flatform and between moving platform, and three groups of commutation clamp mechanisms are delivered to the rotation torque of power-driven system in electronic-controlled power steering mechanism;
Electronic-controlled power steering mechanism, comprises rotating mechanism and swing mechanism, rotating mechanism and and swing mechanism rotation torque that supporting mechanism transmission is got off convert rotating and the swing of orientation system around Z axis of orientation system to.
Preferably, described slave arm mechanism comprises: slave arm joint, oscillating bearing and follower lever, wherein: slave arm joint is connected with the actuating arm of actuating arm mechanism, slave arm joint is connected by oscillating bearing with follower lever, the both sides of follower lever connect oscillating bearing by metal joint respectively, and the then actuating arm connection of one end Zai Yu actuating arm mechanism of follower lever and oscillating bearing integral body, the other end are connected with the moving platform end cap of moving platform mechanism.
Preferably, three groups of parallelogram in described slave arm mechanism, wherein each parallelogram is the Yi Ge parallelogram sturcutre branch of the moving platform end cap formation of two follower levers, slave arm joint and moving platform mechanism, and whole robot always has San Ge branch, space 120 degree are symmetrical, four summits of every group of parallel-crank mechanism are all connected with four oscillating bearings, above one group of oscillating bearing be connected with actuating arm, below one group of oscillating bearing be connected with moving platform.
Preferably, described rotating mechanism comprises hollow gear shaft, the first gear, the first rotating shaft and rotates chamber; Swing mechanism comprises the first bevel gear shaft, the first bevel gear, the second bevel gear shaft, the second bevel gear and swing span; Wherein: electronic-controlled power steering mechanism hollow core gear the tip of the axis is connected with rotation chamber; The first gear is fixed in the first rotating shaft, with the gear external toothing on hollow gear shaft; The first bevel gear is connected to the first bevel gear the tip of the axis, the second bevel gear is connected to the second bevel gear the tip of the axis and becomes 90 degree engagements with the first bevel gear, the other end at the second bevel gear shaft is connected with swing span, and swing span rotates with the rotation of the second bevel gear shaft.
In described electronic-controlled power steering mechanism: in the first rotating shaft rotation drive the first gear to rotate, the first gear drives hollow gear shaft to rotate by external toothing effect, thereby makes the rotation chamber that is fixed on hollow wheel gear shaft end realize the rotation at any angle around Z axis; The rotation of the first bevel gear shaft drives the first bevel gear to rotate, by bevel gear external toothing drive and the second bevel gear that the first bevel gear is mutually 90 degree, rotate, thereby drive the second bevel gear shaft to rotate, the rotation of the second bevel gear shaft drives the swing span of its end to swing; Whole electronic-controlled power steering mechanism is by utilizing hollow gear shaft, the first bevel gear, the second bevel gear, that cleverly supporting mechanism transmission is got off rotatablely moves, change into the rotation of orientation system, and the swing of swing span, thereby make the free degree of whole robot, be 5.
Preferably, described orientation system further comprises balanced controls, described balanced controls comprise the second rotating shaft, the second gear, and the second gear is connected with the second rotating shaft and meshes with hollow gear shaft, and balanced controls and the first gear are symmetrically distributed in the two ends of hollow gear shaft.
Preferably, in the moving platform mechanism of described navigation system, the top of moving platform end cap is distributed with three boss, and two end faces of each boss are equipped with internal thread, for being connected with the follower lever of slave arm mechanism; The middle of moving platform is linearly distributed with 3 through holes, for the distribution of the first rotating shaft, the first bevel gear shaft, the second rotating shaft.
Preferably, the clamp mechanism that commutates described in each includes two universal joints, hollow ball spline shaft, ball spline axle sleeve and loop bar; Wherein: universal joint is candan universal joint and setting in pairs, in two paired universal joints, wherein near universal joint one end of silent flatform, is connected to the end of hollow ball spline shaft, and the other end is connected with power-driven system; Universal joint one end near moving platform is threaded connection on the loop bar of ball spline axle sleeve end, and three other ends near the universal joint of moving platform are from left to right connected to the second rotating shaft in the first rotating shaft, the first bevel gear shaft and the balanced controls in electronic-controlled power steering mechanism.
Preferably, what the supporting mechanism in described orientation system adopted is diesis universal joint, and one of them universal joint is connected with hollow ball spline shaft, and another universal joint is connected with the loop bar in supporting mechanism.
Preferably, in described orientation system, three of supporting mechanism groups of commutation clamp mechanisms linearly distribute, and symmetrical, wherein: the clamp mechanism being connected with the first bevel gear shaft with the first rotating shaft has driving propagation function, another only plays a supportive role with the clamp mechanism that the second rotating shaft is connected.
Preferably, in described supporting mechanism: power-driven system rotation torque drives the universal joint being attached thereto to rotate near the universal joint of silent flatform, thereby drive ball spline shaft, loop bar rotation, the final universal joint rotation driving near the hollow ball spline axle head of moving platform, thereby the rotation of power-driven system is delivered to the first rotating shaft, the first bevel gear shaft, the second rotating shaft that are connected with universal joint, rotate, thereby drive three axles to rotate.
Preferably, described power-driven system comprises for driving three AC servo motors of navigation system actuating arm, drive the stepper motor of the first rotating shaft in orientation system, the first bevel gear shaft, and the circular silent flatform of a fixing above-mentioned motor, three AC servo motors are fixed on silent flatform lower surface, are mutually 120 degree.
Preferably, the actuating arm in the actuating arm mechanism of described navigation system adopts carbon fiber pipe, and in slave arm mechanism, follower lever adopts carbon fiber pipe.
Preferably, in the slave arm mechanism of described navigation system, oscillating bearing adopts L-type bulb spherical plain bearing rod end, one side of L-type bulb spherical plain bearing rod end is screw thread and is bolted the end that is fixed on slave arm joint, and another side is internal thread and is connected with follower lever by a metal joint; This metal joint one end is that internal thread is connected with the end of thread of oscillating bearing, one end is polished rod and follower lever stressed joint bonding with seccotine.
In the above-mentioned robot of the present invention, the most key innovation is the design of electronic-controlled power steering mechanism, general Delta robot only has 3 frees degree, respectively along X-axis, Y-axis, the translation of Z axis, for common carrying, vanning can be met consumers' demand, but when requiring sorting object ordered arrangement, only there is the translation of three reference axis not meet the demands, therefore the number of degrees of freedom, of robot is had again to new requirement, by increase, around the rotation of Z axis and the swing of operator end, expand the operating space of robot, thereby expand the range of application of robot.
Further, in order to alleviate the weight of moving platform, in the above-mentioned robot of the present invention, improved the design of supporting mechanism, all power-driven system members are all fixed on silent flatform, when moving platform translation, distance and angle between moving platform central point and silent flatform central point also can change thereupon, therefore how to solve when moving platform translation, still the stepper motor rotation torque on silent flatform can be delivered to moving platform to keep rotating the normal rotation of chamber and swing span, become a key issue.The present invention uses double Hooke's joint collocation ball spline structure, well solved this problem: ball spline mechanism both can transmitting torque, can move along splined shaft axial direction again, and motion steadily, and distance and angle that the universal joint that is distributed in splined shaft mechanism two ends can be adjusted to adapt between moving platform and silent flatform automatically change, therefore, can well address the above problem.
Further, in the above-mentioned robot of the present invention, actuating arm and slave arm material are carbon fiber pipe, have greatly alleviated the weight of robot, have improved the load weight of moving platform.
Compared with prior art, the present invention has following beneficial effect:
Robot of the present invention fully combines parallel robot and serial machine people's excellent, shortcoming, using parallel institution as navigation system, can realize the pinpoint object of robot end; Serial mechanism is as orientation system, to end, operation realizes fine setting, mode with series-parallel, the free degree of robot is increased to 5, can realizes the translation of 3 reference axis, and around the rotation of Z axis, also has the swing of operational tip, be not only the innovation in Yi Ci mechanism, expanded especially the scope of commercial Application, have wide adaptability, compact conformation, registration, at a high speed, the advantage such as lightweight.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the branched structure schematic diagram of the present invention's one preferred embodiment.
Fig. 2 is the overall schematic perspective view of the present invention's one preferred embodiment.
Fig. 3 is the present invention's one preferred embodiment electronic-controlled power steering mechanism structural representation.
In figure: 1 is silent flatform, 2 is motor fixing plate, 3 is actuating arm, 4 is slave arm joint, 5 is oscillating bearing, 6 is follower lever, 7 is moving platform end cap, 8 is moving platform, 9 is swing span, 10 for rotating chamber, 11 is universal joint, 12 is hollow ball spline shaft, 13 is loop bar, 14 is motor case body, 15 is hollow gear shaft, 16 is the second gear, 17 is the first gear, 18 is the second rotating shaft, 19 is the first rotating shaft, 20 is the first bevel gear shaft, 21 is the second bevel gear shaft, 22 is the first bevel gear, 23 is the second bevel gear.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in 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.
As shown in Figure 1, 2, the present embodiment provides a kind of series parallel robot in five degrees of freedom, comprises power-driven system, navigation system and orientation system, is illustrated in figure 1 branch's schematic diagram, is illustrated in figure 2 overall schematic perspective view; Concrete:
Described navigation system comprises: actuating arm mechanism, slave arm mechanism, moving platform mechanism, wherein:
Described actuating arm mechanism: comprise that 3, three actuating arms of actuating arm 3 form the space symmetr structure that is mutually 120 degree, wherein: servomotor projecting shaft is connected by flat key with actuating arm 3 and drives actuating arm 3 rotations.
In the present embodiment, in order to alleviate the weight of whole mechanism, described actuating arm 3 is the carbon fiber pipe of internal diameter 36mm, external diameter 40mm.Carbon fiber has the various premium properties of elemental carbon, as little in proportion, heat resistance is fabulous, thermal coefficient of expansion is little, thermal conductivity factor is large, corrosion resistance and electric conductivity good etc., the best performance of carbon fiber is that specific strength and specific modulus surpass general fortifying fibre, and the specific strength of the composite that it and resin form and specific modulus are than steel and aluminium alloy high 3 times of left and right also.Carbon fibre composite is applied on space flight, guided missile and sports equipment, and significantly weight reduction improves payload, improves performance, is the important structure material of aerospace industry.
Described slave arm mechanism: comprise slave arm joint 4, oscillating bearing 5 and follower lever 6, wherein: slave arm joint 4 is metal material, adopt stressed joints bonding with seccotine with actuating arm 3; Driven joint 4 is connected by oscillating bearing 5 with follower lever 6, oscillating bearing 5 adopts bulb spherical plain bearing rod end, there is screw thread on one side, be bolted the end that is fixed on slave arm joint 4, another side is internal thread, be connected by a metal joint with follower lever 6, described metal joint one end is that internal thread is connected with the end of thread of oscillating bearing 5, the other end is polished rod and follower lever 6 stressed joints bonding with seccotine, the pommel of oscillating bearing 5, around ball cover rotation 45 degree, meets robot motion's requirement.
In the present embodiment, the carbon fiber pipe that described follower lever 6 is 700mm for length, both sides are connected with oscillating bearing 5 by metal joint respectively, and one end is connected with actuating arm 3, one end and moving platform end cap 7 are threaded connection in addition.
In the present embodiment, Mei Tiao branch of described slave arm mechanism consists of two follower levers 6, adds slave arm joint 4 and moving platform end cap 7 forms parallelogram sturcutres, and the total total San Ge branch of whole series parallel robot in five degrees of freedom, space 120 degree are symmetrical, specifically as shown in Figure 1.
Moving platform mechanism: comprise moving platform end cap 7 and moving platform 8, wherein: whole moving platform mechanism becomes cylindrical, moving platform end cap 7 tops are distributed with three boss, two end faces of each boss are equipped with internal thread and are connected for the follower lever 6 with slave arm mechanism, the middle of moving platform 8 is linearly distributed with three through holes, for the distribution of the first rotating shaft 19, the first bevel gear shaft 20, the second rotating shaft 18; Moving platform 8 is columniform inner chambers, and the cavity of the inside is for the placement of orientation system medium power steering mechanism.
Described orientation system comprises: supporting mechanism, electronic-controlled power steering mechanism, balanced controls, wherein:
Described supporting mechanism: comprise universal joint 11, hollow ball spline shaft 12 and loop bar 13, wherein: what universal joint 11 adopted is candan universal joint and use in pairs, in two paired universal joints 11, wherein universal joint 11 one end near silent flatform 1 are threaded connection loop bar 13, and the other end is connected with stepper motor; Another universal joint 11 one end near moving platform 8 are fixed on hollow ball spline shaft 12 by screw thread, and the other end is connected 18 by screw thread respectively at the first rotating shaft 19 in orientation system, the first bevel gear shaft 20, the second rotating shaft; Ball spline structure has compared with compact structure, can transmit the load and the power that exceed the quata, and has the longer life-span, and raceway groove is processed into the R shape of approximate ball diameter through accurate grinding; When moment of torsion by spline housing on or while being applied on splined shaft by splined shaft, load ball in three row torque direction is balance, Transmit evenly moment of torsion just, in series parallel robot in five degrees of freedom mechanism, adopt ball spline structure to coordinate moving platform in when motion and the direct distance of silent flatform, and moment of torsion transmission can be got off to drive the running of orientation system, and do not affect the motion of moving platform, not only can play the effect of support, drive system can also be placed on silent flatform, thereby further alleviate the weight of moving platform, make operational tip can have larger heavy burden.
Described electronic-controlled power steering mechanism, consists of rotating mechanism and swing mechanism, and wherein rotating mechanism specifically comprises: hollow gear shaft 15, the first gear 17, the first rotating shaft 19, rotate chamber 10; Swing mechanism specifically comprises: the first bevel gear shaft 20, the first bevel gear 22, the second bevel gear shaft 21, the second bevel gear 23 and swing span 9, integrated model schematic diagram as shown in Figure 3.
Balanced controls, for consisting of the second rotating shaft 18, the second gear 16;
In the present embodiment, described hollow gear shaft 15 is threaded connection with the rotation chamber 10 in orientation system, when hollow gear shaft 15 rotation, and also rotation thereupon of whole orientation system (comprise swing span 9 and rotate chamber 10), and can realize 360 degree rotations; Gear on hollow gear shaft 15 and the first gear 16 and the second gear 17 external toothings respectively, the first gear 17 is connected in the first rotating shaft 19 by flat key, the first rotating shaft 19 is threaded connection on the candan universal joint 11 (near the universal joint 11 of moving platform end cap 7) in supporting mechanism, stepper motor drives and drives the rotation of supporting mechanism clamp mechanism, thereby drive the first gear 17 in the first rotating shaft 19 to turn, the first gear 17 drives hollow gear shaft 15 rotations by engagement, thereby drives orientation system to realize the Arbitrary Rotation around Z axis; For keeping the balance of whole moving platform 8, using the second gear 16 as balance gear and the first gear 17 be symmetrically distributed in the two ends of hollow gear shaft 15, the second gear 16 is connected in the second rotating shaft 18 by flat key; Because gear can cause gear clearance in the process of assembling, affect the precision of transmission, therefore in order to eliminate gap, take to adjust the method for centre-to-centre spacing, bearing saddle bore is processed into trough type, two semicircular centre-to-centre spacing is 1mm, so just can apart from reducing gear, turn and joins the gap producing in process by adjusting gear centre; The first bevel gear shaft 20 is positioned at hollow gear shaft 15 inside, and is connected with candan universal joint 11 by screw thread; The end of the first bevel gear shaft 20 is fixed with the first bevel gear 22, by universal joint 11, drive the first bevel gear shaft 20 rotations, thereby drive the rotation of the first bevel gear 22, the first bevel gear 22 drives and becomes with it the second bevel gear 23 of an angle of 90 degrees engagement to rotate, thereby drives the second bevel gear shaft 21 to rotate; On the second bevel gear shaft 21, by flat key, be connected with swing span 9, swing span 9 rotates with the rotation of the second bevel gear shaft 21.Whole electronic-controlled power steering mechanism schematic diagram as shown in Figure 3, by utilizing hollow gear shaft 15, the first bevel gear 22 and the second bevel gear 23, cleverly rotatablely moving of drive motors got off by supporting mechanism transmission, again by electronic-controlled power steering mechanism, rotatablely moving of stepper motor is just converted into the swing of rotating chamber 10 and swing span 9, thereby make the number of degrees of freedom, of whole robot, is 5.
Described power-driven system is positioned at the top of described navigation system, comprise: silent flatform 1, three motor fixing plates 2, three AC servo motor & drivers, three harmonic speed reducers and two stepper motors and driver thereof, wherein: silent flatform is 1 one thick flat boards of circle, three AC servo motors are connected with harmonic speed reducer respectively, and be fixed on silent flatform 1 lower surface by motor fixing plate 2, be mutually 120 degree; What the motor of three actuating arms adopted is all AC servo motors, and with respect to other motors, AC servo motor has higher precision, can realize position, and the closed-loop control of speed and moment has overcome the problem of step out of stepping motor; In addition, high speed performance is good, and general rated speed can reach 2000~3000 and turn; Strong adaptability, anti-overload ability is strong, can bear the load that is three times in nominal torque, to the occasion particularly suitable that has momentary load fluctuation and require to quick start; Stable, low cruise is steady, can not produce the step run phenomenon that is similar to stepper motor during low cruise, is applicable to the occasion that high-speed response requires; Promptness: the dynamic corresponding time of motor acceleration and deceleration is short, generally within a few tens of milliseconds; What decelerator adopted is harmonic speed reducer, than suitable common decelerator comparison, its part reduces 50%, volume and weight all reduces 1/3 left and right or more, have in addition gear range greatly, simultaneously engagement number of teeth precision many, transmission high, the bearing capacity of tooth is large, and then realizes large speed ratio, small size; And the rotation of orientation system and swing do not need to locate very accurately, therefore adopt the relatively cheap stepper motor of price; The power drive of whole series parallel robot in five degrees of freedom is all fixed on silent flatform 1, thereby has alleviated the Operating Weight of robot, has increased end load weight.
In the present embodiment, described silent flatform 1 is the aluminium alloy plate of radius 450mm, thickness 10mm.
In the present embodiment, described motor fixing plate 2 is L-type aluminium sheet.
Series parallel robot in five degrees of freedom of the present invention fully combines parallel robot and serial machine people's advantage, using parallel institution as navigation system, can realize the pinpoint object of robot end; Serial mechanism is as orientation system, to end, operation realizes fine setting, mode with series-parallel, the free degree of robot is increased to 5DOF, can realizes the translation of 3 reference axis, and around the rotation of Z axis, also has the swing of operational tip, be not only the innovation in Yi Ci mechanism, expanded especially the scope of commercial Application, have wide adaptability, compact conformation, registration, at a high speed, the advantage such as lightweight.
The advantages such as that the present invention has is simple in structure, lightweight, space large, easy operating.Not only can be used for assembling in light industry, packing, carrying etc., and without accumulated error, precision is higher, compact conformation, rigidity is high, bearing capacity is large, according to these features, can be used for the high rigidity of needs, high accuracy or large load and field that need not very large working space, possess actual application value widely.
Above the preferred embodiments of the present invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.

Claims (14)

1. a series parallel robot in five degrees of freedom, is characterized in that, comprises power-driven system, navigation system and orientation system, wherein:
Described power-driven system, is positioned at the top of described navigation system, is used to navigation system and orientation system that power drive is provided, and is provided with silent flatform simultaneously;
Described navigation system comprises:
Actuating arm mechanism, is the space symmetr structure that is mutually 120 degree consisting of three actuating arms, and wherein: actuating arm is connected with power-driven system, and power-driven system drives actuating arm to rotate;
Slave arm mechanism, is the space symmetr mechanism being comprised of three groups of parallelogram sturcutres, and is connected to actuating arm mechanism and moving platform mechanism with the form of spherical hinge;
Moving platform mechanism, comprises a moving platform end cap and a moving platform, and moving platform end cap connects slave arm mechanism, is provided with the electronic-controlled power steering mechanism of orientation system in the cavity of moving platform;
Described orientation system comprises:
Supporting mechanism, comprises three groups of commutation clamp mechanisms, and three groups of commutation clamp mechanisms are linearly symmetrically distributed on silent flatform and between moving platform, and three groups of commutation clamp mechanisms are delivered to the rotation torque of power-driven system in electronic-controlled power steering mechanism;
Electronic-controlled power steering mechanism, comprises rotating mechanism and swing mechanism, rotating mechanism and and swing mechanism rotation torque that supporting mechanism transmission is got off convert rotating and the swing of orientation system around Z axis of orientation system to.
2. a kind of series parallel robot in five degrees of freedom according to claim 1, it is characterized in that, described slave arm mechanism comprises: slave arm joint, oscillating bearing and follower lever, wherein: slave arm joint is connected with the actuating arm of actuating arm mechanism, slave arm joint is connected by oscillating bearing with follower lever, the both sides of follower lever connect oscillating bearing by metal joint respectively, and the then actuating arm connection of one end Zai Yu actuating arm mechanism of follower lever and oscillating bearing integral body, the other end are connected with the moving platform end cap of moving platform mechanism.
3. a kind of series parallel robot in five degrees of freedom according to claim 2, it is characterized in that, three groups of parallelogram in described slave arm mechanism, wherein each parallelogram is the Yi Ge parallelogram sturcutre branch of the moving platform end cap formation of two follower levers, slave arm joint and moving platform mechanism, and whole robot always has San Ge branch, space 120 degree are symmetrical, four summits of every group of parallel-crank mechanism are all connected with four oscillating bearings, above one group of oscillating bearing be connected with actuating arm, below one group of oscillating bearing be connected with moving platform.
4. a kind of series parallel robot in five degrees of freedom according to claim 1, is characterized in that, described rotating mechanism comprises hollow gear shaft, the first gear, the first rotating shaft and rotates chamber; Swing mechanism comprises the first bevel gear shaft, the first bevel gear, the second bevel gear shaft, the second bevel gear and swing span; Wherein: electronic-controlled power steering mechanism hollow core gear the tip of the axis is connected with rotation chamber; The first gear is fixed in the first rotating shaft, with the gear external toothing on hollow gear shaft; The first bevel gear is connected to the first bevel gear the tip of the axis, the second bevel gear is connected to the second bevel gear the tip of the axis and becomes 90 degree engagements with the first bevel gear, the other end at the second bevel gear shaft is connected with swing span, and swing span rotates with the rotation of the second bevel gear shaft.
5. a kind of series parallel robot in five degrees of freedom according to claim 4, it is characterized in that, in described electronic-controlled power steering mechanism: in the first rotating shaft rotation drive the first gear to rotate, the first gear drives hollow gear shaft to rotate by external toothing effect, thereby makes the rotation chamber that is fixed on hollow wheel gear shaft end realize the rotation at any angle around Z axis; The rotation of the first bevel gear shaft drives the first bevel gear to rotate, by bevel gear external toothing drive and the second bevel gear that the first bevel gear is mutually 90 degree, rotate, thereby drive the second bevel gear shaft to rotate, the rotation of the second bevel gear shaft drives the swing span of its end to swing; Whole electronic-controlled power steering mechanism is by utilizing hollow gear shaft, the first bevel gear, the second bevel gear, and what supporting mechanism transmission was got off rotatablely moves, and changes into the rotation of orientation system, and the swing of swing span, thereby make the free degree of whole robot, is 5.
6. a kind of series parallel robot in five degrees of freedom according to claim 4, it is characterized in that, described orientation system further comprises balanced controls, described balanced controls comprise the second rotating shaft, the second gear, the second gear is connected with the second rotating shaft and meshes with hollow gear shaft, and balanced controls and the first gear are symmetrically distributed in the two ends of hollow gear shaft.
7. a kind of series parallel robot in five degrees of freedom according to claim 6, it is characterized in that, in the moving platform mechanism of described navigation system, the top of moving platform end cap is distributed with three boss, and two end faces of each boss are equipped with internal thread, for being connected with the follower lever of slave arm mechanism; The middle of moving platform is linearly distributed with 3 through holes, for the distribution of the first rotating shaft, the first bevel gear shaft, the second rotating shaft.
8. a kind of series parallel robot in five degrees of freedom according to claim 6, is characterized in that, in described supporting mechanism, the clamp mechanism that commutates described in each includes two universal joints, hollow ball spline shaft, ball spline axle sleeve and loop bar; Wherein: universal joint is candan universal joint and setting in pairs, in two paired universal joints, wherein near universal joint one end of silent flatform, is connected to the end of hollow ball spline shaft, and the other end is connected with power-driven system; Universal joint one end near moving platform is threaded connection on the loop bar of ball spline axle sleeve end, and three other ends near the universal joint of moving platform are from left to right connected to the second rotating shaft in the first rotating shaft, the first bevel gear shaft and the balanced controls in electronic-controlled power steering mechanism.
9. a kind of series parallel robot in five degrees of freedom according to claim 8, it is characterized in that, what the supporting mechanism in described orientation system adopted is diesis universal joint, and one of them universal joint is connected with hollow ball spline shaft, and another universal joint is connected with the loop bar in supporting mechanism.
10. a kind of series parallel robot in five degrees of freedom according to claim 8, it is characterized in that, in described orientation system, three of supporting mechanism groups of commutation clamp mechanisms linearly distribute, and symmetrical, wherein: the commutation clamp mechanism being connected with the first bevel gear shaft with the first rotating shaft has driving propagation function, another commutation clamp mechanism being connected with the second rotating shaft only plays a supportive role.
11. a kind of series parallel robot in five degrees of freedom according to claim 8, it is characterized in that, in described supporting mechanism: power-driven system rotation torque drives the universal joint being attached thereto to rotate near the universal joint of silent flatform, thereby drive ball spline shaft, loop bar rotation, the final universal joint rotation driving near the hollow ball spline axle head of moving platform, thereby the rotation of power-driven system is delivered to the first rotating shaft, the first bevel gear shaft, the second rotating shaft that are connected with universal joint, rotate, thereby drive three axles to rotate.
12. according to a kind of series parallel robot in five degrees of freedom described in claim 2 or 3, it is characterized in that, in the slave arm mechanism of described navigation system, oscillating bearing adopts L-type bulb spherical plain bearing rod end, one side of L-type bulb spherical plain bearing rod end is screw thread and is bolted the end that is fixed on slave arm joint, and another side is internal thread and is connected with follower lever by a metal joint; This metal joint one end is that internal thread is connected with the end of thread of oscillating bearing, one end is polished rod and follower lever stressed joint bonding with seccotine.
13. according to a kind of series parallel robot in five degrees of freedom described in claim 4-11 any one, it is characterized in that, described power-driven system comprises for driving three AC servo motors of navigation system actuating arm, drive the stepper motor of the first rotating shaft in orientation system, the first bevel gear shaft, and the circular silent flatform of a fixing above-mentioned motor, three AC servo motors are fixed on silent flatform lower surface, are mutually 120 degree.
14. according to a kind of series parallel robot in five degrees of freedom described in claim 2-11 any one, it is characterized in that, the actuating arm in the actuating arm mechanism of described navigation system adopts carbon fiber pipe, and in slave arm mechanism, follower lever adopts carbon fiber pipe.
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