CN104827485A - Linear drive robot joint with bar linkage mechanism - Google Patents

Linear drive robot joint with bar linkage mechanism Download PDF

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Publication number
CN104827485A
CN104827485A CN201510195908.7A CN201510195908A CN104827485A CN 104827485 A CN104827485 A CN 104827485A CN 201510195908 A CN201510195908 A CN 201510195908A CN 104827485 A CN104827485 A CN 104827485A
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CN
China
Prior art keywords
rigid
support plate
robot
link
movably hinged
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510195908.7A
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Chinese (zh)
Inventor
梁上杰
蔡延杰
陈建伟
廖伟东
王强
李锻能
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Guangdong University of Technology
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Guangdong University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Guangdong University of Technology filed Critical Guangdong University of Technology
Priority to CN201510195908.7A priority Critical patent/CN104827485A/en
Publication of CN104827485A publication Critical patent/CN104827485A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a linear drive robot joint with a bar linkage mechanism. The linear drive robot joint comprises a bottom plate, a support plate fixed on the bottom plate, as well as a linear drive mechanism and the four-bar linkage mechanism which are arranged on the support plate, wherein the four-bar linkage mechanism consists of a big arm, a support plate, a bar linkage frame and a transmission rod; the linear drive mechanism consists of a first rigid body and a second rigid body; one end of the bar linkage frame is movably hinged to one end of the support plate; the other end of the bar linkage frame and one end of the transmission rod are movably hinged to the first rigid body; the other end of the transmission rod and one end of the big arm are movably hinged; the other end of the big arm is fixedly connected with one end of a connector and is movably hinged to the other end of the support plate; one end of the second rigid body is movably hinged to the support plate; the second rigid body and the first rigid body are connected through a linear moving pair. The linear drive robot joint disclosed by the invention has the advantages of relatively low friction coefficient, favorable stress performance, simple mechanism, low manufacturing cost and the like.

Description

Linear drives linkage joint of robot
Technical field
The invention belongs to Robotics application, be specifically related to a kind of by Linear transmission mode, the joint of robot of drive link mechanism composition, is mainly used in the large arm of articulated robot and little shoulder joint.
Background technology
By design feature, industrial robot is divided, be broadly divided into two classes: tandem type industrial robot and parallel connection type industrial robot.Serial manipulator is popular says to be exactly the origin of coordinates that the athletic meeting of an axle changes another axle.Feature maximum in its structure connects connection reducer in each turning joint place by motor straight exactly and drives, thus the motion of control.Each joint adopts independently drive motors and decelerator, makes it with high content of technology, and difficulty is large, and cost is high, and its quality has all been loaded on big and small arms, adds the quality of motion structure, causes inertia in robot kinematics to strengthen.When requiring high speed, heavy duty, restive.And the error in each joint enforcement division divide obtain Cumulate Sum amplify, cause its precision on the low side.
It is RV reductor that current industrial robot uses more, and its volumetric bulk is light and handy flexibly, operate steadily, applicability is strong, and industrial robot applies maturation.But there is manufactured materials harshness in this high-performance reductor, the accuracy of manufacture requires the problems such as high, complex structure, cost are high, and adding the cost in robot production process and technical requirement, is weakness one ring in current Robot industry process.
Parallel robot is then on the contrary, and parallel robot is generally defined as a class close loop mechanism, and in this mechanism, fixed platform is connected with moving platform by least two separate kinematic chains.Compared with serial manipulator, the weight that its rigidity of structure is large, bearing capacity strong, Stability Analysis of Structures, drive system cost are low, alleviate motion parts, dynamic property are good, control simplifies and precision is high, economic performance is good, and the parallel institution of full symmetric has good isotropism.
Summary of the invention
The object of this invention is to provide a kind of employing linkage, the supporting of separate bearings simply supported beam has been implemented to large arm, is driven by rolling linear operation element, realize the joint of robot of large arm swing.
Joint of robot technical solution of the present invention is linear drives linkage joint of robot, comprise base plate, be fixed on the support plate on base plate, support plate is provided with straight line driving mechanism and quadric chain, quadric chain is by large arm, support plate, side link and drive link are formed, straight line driving mechanism is by the first rigid body, second rigid body is formed, wherein one end of side link and one end of support plate are movably hinged, the other end of side link and one end of drive link and the first rigid body are movably hinged, the other end of drive link and one end of large arm are movably hinged, the other end of large arm is fixed in one end of connector and is movably hinged with the other end of support plate, one end and the support plate of the second rigid body are movably hinged, second rigid body and the first rigid body are by moving linearly secondary connection.
Above-described rectilinear movement pair can be nut-screw rod drive unit, and described first rigid body is feed screw nut's seat, and described second rigid body is ball screw.
Rectilinear movement pair of the present invention can be Driven by Hydraulic Cylinder device or pneumatic cylinder drive unit.
Support plate of the present invention can be the two pieces of support plates be arranged in parallel, and straight line driving mechanism and quadric chain are located between two pieces of support plates.
Drive link in parallel and side link can be adopted in quadric chain of the present invention.
Drive link in quadric chain of the present invention can be curved rod.
To be joint of robot moved by the secondary first rigid body linear reciprocation that drives of rectilinear movement by the second rigid body operation principle of the present invention, and the first rigid body drives the drive link motion in quadric chain, then by drive link by power transmission to large arm.Because the activity of large arm one end be hinged on the support plate fixing with base, so make the rotation of large arm generation certain angle.
What joint of robot of the present invention adopted is rolling member, and coefficient of friction is low, and transmission efficiency is high; Joint bolster adopts simple beam structure, and have good stress performance, it can realize motor corner to the large deceleration transmission than number of large arm pivot angle, avoids using RV reductor, and make robot joint structure simple, manufacture difficulty reduces, and manufacturing cost reduces.
Accompanying drawing explanation
Fig. 1 is stereogram of the present invention;
Fig. 2 is organigram of the present invention;
Fig. 3 is along A-A sectional view in Fig. 2;
Fig. 4 is motion state 1 schematic diagram of the present invention;
Fig. 5 is motion state 2 schematic diagram of the present invention;
Fig. 6 is motion state 3 schematic diagram of the present invention;
Fig. 7 is mechanism principle sketch of the present invention;
Fig. 8 is input quantity of the present invention and output quantity relations agency analysis chart;
Fig. 9 is input quantity of the present invention and output quantity graph of relation.
Above-mentioned each number in the figure title: 1, base; 2, support plate; 3, side link; 4, large arm; 5, drive link; 6, motor support base; 7, ball screw; 8, synchronous pulley; 9, regulating block; 10, servomotor; 11, feed screw nut; 12, the first axle; 13, the second axle; 14, the 3rd axle; 15, joint bolster; 16, oscillating bearing; 17, ball screw bearing; 18, feed screw nut's seat; 19, feed screw nut's seat armshaft;
A, the first pin joint; B, the second pin joint; C, the 3rd pin joint; D, the 4th pin joint; E, the 5th pin joint.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details:
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, the present invention is a kind of linear drives linkage joint of robot, comprising: base 1, support plate 2, side link 3, large arm 4, drive link 5, motor support base 6, ball screw 7, synchronous pulley 8, regulating block 9, servomotor 10, bar silk nut 11, first axle 12, second axle 13, the 3rd axle 14, joint bolster 15, oscillating bearing 16, ball screw bearing 17, feed screw nut's seat 18, feed screw nut's seat armshaft 19.
The two pieces of support plates 2 be arranged in parallel are mounted by means of bolts on base 1, form the pedestal of joint of robot.
Servomotor 10 is fixedly mounted on motor support base 6, and ball screw 7 is hinged on motor support base 6 by pair of horns contact ball bearing, makes ball screw 7 can around its axis rotation.Toothed belt transmission is adopted, to reach the object of primary speed-down between servomotor 10 and ball screw 7.Motor support base 6 is movably articulated on support plate 2 by the 3rd axle 14 and angular contact ball bearing, and motor support base 6 can be rotated around the axis of the 3rd axle 14.
In order to ensure that the Timing Belt between servomotor 10 and ball screw 7 remains Pre strained state, motor support base 6 installing regulating block 9, having been regulated the pretightning force of Timing Belt by mobile regulating block 9.
Quadric chain in the present invention is made up of two support plate 2, two side links 3, large arm 4, two drive link 5.Large arm 4 and joint bolster 15 interference fit realize axial restraint by holding screw, more hinged by oscillating bearing 16 and support plate 2.Drive link 5 one end and the first axle 12 interference fit realize axial restraint by holding screw, then by angular contact bearing and large arm 4 hinged.Side link 3 one end and the second axle 13 interference fit realize axial restraint by holding screw, then by angular contact bearing and support plate 2 hinged.The other end of drive link 5 and the other end of side link 3 are hinged with the feed screw nut's seat armshaft 19 be fixedly welded on feed screw nut's seat 18 by deep groove ball bearing.Therefore, can mutually rotate between drive link 5, side link 3, feed screw nut's seat 18 three.
In order to allow straight line driving mechanism reasonably link with quadric chain, feed screw nut's seat 18 is fixedly connected with feed screw nut 11.
In order to increase the pivot angle limit of large arm 4, the drive link 5 in quadric chain adopts curved rod.
Described rectilinear movement pair can adopt Driven by Hydraulic Cylinder device or pneumatic cylinder drive unit.
As shown in Figure 7, the linear reciprocation realizing feed screw nut 11 by the driving force that synchronous pulley 8 inputs by servomotor 10 moves, thus drives parallel motion.Because support plate 2 is fixing, so C point drives drive link 5 to move, B point drives large arm 4 that the rotation of certain angle occurs again, completes torque and exports, finally realize the deceleration required for servomotor 10 corner to large arm 4 corner.
Linear drives linkage joint of robot motion state 1 as shown in Figure 4, large arm 4 can reach the mechanism kinematic state of maximum pendulum angle.
Linear drives linkage joint of robot motion state 2 as shown in Figure 5, large arm 4 is in the mechanism kinematic state of general pivot angle.
Linear drives linkage joint of robot motion state 3 is as shown in Figure 6 mechanism kinematic states that large arm 4 can reach minimum swash angle.
As shown in Figure 8, this straight line reducing gear is nonlinear system, thus needs the corresponding relation equation obtaining the pivot angle of large arm 4 and the length of ball screw 7.Matlab software is utilized to carry out emulating and obtain the relation function between servomotor 10 corner and large arm 4 pivot angle by curve function again.
If AB=L1, AD=L2, CD=L3, BC=L4, DE=L5, BD=L6, CE=L;
As seen from the figure: L1, L2, L3, L4, L5, 2, 4, 7 are fixed value.
By AF(large arm 4) and horizontal angle 1 as independent variable x, CE(screw mandrel length L) as dependent variable y, and set up equation.
3=360o-∠1-∠2-∠4;
According to the cosine law: L6=
∠5=
∠6=
1, the ∠ 8=360o-∠ 5-∠ 6-∠ 7 as ∠ 3 < 180o
2, the ∠ 8=360o-∠ 6-∠ 7+ ∠ 5 as ∠ 3 > 180o
According to the cosine law: L=
The analog functuion in matlab software is utilized to try to achieve relation curve as shown in Figure 9.
Curve function is utilized to try to achieve: large arm 4 and horizontal angle the relation equation of 1 i.e. x and ball screw 7 length L and y:
y=a*x 2+b*x+c
In above formula, parameter a, b, c look L1, L2, L3, L4, L5, L6, ∠ 4, ∠ 7 and determining.
By carrying out different settings and combination to above-mentioned size, the pivot angle of different large arm 4 and the relation equation of ball screw 7 length can be obtained, thus obtain the different exercise performance in joint, in practical application, adjustable optimizes the size of above-mentioned size, meets the requirement of actual condition hypozygal exercise performance.

Claims (6)

1. linear drives linkage joint of robot, comprise base plate, be fixed on the support plate on base plate, support plate is provided with straight line driving mechanism and quadric chain, it is characterized in that: quadric chain is by large arm, support plate, side link and drive link are formed, straight line driving mechanism is by the first rigid body, second rigid body is formed, wherein one end of side link and one end of support plate are movably hinged, the other end of side link and one end of drive link and the first rigid body are movably hinged, the other end of drive link and one end of large arm are movably hinged, the other end of large arm is fixed in one end of connector and is movably hinged with the other end of support plate, one end and the support plate of the second rigid body are movably hinged, second rigid body and the first rigid body are by moving linearly secondary connection.
2. linear drives linkage joint of robot according to claim 1, it is characterized in that: described rectilinear movement pair is nut-screw rod drive unit, described first rigid body is feed screw nut's seat, and described second rigid body is ball screw.
3. linear drives linkage joint of robot according to claim 1, is characterized in that: described rectilinear movement pair is Driven by Hydraulic Cylinder device or pneumatic cylinder drive unit.
4. linear drives linkage joint of robot according to claim 1, is characterized in that: described support plate is the two pieces of support plates be arranged in parallel, and straight line driving mechanism and quadric chain are located between two pieces of support plates.
5. linear drives linkage joint of robot according to claim 1, is characterized in that: adopt drive link in parallel and side link in described quadric chain.
6. linear drives linkage joint of robot according to claim 1, is characterized in that: the drive link in described quadric chain is curved rod.
CN201510195908.7A 2015-04-23 2015-04-23 Linear drive robot joint with bar linkage mechanism Pending CN104827485A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105904480A (en) * 2016-05-30 2016-08-31 广东工业大学 Hydraulic joint
CN106493721A (en) * 2016-11-30 2017-03-15 航天科工智能机器人有限责任公司 Joint of robot Hydraulic servo drive mechanism

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1923468A (en) * 2006-09-08 2007-03-07 清华大学 Robot for carrying and piling
CN101966703A (en) * 2010-10-14 2011-02-09 王文 Loading and unloading manipulator
US20110296944A1 (en) * 2010-06-02 2011-12-08 Disney Enterprises, Inc. Three-axis robotic joint using four-bar linkages to drive differential side gears
CN103009374A (en) * 2012-12-14 2013-04-03 天津筑高机器人技术有限公司 Large board carrying and mounting manipulator
CN103737577A (en) * 2013-12-07 2014-04-23 广西大学 Six-freedom-degree industrial robot with ball screw pair transmission
CN103753522A (en) * 2014-02-21 2014-04-30 上海交通大学 Two-degree-of-freedom rotary manipulator
CN204748644U (en) * 2015-04-23 2015-11-11 广东工业大学 Straight line drives link mechanism robot joint

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1923468A (en) * 2006-09-08 2007-03-07 清华大学 Robot for carrying and piling
US20110296944A1 (en) * 2010-06-02 2011-12-08 Disney Enterprises, Inc. Three-axis robotic joint using four-bar linkages to drive differential side gears
CN101966703A (en) * 2010-10-14 2011-02-09 王文 Loading and unloading manipulator
CN103009374A (en) * 2012-12-14 2013-04-03 天津筑高机器人技术有限公司 Large board carrying and mounting manipulator
CN103737577A (en) * 2013-12-07 2014-04-23 广西大学 Six-freedom-degree industrial robot with ball screw pair transmission
CN103753522A (en) * 2014-02-21 2014-04-30 上海交通大学 Two-degree-of-freedom rotary manipulator
CN204748644U (en) * 2015-04-23 2015-11-11 广东工业大学 Straight line drives link mechanism robot joint

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105904480A (en) * 2016-05-30 2016-08-31 广东工业大学 Hydraulic joint
CN106493721A (en) * 2016-11-30 2017-03-15 航天科工智能机器人有限责任公司 Joint of robot Hydraulic servo drive mechanism

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