CN106584432A - Five degree-of-freedom serial-parallel robot - Google Patents
Five degree-of-freedom serial-parallel robot Download PDFInfo
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- CN106584432A CN106584432A CN201611199844.9A CN201611199844A CN106584432A CN 106584432 A CN106584432 A CN 106584432A CN 201611199844 A CN201611199844 A CN 201611199844A CN 106584432 A CN106584432 A CN 106584432A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a five degree-of-freedom serial-parallel robot comprising a two degree-of-freedom parallel mechanism and a three degree-of-freedom serial mechanism which are connected with each other. The two degree-of-freedom parallel mechanism is used for providing driving force for the three degree-of-freedom serial mechanism, and the three degree-of-freedom serial mechanism makes rectilinear motion and rotational motion through the driving force. According to the five degree-of-freedom serial-parallel robot, the two degree-of-freedom parallel mechanism and the three degree-of-freedom serial mechanism are combined; the advantages, such as high rigidity, high precision and large load, of the parallel mechanism is given full play; the shortcoming that the parallel mechanism has small working space is overcome through the serial mechanism; the five degree-of-freedom serial-parallel robot has the characteristics of being good in structural stability, strong in carrying capacity and large in working space; and the application range of the robot is expanded.
Description
Technical field
The invention belongs to robotics, specifically, the present invention relates to a kind of five degree of freedom series-parallel robot.
Background technology
Series-parallel robot is referred to and at least include a parallel institution and one or more cascade machines also known as series-parallel robot
The complex mechanical system that structure is combined according to certain mode.Hybrid mechanism is the assembly of series and parallel mechanism, and it can be comprehensive
Close and inherit the excellent properties of parallel institution and serial mechanism, and put forward a kind of preferable performance balance therebetween, in modern system
Make with more practicality in industry, oneself is applied in fields such as welding, spray painting, carrying, automobile assembling, medical treatment.
Existing series-parallel robot, reliability is poor, and work space is little, and Pose Control is not easily accomplished.
The content of the invention
It is contemplated that at least solving one of technical problem present in prior art.For this purpose, the present invention provides a kind of five
Degree of freedom series-parallel robot, it is therefore an objective to improve work space.
To achieve these goals, the technical scheme taken of the present invention is：Five degree of freedom series-parallel robot, including connected
The two-degree-of-freedom parallel mechanism for connecing and Three Degree Of Freedom serial mechanism, two-degree-of-freedom parallel mechanism is used for Three Degree Of Freedom serial mechanism
Offer makes it do the driving force of linear motion and rotary motion.
The two-degree-of-freedom parallel mechanism includes the solid portion of one or two axles and is connected and constitutes worm drive with the solid portion of one or two axles
One or two nut portions.
The solid portion of one or two axle includes the first motor and one or two axles being connected with the first motor and one or two nut portions
Screw rod.
The solid portion of one or two axle also includes the glidepath being slidably connected with the Three Degree Of Freedom serial mechanism, and glidepath is located at
The lower section of one or the two axle screw rod and both are parallel.
The Three Degree Of Freedom serial mechanism includes three axle cunning portions being slidably connected with the two-degree-of-freedom parallel mechanism, can revolve
The Z axis skateboard component being arranged in three axle cunning portions for turning and the slide block being connected with Z axis skateboard component and one or two nut portions
Component.
The slide block assembly is connected and with the Z axis skateboard component to be slidably connected with one or two nut portions to rotate.
The ball spiral shell that one or two nut portions include spacer shell, are arranged on spacer shell and are connected with one or the two axle screw rod
Rotating shaft that is female and being arranged on spacer shell and be connected with slide block assembly rotation.
The axis of the rotating shaft is parallel with the rotation centerline of the Z axis skateboard component.
The slide block assembly includes slide attachment plate, is arranged on slide attachment plate and slides with the Z axis skateboard component
The top shoe of connection and the axle sleeve being arranged on slide attachment plate, axle sleeve has the axis hole for allowing one or two nut portions to insert.
The three axles cunning portion includes lower skateboard and is arranged on lower skateboard and slides with the two-degree-of-freedom parallel mechanism to connect
The sliding block for connecing, the Z axis skateboard component is to be rotatably arranged on lower skateboard.
The Z axis skateboard component includes upper slide, is arranged on upper slide and upper with what the slide block assembly was slidably connected
Slide rail and it is rotatably arranged on the Z axis support being connected in the three axles cunning portion and with upper slide.
The solid portion of one or two axle arranges two, and two one or two axles pass through respectively one or two nut portions and one in portion admittedly
The slide block assembly is connected with the Z axis skateboard component, and two slide block assemblies are respectively positioned at the side of the Z axis support.
The Z axis skateboard component also includes the electric machine support being arranged on the upper slide, is arranged on electric machine support
The Z axis screw rod of the second motor and the second motor connection and it is connected and constitutes the ball nut of worm drive with Z axis screw rod.
The Three Degree Of Freedom serial mechanism also includes four shaft assemblies that are sequentially connected and five shaft assemblies, four shaft assemblies with it is described
Z axis skateboard component connects and Z axis skateboard component is used to make it do the driving force for moving along a straight line the offer of four shaft assemblies.
The Z axis skateboard component also includes the axis of guide being connected with the Z axis bracket slide, the axis of guide and with the ball
Nut and four shaft assembly connect, and ball nut is arranged at the inside of Z axis support.
The axis of guide arranges multiple.
Four shaft assembly include the transverse arm being connected with the Z axis skateboard component, the 3rd motor being arranged on transverse arm with
And the harmonic wave speed reducing machine being connected with the 3rd motor and five shaft assembly.
The axis perpendicular of the length direction of the transverse arm and the 3rd motor, the axis of the 3rd motor and with the Z
The rotation centerline of axle skateboard component is parallel.
Five shaft assembly include the forearm being connected with four shaft assembly, the 4th motor being arranged on forearm and with
4th motor and the harmonic wave speed reducing machine of end effector connection.
Angle between the axis of the 4th motor and the axis of the 3rd motor is acute angle.
Angle between the axis of the 4th motor and the axis of the 3rd motor is 45 degree.
The second arm body that the forearm includes the first arm body being connected with four shaft assembly and is connected with the first arm body, the
Angle between one arm body and the second arm body is acute angle.
Angle between the first arm body and the second arm body is 45 degree.
The axis perpendicular of the length direction of the first arm body and the 3rd motor, the length side of the second arm body
To the axis perpendicular with the 4th motor.
The five degree of freedom series-parallel robot of the present invention, two-degree-of-freedom parallel mechanism is combined with Three Degree Of Freedom serial mechanism
Get up, give full play to the advantage of parallel institution high rigidity, high accuracy, big load, parallel institution work is made up with serial mechanism empty
Between little shortcoming, with structural stability it is good, bearing capacity is strong, work space is big the characteristics of, expanded the application model of robot
Enclose.
Description of the drawings
This specification includes the following drawings, and shown content is respectively：
Fig. 1 is the structural representation of five degree of freedom series-parallel robot of the present invention；
Fig. 2 is the front view of five degree of freedom series-parallel robot of the present invention；
Fig. 3 is the top view of five degree of freedom series-parallel robot of the present invention；
Fig. 4 is the structural representation in the solid portion of one or two axles；
Fig. 5 is the structural representation of one or two nut portions；
Fig. 6 is the structural representation of slide block assembly；
Fig. 7 is the sectional view of slide block assembly；
Fig. 8 is the structural representation in three axle cunning portions；
Fig. 9 is the installation diagram of Z axis support and upper slide；
Figure 10 is the structural representation of four shaft assemblies；
Figure 11 is the partial sectional view of four shaft assemblies；
Figure 12 is the structural representation of five shaft assemblies；
Figure 13 is the structural representation of forearm；
Figure 14 is the structural representation of end effector；
Figure 15 is the principle schematic of two-degree-of-freedom parallel mechanism；
Figure 16 is the principle schematic of Three Degree Of Freedom serial mechanism；
It is labeled as in figure：
1st, frame；
2nd, the solid portion of one or two axles；201st, the first motor；202nd, one or two axle screw rod；203rd, glidepath；204th, electric machine support；205、
Screw bracket；
3rd, one or two nut portions；301st, spacer shell；302nd, rotating shaft；303rd, ball nut；
4th, slide block assembly；401st, slide attachment plate；402nd, top shoe；403rd, axle sleeve；
5th, three axle cunning portion；501st, lower skateboard；502nd, sliding block；503rd, upper slide；504th, upper slide rail；505th, Z axis support；
506th, the second motor；507th, electric machine support；508th, Z axis screw rod；509th, the axis of guide；
6th, four shaft assembly；601st, transverse arm；602nd, the 3rd motor；603rd, harmonic wave speed reducing machine；
7th, five shaft assembly；701st, the first arm body；702nd, the second arm body；703rd, the 4th motor；704th, harmonic wave speed reducing machine；
8th, end effector；801st, actuator bracket；802nd, executor's body.
Specific embodiment
Below against accompanying drawing, by the description to embodiment, further details of is made to the specific embodiment of the present invention
Explanation, it is therefore an objective to help those skilled in the art to have more complete, accurate and deep reason to design of the invention, technical scheme
Solution, and contribute to its enforcement.
As shown in Figure 1 to Figure 3, the invention provides a kind of five degree of freedom series-parallel robot, including frame 1, two is freely
Degree parallel institution and Three Degree Of Freedom serial mechanism, two-degree-of-freedom parallel mechanism is connected with Three Degree Of Freedom serial mechanism and two is free
Degree parallel institution be used for Three Degree Of Freedom serial mechanism provide make it move along a straight line and rotary motion driving force, Three Degree Of Freedom
Serial mechanism can integrally do translational motion and rotary motion.
Specifically, as shown in Figure 1, Figure 2, Figure 3 and Figure 4, two-degree-of-freedom parallel mechanism includes the solid portion 2 of one or two axles and with one
The solid portion 2 of two axles connects and constitutes one or two nut portions 3 of worm drive.The solid portion 2 of one or two axles is arranged in frame 1, the solid portion 2 of one or two axles
For the basic connecting portion of whole robot, the solid portion 2 of one or two axles mainly includes that electric machine support 204, the first motor 201 and first are electric
One or the two axle screw rods 202 and screw bracket 205 of the connection of 201 and 1 nut portions of machine 3, electric machine support 204 is fixedly installed on machine
On frame 1, the first motor 201 is fixedly installed on electric machine support 204, and the first motor 201 is servomotor.Electric machine support 204 with
To be oppositely arranged, one end of one or two axle screw rods 202 is connected screw bracket 205 by shaft coupling with the motor shaft of the first motor 201,
The other end of one or two axle screw rods 202 is to be rotatably arranged on screw bracket 205.One or two nut portions 3 are sheathed on one or two axle spiral shells
On bar 202 and both constitute worm drive, the first motor 201 operates, and drives one or two axle screw rods 202 to rotate by shaft coupling, then
Three Degree Of Freedom serial mechanism is driven integrally to move along a straight line by one or two nut portions 3.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, one or two axles solid portions 2 also includes being slidably connected with Three Degree Of Freedom serial mechanism
Glidepath 203, glidepath 203 is located at the lower section of one or two axle screw rods 202 and both are parallel, and glidepath 203 is fixedly installed on machine
On frame 1 and between electric machine support 204 and screw bracket 205, glidepath 203 integrally does straight line in Three Degree Of Freedom serial mechanism
Guide effect is played to Three Degree Of Freedom serial mechanism during motion.
As shown in Figure 1 to Figure 3, Three Degree Of Freedom serial mechanism includes that consolidating portion 2 with one or two axles of two-degree-of-freedom parallel mechanism is
The three axle cunning portions 5 that are slidably connected, the Z axis skateboard component being rotatably arranged in three axle cunning portions 5 and with Z axis skateboard component and
The slide block assembly 4 of the connection of one or two nut portions 3, the rotation centerline of Z axis skateboard component mutually hangs down with the axis of one or two axle screw rods 202
Directly.
Slide block assembly 4 is connected and with Z axis skateboard component to be slidably connected with one or two nut portions 3 to rotate.As shown in figure 5,
The ball nut that one or two nut portions 3 include spacer shell 301, are fixedly installed on spacer shell 301 and are connected with one or two axle screw rods 202
303 and it is fixedly installed on spacer shell 301 and rotates with slide block assembly 4 rotating shaft 302 that is connected.Rotating shaft 302 is circular shaft and direction
The outside of spacer shell 301 is stretched out, and the axis of rotating shaft 302 is parallel with the rotation centerline of Z axis skateboard component, the axle of rotating shaft 302
Line and the axes intersect with ball nut 303 and perpendicular.Ball nut 303 is sheathed on one or two axle screw rods 202, and both are constituted
Worm drive.
As shown in Figure 6 and Figure 7, slide block assembly 4 include slide attachment plate 401, be fixedly installed on slide attachment plate 401 and
It is the top shoe 402 being slidably connected and the axle sleeve 403 being fixedly installed on slide attachment plate 401 with Z axis skateboard component, axle sleeve
403 have the axis of the axis hole and axis hole for allowing one or two nut portions 3 to insert parallel with the rotation centerline of Z axis skateboard component.
Top shoe 402 arranges two on slide attachment plate 401, and two top shoes 402 are line of symmetry in axle sleeve with the axis of axle sleeve 403
403 both sides are symmetrical, and slide block assembly 4 is slidably connected by top shoe 402 with Z axis skateboard component, revolve in one or two axle screw rods 202
When turning to make one or two nut portions 3 drive slide block assembly 4 to move on Z axis skateboard component, Z axis skateboard component can be promoted to slide in three axles
Rotated in portion 5, and moving direction of the slide block assembly 4 when moving relative to Z axis skateboard component and Z axis skateboard component
Rotation centerline is perpendicular.
As shown in Fig. 1 and Figure 15, the solid portion 2 of one or two axles is arranged side by side two in frame 1, and two one or two axles are distinguished in portion 2 admittedly
It is connected with Z axis skateboard component by one or two nut portions 3 and a slide block assembly 4, two slide block assemblies 4 are located at respectively Z axis
The side of support 505, each slide block assembly 4 is connected respectively with one or two nut portions 3, and each one or two nut portions 3 is respectively with one
Individual one or two axle is consolidated portion 2 and is connected, and two one or two axles consolidate portion 2 and are the both sides for being symmetrically distributed in Z axis skateboard component.The solid portion 2 of one or two axles
During operating, by controlling the rotating speed of two the first motors 201 and making there is speed discrepancy between two the first motors 201, then can be with
Z axis skateboard component is driven to rotate in three axle cunning portions 5.When the solid portion 2 of one or two axles operates, by controlling two the first motors
201 rotating speed and make the rotating speed of two the first motors 201 identical, there is no relative fortune between slide block assembly 4 and Z axis skateboard component
It is dynamic, then Three Degree Of Freedom serial mechanism can be driven integrally to do translational motion along glidepath 203.
As illustrated in figures 1 and 8, three axle cunning portions 5 include lower skateboard 501 and are arranged on lower skateboard 501 and and two-freedom
Glidepath 203 set on parallel institution is the sliding block 502 being slidably connected, and Z axis skateboard component is to be rotatably arranged on down
On slide plate 501.Sliding block 502 is fixedly installed on the two ends of lower skateboard 501, and the sliding block 502 at the two ends of lower skateboard 501 is respectively with two
Glidepath 203 in the solid portion 2 of individual one or two axle is slidably matched, the horizontal top in two parallel glidepaths 203 of lower skateboard 501
And positioned at the lower section of two one or two axle screw rods 202, three axle cunning portions 5 are under the drive of Z axis skateboard component along water on glidepath 203
Square to doing translational motion.
As shown in Fig. 1 and Fig. 9, Z axis skateboard component includes upper slide 503, is arranged on upper slide 503 and and slide block assembly
4 top shoe 402 is connected for the upper slide rail 504 that is slidably connected and being rotatably arranged in three axle cunning portions 5 and with upper slide 503
Z axis support 505.The upper end of Z axis support 505 is fixedly connected with upper slide 503, and the center of lower skateboard 501 is provided with and allows Z axis to prop up
The through hole that frame 505 is passed through, is provided with bearing between Z axis support 505 and lower skateboard 501, the in the vertical direction of lower skateboard 501 is Z axis
Support 505 is provided a supporting role.Upper slide 503 is located at the top of lower skateboard 501, and upper slide rail 504 is arranged at the two of upper slide 503
The two ends of end and upper slide 503 are respectively provided with two parallel upper slide rails 504, are symmetrically distributed in two of the both sides of Z axis support 505
Two top shoes 402 of slide block assembly 4 are respectively with two upper slide rails 504 for being arranged at the one end of upper slide 503 to be slidably matched.
As shown in Fig. 1 and Fig. 9, Z axis skateboard component also includes the electric machine support 507 being fixedly installed on upper slide 503, sets
Z axis screw rod 508 and connect with Z axis screw rod 508 that the second motor 506 being placed on electric machine support 507 and the second motor 506 connect
Connect and constitute the ball nut (not shown) of worm drive.Upper slide 503 and lower skateboard 501 are and set in the horizontal direction
Put, Z axis support 505 is the cylindrical structural of inner hollow, electric machine support 507 is fixedly installed on the top surface of upper slide 503, Z
The upper end of bracing strut 505 is fixedly connected with upper slide 503 and vertically the lower section towards upper slide 503 is stretched out and passed through down
Slide plate 501, for servomotor and to be vertically arranged on electric machine support 507, Z axis screw rod 508 is arranged at motor to the second motor 506
The inside of support 507 and Z axis support 505, one end of Z axis screw rod 508 is connected by the motor shaft of shaft coupling and the second motor 506
Connect, to be rotatably arranged on Z axis support 505, Z axis support 505 is with Z axis screw rod 508 and is for the other end of Z axis screw rod 508
It is coaxially disposed, the axis (namely rotation centerline of Z axis skateboard component) of Z axis support 505 exists with the axis of one or two axle screw rods 202
It is spatially perpendicular.It is arranged at the ball nut inside Z axis support 505 to be sheathed on Z axis screw rod 508 and both composition spirals
Transmission, the second motor 506 operates, and drives Z axis screw rod 508 to rotate by shaft coupling, and then drives ball nut in Z axis support
Vertically move along a straight line in 505.
As depicted in figs. 1 and 2, Three Degree Of Freedom serial mechanism also includes four shaft assemblies 6 and five shaft assemblies 7 being sequentially connected,
Four shaft assemblies 6 are connected with Z axis skateboard component and Z axis skateboard component is used to make it do the drive for moving along a straight line the offer of four shaft assembly 6
Power.Z axis skateboard component also includes that with Z axis support 505 be the axis of guide 509 that is slidably connected, the axis of guide 509 and be arranged at Z
Ball nut and four shaft assemblies 6 in bracing strut 505 connects, and ball nut is sheathed on Z axis screw rod 508 and both constitute spiral
Transmission.The axis of the axis of guide 509 is parallel with the axis of Z axis support 505, and used as preferred, the axis of guide 509 arranges multiple and many
The individual axis of guide 509 is uniformly distributed circumferentially around Z axis screw rod 508, and the axis of guide 509 is engaged to ball with Z axis support 505
Nut play the guiding role, and the upper end of the axis of guide 509 is fixedly connected with ball nut, and the lower end of the axis of guide 509 passes through Z axis support
Stretch out and consolidate with four shaft assemblies 6 of lower section towards the lower section of Z axis support 505 after set linear bearing on the bottom of 505 lower ends
Fixed connection.When the second motor 506 operates, Z axis screw rod 508 is driven to rotate to drive ball nut in Z axis support by shaft coupling
Vertically move along a straight line in 505, drive the axis of guide 509 to be movable in a vertical direction by ball nut, the axis of guide 509 with
Linear bearing on Z axis support 505 is to be oriented to four shaft assemblies 6 below driving, five shaft assemblies 7 and end effector 8 along vertical
Direction moves along a straight line.
In the present embodiment, as shown in figure 1, the axis of guide 509 arranges three, three axis of guides 509 are uniformly distributed circumferentially
Around Z axis screw rod 508.
As shown in Figure 1, Figure 2, shown in Figure 10 and Figure 11, four shaft assemblies 6 include the transverse arm 601 being connected with Z axis skateboard component, arrange
The 3rd motor 602 on transverse arm 601 and the harmonic wave speed reducing machine 603 being connected with the 3rd motor 602 and five shaft assemblies 7.Transverse arm
601 is horizontally disposed, and one end of transverse arm 601 is fixedly connected with the lower end of the axis of guide 509, and the harmonic of the 3rd motor 602 subtracts
Fast machine 603 is fixedly installed on the other end of transverse arm 601.3rd motor 602 is servomotor, the length direction of transverse arm 601 and the
The axis perpendicular of three motors 602, the axis of the 3rd motor 602 and parallel with the rotation centerline of Z axis skateboard component.3rd
Motor 602 drives five shaft assemblies 7 to rotate by harmonic wave speed reducing machine 603, and the rotation centerline of five shaft assemblies 7 is perpendicular to water
Plane and parallel with the rotation centerline of Z axis skateboard component；When Z axis skateboard component rotates, four axles are driven by the axis of guide 509
Part rotates in the water surface.
As shown in Figure 1, Figure 2, shown in Figure 12 and Figure 13, five shaft assemblies 7 are used to connecting end effector 8, five shaft assemblies 7 include with
The forearm of the connection of four shaft assembly 6, the 4th motor 703 that is arranged on forearm and connect with the 4th motor 703 and end effector 8
The harmonic wave speed reducing machine 704 for connecing.One end of forearm and harmonic wave speed reducing machine 603,703 harmonic reductor of the 4th motor 704 is fixed and set
The other end of forearm is placed in, the 4th motor 703 is servomotor, and the 4th motor 703 drives end to hold by harmonic wave speed reducing machine 704
Row device 8 rotates.
Used as preferred, as shown in Figure 1, Figure 2, shown in Figure 12 and Figure 13, forearm includes the first arm body 701 and the second arm body 702,
One end on the length direction of first arm body 701 is fixedly connected with the harmonic wave speed reducing machine 603 of four shaft assemblies 6, the length of the first arm body 701
The other end on direction is fixedly connected with the one end on the length direction of the second arm body 702, the harmonic reductor of the 4th motor 703
704 are fixedly installed on the other end on the length direction of the second arm body 702.First arm body 701 is located at the lower section of transverse arm 601, and first
The axis perpendicular of the length direction of arm body 701 and the 3rd motor 602, the length direction and the 4th motor 703 of the second arm body 702
Axis perpendicular, the axis of the 3rd motor 602 and the 4th motor 703 is in vertical plane.The length side of the first arm body 701
To having the angle and angle is acute angle between the length direction of the second arm body 702, the second arm body 702 is relative to the first arm body
701 to be obliquely installed, and the second arm body 702 extends towards the outside inclined downward of the first arm body 701, and the forearm of formation has bending
Structure so that also there is angle and the corner dimension and first between the axis of the 4th motor 703 and the axis of the 3rd motor 602
Corner dimension between the arm body 702 of arm body 701 and second is equal.Forearm is arranged to into the form with bending structure, to change
The mounting means of the 4th motor 703, can be such that the 4th motor 703 is along inclined direction installed, and then end can be caused to perform
The corner of device 8 is more flexible, and only single-shaft-rotation is capable of achieving the conversion of the attitude of end effector 8, improves work space.
As preferred, as shown in Figure 1, Figure 2, shown in Figure 12 and Figure 13, the axis of the 4th motor 703 and the 3rd motor 602
Angle between axis is 45 degree, the angle between the length direction of the first arm body 701 and the length direction of the second arm body 702
For 45 degree.When 4th motor 703 operates, end effector 8 is driven to rotate by harmonic wave speed reducing machine 704, the rotation of end effector 8
It is 45 degree to turn centrage with horizontal plane angle, and after the rotation 180 degree of end effector 8, the attitude of end effector 8 just can be by Fig. 2
Shown being arranged in vertical is changed into horizontally disposed, and only single-shaft-rotation is capable of achieving the direction of end effector 8 by hanging down
Until the conversion of level so that the corner of end effector 8 is flexible.
As shown in Fig. 1 and Figure 14, in the present embodiment, end effector 8 mainly includes actuator bracket 801 and executor
Body 802, executor's body 802 is the part that robot end is used for straight line task.One end of actuator bracket 801 with
The harmonic wave speed reducing machine 704 of five shaft assemblies 7 is fixedly connected, and executor's body 802 is fixedly installed on the another of actuator bracket 801
End, has angle and the corner dimension and the 4th motor between the axis of executor's body 802 and the axis of the 4th motor 703
Corner dimension between 703 axis and the axis of the 3rd motor 602 is equal, preferably 45 degree.The axis of executor's body 802
Perpendicular with the length direction of actuator bracket 801, in state shown in Fig. 2, the axis of executor's body 802 is in vertical plane
It is interior and parallel with the axis of the 3rd motor 602, the folder between the axis of the axis of executor's body 802 and the 4th motor 703
Angle is 45 degree, and after the 4th motor 703 operates and makes end effector 8 rotate 180 degree, the attitude of end effector 8 just can be by
Vertical direction setting shown in Fig. 2 is converted into horizontally arranged.
The five degree of freedom series-parallel robot of said structure has the following advantages：
1st, two-degree-of-freedom parallel mechanism (one or two axle) is combined with Three Degree Of Freedom cascaded structure (3 45 axle), fully
Play parallel institution high rigidity, high accuracy, the advantage of big load, with serial mechanism make up parallel institution work space it is little lack
Point, Liang Zhong mechanisms have complementary advantages, with structural stability it is good, bearing capacity is strong, work space is big the characteristics of, expanded robot
Range of application；
2nd, two-degree-of-freedom parallel mechanism has two degree of freedom, more easily controls；
3rd, two-degree-of-freedom parallel mechanism simplifies structure using two branched forms, reduces cost；
4th, five axle rotary shafts 302 of particular design have 45 ° of angles with vertical direction, and the corner of end effector 8 is flexible, only singly
Axle rotation is capable of achieving the direction of end effector 8 by vertically to horizontal conversion, and Pose Control is easily realized.
The present invention is exemplarily described above in association with accompanying drawing.Obviously, the present invention is implemented and do not receive above-mentioned side
The restriction of formula.As long as employ the improvement of the various unsubstantialities that method of the present invention design and technical scheme are carried out；Or not
It is improved, the above-mentioned design of the present invention and technical scheme are directly applied to into other occasions, in protection scope of the present invention
Within.
Claims (9)
1. five degree of freedom series-parallel robot, it is characterised in that：Including the two-degree-of-freedom parallel mechanism and Three Degree Of Freedom that are connected
Serial mechanism, two-degree-of-freedom parallel mechanism is used to provide Three Degree Of Freedom serial mechanism makes it move along a straight line and rotary motion
Driving force.
2. five degree of freedom series-parallel robot according to claim 1, it is characterised in that：The two-degree-of-freedom parallel mechanism
It is connected and constitutes one or two nut portions of worm drive including the solid portion of one or two axles and with the solid portion of one or two axles.
3. five degree of freedom series-parallel robot according to claim 2, it is characterised in that：The solid portion of one or two axle includes the
One motor and one or two axle screw rods being connected with the first motor and one or two nut portions.
4. five degree of freedom series-parallel robot according to claim 3, it is characterised in that：The solid portion of one or two axle also includes
The glidepath being slidably connected with the Three Degree Of Freedom serial mechanism, glidepath is located at the lower section of one or the two axle screw rod and both phases
It is parallel.
5. the five degree of freedom series-parallel robot according to Claims 2 or 3, it is characterised in that：The Three Degree Of Freedom series connection
Mechanism includes three axle cunning portions being slidably connected with the two-degree-of-freedom parallel mechanism, the Z being rotatably arranged in three axle cunning portions
Axle skateboard component and the slide block assembly being connected with Z axis skateboard component and one or two nut portions.
6. five degree of freedom series-parallel robot according to claim 5, it is characterised in that：The slide block assembly and described one
Two nut portions are to be slidably connected to rotate connection and with the Z axis skateboard component.
7. five degree of freedom series-parallel robot according to claim 6, it is characterised in that：One or two nut portions included
The ball nut that crosses set, be arranged on spacer shell and be connected with one or the two axle screw rod and be arranged on spacer shell and with the cunning
Block assembly rotates the rotating shaft of connection.
8. five degree of freedom series-parallel robot according to claim 7, it is characterised in that：The axis of the rotating shaft with it is described
The rotation centerline of Z axis skateboard component is parallel.
9. five degree of freedom series-parallel robot according to claim 6, it is characterised in that：The slide block assembly includes slide block
Connecting plate, the top shoe for being arranged on slide attachment plate and being slidably connected with the Z axis skateboard component and it is arranged at slide block and is connected
Axle sleeve on plate, axle sleeve has the axis hole for allowing one or two nut portions to insert.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611199844.9A CN106584432A (en) | 2016-12-22 | 2016-12-22 | Five degree-of-freedom serial-parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611199844.9A CN106584432A (en) | 2016-12-22 | 2016-12-22 | Five degree-of-freedom serial-parallel robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106584432A true CN106584432A (en) | 2017-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611199844.9A Pending CN106584432A (en) | 2016-12-22 | 2016-12-22 | Five degree-of-freedom serial-parallel robot |
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| CN107789059A (en) * | 2017-09-19 | 2018-03-13 | 山东科技大学 | A kind of minimally invasive abdominal operation robot |
| CN110039531A (en) * | 2019-03-28 | 2019-07-23 | 滁州瑞祥智能科技有限公司 | A kind of Full-automatic machine manipulator suitable for annealing furnace production line |
| CN111716332A (en) * | 2020-06-30 | 2020-09-29 | 北华航天工业学院 | Five-degree-of-freedom mechanical processing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110039531A (en) * | 2019-03-28 | 2019-07-23 | 滁州瑞祥智能科技有限公司 | A kind of Full-automatic machine manipulator suitable for annealing furnace production line |
| CN111716332A (en) * | 2020-06-30 | 2020-09-29 | 北华航天工业学院 | Five-degree-of-freedom mechanical processing machine |
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