CN106363661A - High-precision ultra-large-stroke painting robot telescopic arm adopting statically indeterminate structure - Google Patents
High-precision ultra-large-stroke painting robot telescopic arm adopting statically indeterminate structure Download PDFInfo
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- CN106363661A CN106363661A CN201611024246.8A CN201611024246A CN106363661A CN 106363661 A CN106363661 A CN 106363661A CN 201611024246 A CN201611024246 A CN 201611024246A CN 106363661 A CN106363661 A CN 106363661A
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- telescopic arm
- connecting rod
- scissor
- serial mechanism
- serial
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a high-precision ultra-large-stroke painting robot telescopic arm adopting a statically indeterminate structure. The high-precision ultra-large-stroke painting robot telescopic arm comprises a fixed base, an n-regular-polygonal connecting structure, a tail end workbench structure and a plurality of sets of shear fork serial mechanisms. The shear fork serial mechanisms comprise the n sets of shear fork serial mechanisms which are hinged to the fixed base and the tail end workbench structure. The vertexes of the n-regular-polygonal connecting structure are hinged to the shear fork serial mechanisms. Each set of shear fork serial mechanism comprises a long connecting rod, a short connecting rod, a top revolute pair, end revolute pairs and a middle revolute pair. Compared with the traditional telescopic arm design, the requirement for machining and assembling can be effectively lowered, the lateral rigidity of the telescopic arm is improved, better lateral positioning precision can be achieved during movement, the effect that the position of the center of the tail end workbench structure is unchanged on the plane in the telescoping process of the telescopic arm can be guaranteed, and the motion stability and the vertical positioning precision are guaranteed.
Description
Technical field
The present invention relates to robotics, particularly to a kind of high accuracy super large stroke spray of employing redundant structure
Apply Telescopic arm of robot.
Background technology
Longitudinal extension arm provides the guiding mechanism of motion in vertical direction as super large work space robot, directly certainly
Range of movement on vertical for the Ding Liao robot, and then affect the Work space of robot.Its longitudinal extension arm and two
Transverse moving mechanism is connected, and realizes the motion in space three-freedom for the robot.At present, existing longitudinal extension arm is typically by sliding
Block and two sides scissors mechanism composition, similar to elevator, realize telescopic arm by the mobile drive scissors mechanism of slide block and stretch；Point
Level formula telescopic arm, the relative motion of every grade of expansion link by cooperating realizes the height adjustment of telescopic arm；Climbing type stretches
Arm, in the constant structure of level altitude, changes the height of end effector by modes such as line slideways.Scissors mechanism stretches
Arm realizes the height adjustment of end effector by the stretching motion of overall scissors mechanism, it can be avoided that climbing type telescopic arm structure
The interference bringing, flexible and efficient.
Adopting scissor structure telescopic arm at present, this telescopic arm generally includes both sides parallel identical scissor-type mechanism more,
The parallel Liang Zu scissor-type mechanism in both sides is connected through the hinge, and in the case that side drives, realizes both sides and moves simultaneously.It drives
Move and mainly completed by two ways: one is the relative position of mobile side scissors mechanism end and base engagement, and two is direct
Change the corner of scissors mechanism, both essence is all the relative position by changing scissors mechanism connecting rod end and base engagement
Realize.
Chinese patent literature (publication number cn105712246a) discloses a kind of multistage lifting mechanism, and this mechanism is provided with three
The chiasma type turntable of level, can be controlled by stop and hydraulic jack and adjust to required height.But above-mentioned patent
The multistage lifting mechanism being related to, substantially belongs to slide block and the telescopic arm of two sides scissors mechanism, and its scissors mechanism is coordinated with bottom
Locate, connect and hinge two ways including slide block, its processing and assembly technology requirement are higher, once wherein parts thereof
Precision can not meet demand, then crane precision can be greatly affected；Only two sides scissors mechanism, its lateral rigidity is difficult to
Ensure；During adjustment, change with the relative position of base with the slide block of base engagement, lead to the center of working distal tip with
The relative position of base changes so that end is relatively fixed base, and centre-of gravity shift occurs.
Content of the invention
In order to solve problem of the prior art, embodiments provide a kind of high accuracy of employing redundant structure and surpass
Big journey spraying Telescopic arm of robot.Described technical scheme is as follows:
The high accuracy super large journey spraying Telescopic arm of robot of a kind of employing redundant structure, comprising: firm banking, positive n
Side shape attachment structure, end Working table structure, multigroup scissor serial mechanism；
Described multigroup scissor serial mechanism is hinged with described firm banking and described end Working table structure respectively, described just
The summit of n side shape attachment structure is hinged with described multigroup scissor serial mechanism respectively；
Scissor serial mechanism described in every group includes long connecting rod, short connecting rod, top rotates secondary, end rotation pair and middle part rotates
Secondary；Described top rotates the secondary two ends being located at scissor serial mechanism, and end rotates secondary described with another for described long connecting rod end points
Long connecting rod or the pin joint of short connecting rod end points, middle part rotates the secondary pin joint for two described long connecting rod midpoints.
Alternatively, the group number of described multigroup scissor serial mechanism is n group, and described multigroup scissor serial mechanism is with regard to stretching
Suo Bei center is centrosymmetric arrangement.
Alternatively, the identical length of described long connecting rod is with the length of described short connecting rod is the half of described long connecting rod length.
Alternatively, the hinge connection bearing two ends of described scissor serial mechanism are provided with the thick elastic insert of 3-5mm.
Alternatively, described elastic insert is made up of butyronitrile resin or rubber.
Technical scheme provided in an embodiment of the present invention has the benefit that
1) design with respect to conventional telescopic arm, the present invention can effectively reduce processing and the requirement of assembling, strengthens telescopic arm
Lateral rigidity, and ensure that end Working table structure in the telescopic process Zhong Qi center of telescopic arm position in the plane not
Become, robust motion is guaranteed.
2) present invention only need to drive any one group of scissor serial mechanism or end Working table structure by one group of driving means
The telescopic drive of telescopic arm just can be completed, decrease the cost of telescopic arm, and reduce the conforming control to drive mechanism to want
Ask.
3) present invention directly pass through drive any one group of scissors mechanism corner realize it is ensured that the flexible stroke of telescopic arm not
By the travel limit of line slideway at firm banking, be conducive to improving rigidity.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, will make to required in embodiment description below
Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is that a kind of high accuracy super large journey spraying robot using redundant structure provided in an embodiment of the present invention is stretched
Contracting arm population structure front view；
Fig. 2 is that a kind of high accuracy super large journey spraying robot using redundant structure provided in an embodiment of the present invention is stretched
Oblique two mappings of contracting arm population structure；
Fig. 3 is middle part scissor Rotating fields schematic diagram；
Fig. 4 is end scissor Rotating fields schematic diagram；
Fig. 5 is one group of scissor serial mechanism schematic diagram；
Fig. 6 is the point articulated schematic diagram of scissor serial mechanism two connecting-rod head.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiments provide a kind of high accuracy super large journey spraying Telescopic arm of robot of employing redundant structure,
Referring to Fig. 1-Fig. 5, comprising: firm banking 1, positive n side shape attachment structure 2, end Working table structure 3, multigroup scissor serial mechanism
4.
Wherein, multigroup scissor serial mechanism 4 is hinged with firm banking 1 and end Working table structure 3 respectively, and positive n side shape is even
The end points of access node structure 2 is hinged with multigroup scissor serial mechanism 4 respectively.
Every group of scissor serial mechanism 4 includes long connecting rod 8, short connecting rod 7, top rotation pair 10, end rotation secondary 11 and middle part
Rotate secondary 12.Top rotates secondary 10 two ends being located at scissor serial mechanism, end rotate secondary 11 be located at the end points of long connecting rod 8 with another
One long connecting rod 8 or the pin joint of short connecting rod 7, middle part rotates the pin joint at secondary 12 midpoints being located at two long connecting rods 8.Short connecting rod 7
Rotated secondary 10 hinged by top, short connecting rod 7 and long connecting rod 8 pass through end and rotate secondary 11 hinged, and the midpoint of two long connecting rods 8 is logical
Cross middle part rotation pair 12 hinged.
Wherein, positive n side shape attachment structure 2 includes m group, wherein m >=2, and positive n side shape attachment structure 2 has in the present embodiment
Two groups.
In the present embodiment, multigroup scissor serial mechanism 4 includes n group, wherein n >=3, and multigroup scissor serial mechanism 4
It is centrosymmetric arrangement with regard to telescopic arm center.
In the present embodiment, the identical length of long connecting rod 8 is with the length of short connecting rod 7 is the half of long connecting rod 8 length.
Specifically, referring to Fig. 2-Fig. 4, so that level Four is stretched as a example, there is one group of bottom at the two ends of every group of scissor serial mechanism
Short connecting rod, if there is dried layer centre, short connecting rod 7 only has two-end-point to coordinate with remaining short connecting rod 7 or long connecting rod 8 by hinged, and length is even
The two-end-point of bar 8 and midpoint are connected with remaining long connecting rod 8 or short connecting rod 7 by hinge；The length of short connecting rod 7 is that long connecting rod 8 is long
The half of degree, between two pin joints, distance pin joint adjacent with long connecting rod two apart from equal, answer also according to actual by their length
Determined with condition.Two groups of short connecting rods 7 are hinged with firm banking 1 and end Working table structure 3 respectively.
When driving one-level scissor layer, each long short connecting rod being hinged is limited due to cooperation, and its relative angle all occurs
Change, thus driving other multistage scissor layers.Present invention utilizes scissors mechanism drive distance can multistage amplification feature, can
Drive one-level scissor layer by changing the first level of connecting rod anglec of rotation, realize stretching on a large scale of telescopic arm；Ensure that end
Working table structure 3 in the course of the work, does not shift with respect to firm banking 1 center, thus ensure that the stationarity of motion；
Multigroup scissor serial mechanism 4 cooperation hinged with each summit of positive n side shape attachment structure 2 so that overall structure have on the side many
Corestriction, increased telescopic arm in the degree of statical indeterminacy as redundant structure on the side, the presence of superfluous constraint makes entirety
The impact of equilibrium condition and compatibility of deformation to be considered in deformation, this makes its internal force have a very wide distribution, stress is compared with static determinacy simultaneously
Even structure, internal force peak value is less, so its lateral rigidity and stability all increase, thus reduce telescopic arm being subject to laterally
The error producing during disturbance, increases lateral register precision, and has stronger protective capacities, can resist unexpected destruction.
Referring to Fig. 3, middle part scissor layer includes positive n side shape attachment structure 2, long connecting rod 8, and every two long connecting rods 8 pass through middle part
Rotate secondary 12 hinged, and provide multiple ends rotate secondary 11 with remaining in the middle part of scissor layer hinged.
Referring to Fig. 4, end scissor layer includes firm banking 1, short connecting rod 7, and every two short connecting rods 7 rotate secondary 10 by top
Hinged, and provide multiple ends rotation secondary 11 to be connected through the hinge with remaining scissor layer.The end scissor layer at telescopic arm two ends
It is hinged series connection with middle multiple middle parts scissor layer, thus multiple drive power for telescopic arm finally realize stretching on a large scale carrying
For structural support.
Referring to Fig. 5, this scissor serial mechanism includes four short connecting rods 7, some long connecting rods 8, short connecting rod 7 and long connecting rod 8
Pair 10 is rotated by top, end rotates secondary 11, middle part and rotates secondary 12 and be hinged, the multiple drive power offer for telescopic arm finishes
Structure is supported.
Referring to Fig. 6, in the present embodiment, the hinged place bearing two ends of scissor serial mechanism, be provided with butyronitrile resin or
3-5mm of the materials such as rubber thick elastic insert 5a, 5b, in the outside of this elastic insert 5a, 5b, are respectively present corresponding bearing
Lid 6a, 6b, they are arranged symmetrically with regard to hinged centrage, apply pretightning force by bearing cap and elastic insert, can strengthen
The lateral rigidity of telescopic arm, thus reduce the error that telescopic arm is subject to produce during side direction perturbation.
The high accuracy super large journey spraying Telescopic arm of robot of employing redundant structure provided by the present invention, in order to reduce
The error producing when in motor process by side direction perturbation, can increase the group number of scissor serial mechanism, only need to ensure all scissors
The center that serial mechanism is relatively fixed base is centrosymmetric distribution, and carries out hinge by corresponding positive n side shape attachment structure
Connect, to improve the degree of statical indeterminacy of telescopic arm, thus increasing the lateral rigidity of telescopic arm.
The present invention designs with respect to traditional multiaspect scissors mechanism telescopic arm, and it is ensureing the premise of super large work space
Under, lateral rigidity can be effectively improved it is ensured that the stationarity of motion, disclosure satisfy that higher precision when being applied to robot system
Demand.Adopt multigroup scissor serial mechanism in the present invention, and raising telescopic arm entirety is connected in side by positive n side shape attachment structure
Degree of statical indeterminacy upwards, and decrease the slide block guide rail fit system with firm banking 1 and end Working table structure 3, degree of freedom
Reduce, while reducing processing, assembly technology difficulty, decrease the accumulation for total error for the guide rail slide block, it is to avoid stretching
In compression process, the off-centring of end Working table structure is it is ensured that the reliability of telescopic arm running stability and stress.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (5)
1. a kind of high accuracy super large journey spraying Telescopic arm of robot of employing redundant structure is it is characterised in that include: fixing
Base, positive n side shape attachment structure, end Working table structure, multigroup scissor serial mechanism；
Described multigroup scissor serial mechanism is hinged with described firm banking and described end Working table structure respectively, described positive n side
The summit of shape attachment structure is hinged with described multigroup scissor serial mechanism respectively；
Scissor serial mechanism described in every group includes long connecting rod, short connecting rod, top rotates secondary, end rotation pair and middle part rotation is secondary；
Described top rotates the secondary two ends positioned at scissor serial mechanism, and end rotates pair for described long connecting rod end points with another described length even
Bar or the pin joint of short connecting rod end points, middle part rotates the secondary pin joint for two described long connecting rod midpoints.
2. the high accuracy super large journey spraying Telescopic arm of robot of a kind of employing redundant structure according to claim 1,
It is characterized in that, the group number of described multigroup scissor serial mechanism is n group, and described multigroup scissor serial mechanism is with regard to telescopic arm
Center is centrosymmetric arrangement.
3. the high accuracy super large journey spraying Telescopic arm of robot of a kind of employing redundant structure according to claim 2,
It is characterized in that, the identical length of described long connecting rod is with the length of described short connecting rod is the half of described long connecting rod length.
4. the high-precision large-stroke spray robot telescopic arm of a kind of employing redundant structure according to claim 3, its
It is characterised by, the hinge connection bearing two ends of described scissor serial mechanism are provided with the thick elastic insert of 3-5mm.
5. the high-precision large-stroke spray robot telescopic arm of a kind of employing redundant structure according to claim 4, its
It is characterised by, described elastic insert is made up of butyronitrile resin or rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611024246.8A CN106363661A (en) | 2016-11-17 | 2016-11-17 | High-precision ultra-large-stroke painting robot telescopic arm adopting statically indeterminate structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611024246.8A CN106363661A (en) | 2016-11-17 | 2016-11-17 | High-precision ultra-large-stroke painting robot telescopic arm adopting statically indeterminate structure |
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| Publication Number | Publication Date |
|---|---|
| CN106363661A true CN106363661A (en) | 2017-02-01 |
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| CN201611024246.8A Pending CN106363661A (en) | 2016-11-17 | 2016-11-17 | High-precision ultra-large-stroke painting robot telescopic arm adopting statically indeterminate structure |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053251A (en) * | 2017-03-27 | 2017-08-18 | 陕西科技大学 | Line style timing belt retractor device and method |
| CN107471254A (en) * | 2017-09-29 | 2017-12-15 | 清华大学 | It is a kind of can independent telescope rotation Two dimension of freedom robot arm |
| CN107471209A (en) * | 2017-09-29 | 2017-12-15 | 清华大学 | A kind of telescopic industrial robot of brachium |
| CN111230925A (en) * | 2020-03-10 | 2020-06-05 | 山东新华医疗器械股份有限公司 | Angle type CBCT image flat plate mechanical arm |
| CN115458899A (en) * | 2022-08-05 | 2022-12-09 | 中国电子科技集团公司第三十八研究所 | Unfolding and folding mechanism for antenna array surface |
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| CN101913544A (en) * | 2010-08-31 | 2010-12-15 | 清华大学 | Three-face over-constrained scissor-type lifting mechanism |
| CN102180427A (en) * | 2011-05-11 | 2011-09-14 | 清华大学 | Pivot fixed multi-face constrained scissor-type lifting mechanism |
| CN102502450A (en) * | 2011-10-24 | 2012-06-20 | 清华大学 | Fulcrum fixed multi-surface over-constrained radial scissor type lifting mechanism |
| CN104923431A (en) * | 2014-03-18 | 2015-09-23 | 上海飞机制造有限公司 | Spraying robot driven by multiple parallelogram links in parallel |
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Patent Citations (5)
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| US4718519A (en) * | 1985-10-21 | 1988-01-12 | Barker Sidney L | High lift scissor jack |
| CN101913544A (en) * | 2010-08-31 | 2010-12-15 | 清华大学 | Three-face over-constrained scissor-type lifting mechanism |
| CN102180427A (en) * | 2011-05-11 | 2011-09-14 | 清华大学 | Pivot fixed multi-face constrained scissor-type lifting mechanism |
| CN102502450A (en) * | 2011-10-24 | 2012-06-20 | 清华大学 | Fulcrum fixed multi-surface over-constrained radial scissor type lifting mechanism |
| CN104923431A (en) * | 2014-03-18 | 2015-09-23 | 上海飞机制造有限公司 | Spraying robot driven by multiple parallelogram links in parallel |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107053251A (en) * | 2017-03-27 | 2017-08-18 | 陕西科技大学 | Line style timing belt retractor device and method |
| CN107053251B (en) * | 2017-03-27 | 2020-05-26 | 陕西科技大学 | Linear synchronous belt stretching device and method |
| CN107471254A (en) * | 2017-09-29 | 2017-12-15 | 清华大学 | It is a kind of can independent telescope rotation Two dimension of freedom robot arm |
| CN107471209A (en) * | 2017-09-29 | 2017-12-15 | 清华大学 | A kind of telescopic industrial robot of brachium |
| CN107471209B (en) * | 2017-09-29 | 2020-07-10 | 清华大学 | Industrial robot with telescopic arm length |
| CN111230925A (en) * | 2020-03-10 | 2020-06-05 | 山东新华医疗器械股份有限公司 | Angle type CBCT image flat plate mechanical arm |
| CN111230925B (en) * | 2020-03-10 | 2023-04-11 | 山东新华医疗器械股份有限公司 | Angle type CBCT image flat plate mechanical arm |
| CN115458899A (en) * | 2022-08-05 | 2022-12-09 | 中国电子科技集团公司第三十八研究所 | Unfolding and folding mechanism for antenna array surface |
| CN115458899B (en) * | 2022-08-05 | 2024-05-24 | 中国电子科技集团公司第三十八研究所 | Unfolding and folding device for antenna array surface |
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Application publication date: 20170201 |