CN106695766B - Six-degree-of-freedom parallel device based on grabbing parallel mechanism - Google Patents

Six-degree-of-freedom parallel device based on grabbing parallel mechanism Download PDF

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Publication number
CN106695766B
CN106695766B CN201710117136.4A CN201710117136A CN106695766B CN 106695766 B CN106695766 B CN 106695766B CN 201710117136 A CN201710117136 A CN 201710117136A CN 106695766 B CN106695766 B CN 106695766B
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freedom
connecting rod
degree
parallel
dimensional
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CN106695766A (en
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赵龙海
陈强
何永和
张延亮
朱虹
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Dongguan Songshan Lake Robot Industrial Development Co ltd
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Dongguan Songshan Lake Robot Industrial Development Co ltd
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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
    • B25J9/0033Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The six-degree-of-freedom parallel device based on the grabbing parallel mechanism comprises a fixed frame, a three-degree-of-freedom translation mechanism and a grabbing mechanism, wherein the two three-degree-of-freedom translation mechanisms are symmetrically arranged on two sides of the fixed frame, the grabbing parallel mechanism comprises a clamp, two three-dimensional translation connecting rods and two hook joints, the clamp consists of two clamp connecting rods, the two clamp connecting rods are arranged in a crossed mode and are rotationally connected through a rotating shaft, the three-dimensional translation connecting rods are fixedly connected with the three-degree-of-freedom translation structure, the hook joints are provided with vertical rod shafts and horizontal rod shafts, the horizontal rod shaft of one hook joint is positioned above the three-dimensional translation connecting rod, the horizontal rod shaft of the other hook joint is positioned below the three-dimensional translation connecting rod, the hook joints are rotationally connected with the three-dimensional translation connecting rod through the vertical rod shaft, and the hook joints are rotationally connected with the clamp connecting rod through the horizontal rod. The invention has a large rotation range and improves the grabbing capacity.

Description

Six-degree-of-freedom parallel device based on grabbing parallel mechanism
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a six-degree-of-freedom parallel mechanism based on a grabbing parallel mechanism.
Background
The parallel mechanism is a closed loop mechanism which is formed by connecting a movable platform and a static platform through at least two independent motion chains, has two or more degrees of freedom and is driven in a parallel mode. Compared with a serial robot, the parallel robot has the following advantages: the accumulated error is small, and the precision is high; the driving device can be arranged on the fixed platform or near the fixed platform, and the moving part has light weight, high speed and good dynamic response; compact structure, high rigidity and high bearing capacity.
A few degrees of freedom parallel mechanism refers to a parallel mechanism with less than 6 degrees of freedom and is applicable to many work tasks that are suitable for parallel mechanism operation but do not require all 6 degrees of freedom. Compared with the parallel mechanism with 6 degrees of freedom, the parallel mechanism with less degrees of freedom has the advantages of fewer driving parts, fewer components, simple and convenient control, easy manufacture, low price and the like. Therefore, the parallel mechanism with less degrees of freedom is also widely used in some occasions.
Because of the limitation of singular configurations, the rotation capability of the parallel mechanism moving platform is often smaller, and even a relatively simple plane parallel mechanism can theoretically reach a rotation range of not more than 180 degrees, and is smaller in practice.
The partial parallel mechanism is added with a redundant driving branched chain to assist the platform to cross the singular configuration so as to obtain larger rotation capacity, but the redundant driving can cause over-constraint so as to generate internal force, so that the mechanism faces a complex control problem; still other parallel mechanisms have selected to add redundant drives in some branches, but this results in the presence of a hybrid structure, thereby altering the load transfer characteristics of the original parallel mechanism.
On an automatic production line, the existing parallel mechanism scheme mainly aims at realizing the grabbing function by adding an actuator (a gripper, a sucker or the like) at the tail end of a parallel mechanism, so that an auxiliary device is required to be added on a movable platform of the parallel mechanism, even a motor is required to be additionally arranged, the weight of a moving part of the parallel mechanism is directly increased, and the dynamic characteristic of the parallel mechanism is seriously influenced.
The Chinese patent document No. CN103538062A, publication No. 2014.1.29, disclose a four-degree-of-freedom three-finger operation parallel mechanism, including a base, a movable platform, SP type straight line driving branch connecting the base and the movable platform and three UPUR type finger driving branches with identical structure, one end of the SP type straight line driving branch is fixedly connected with the movable platform through a movable pair, and the other end is connected with the base through a ball hinge; the three finger driving branches with the same structure are circumferentially and uniformly distributed between the machine base and the movable platform, one end of a linear driving rod in each finger driving branch is connected with the machine base through a universal pair, the other end of the linear driving rod is connected with one end of a finger connecting rod through a universal pair, the middle part of the finger connecting rod is connected with the movable platform through a revolute pair, and the other end of the finger connecting rod is a free end. However, in the technology, a movable platform is additionally arranged between fingers, so that the complexity of a mechanism is increased, and the expansion of the movement range of the fingers is not facilitated; moreover, the grabbing motion of the fingers depends on the pose of the movable platform, is accompanied by the motion, and is difficult to control independently.
Disclosure of Invention
The invention aims to solve the technical problem of providing a six-degree-of-freedom parallel device based on a grabbing parallel mechanism, which has the advantages of large rotation range, increased grabbing capacity, no singular global situation in a working space, no driving motor of the whole mechanism arranged on a moving part and capability of realizing rotation pointing to the whole spherical surface.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a six degrees of freedom parallel device based on snatch parallel mechanism, includes mount, three degree of freedom translation mechanisms and snatchs the mechanism, and two three degree of freedom translation mechanisms are installed in the both sides of mount symmetry, snatch parallel mechanism and include:
the clamp is composed of two clamp connecting rods, the two clamp connecting rods are arranged in a crossed mode and are connected with each other in a rotating mode through a rotating shaft, and the two clamp connecting rods perform opening and closing movement by taking the rotating shaft as rotation;
the three-dimensional translational connecting rods are fixedly connected with the three-degree-of-freedom translational structure, and the three-degree-of-freedom translational structure drives the three-dimensional translational connecting rods to perform translational motion in three directions of an X axis, a Y axis and a Z axis;
two Hooke joints, wherein each Hooke joint is provided with a vertical rod shaft and a horizontal rod shaft, each three-dimensional translation connecting rod is provided with one Hooke joint, the vertical rod shaft of each Hooke joint is inserted into the three-dimensional translation connecting rod and is rotationally connected with the three-dimensional translation connecting rod, one Hooke joint downwards extends out to enable the horizontal rod shaft to be positioned below the three-dimensional translation connecting rod, the other Hooke joint upwards extends out to enable the horizontal rod shaft to be positioned above the three-dimensional translation connecting rod, and the Hooke joint rotates relative to the three-dimensional translation connecting rod by taking the axis of the vertical rod shaft as a rotation center line;
one clamp connecting rod is rotationally connected with a horizontal rod shaft of the Hooke joint positioned below the three-dimensional translation connecting rod, the other clamp connecting rod is rotationally connected with a horizontal rod shaft of the Hooke joint positioned above the three-dimensional translation connecting rod, and the clamp connecting rod rotates by taking the horizontal rod shaft of the Hooke joint as a rotation center.
The vertical rod shafts and the horizontal rod shafts of the Hooke hinges are vertically arranged, the vertical rod shafts of the two Hooke hinges are parallel to each other, and the horizontal rod shafts and the rotating shafts of the two Hooke hinges are parallel to each other.
The three-dimensional translation connecting rod is a cylindrical pipe or a reducing pipe with the outer diameter gradually reduced.
The three-degree-of-freedom translation structure is provided with a connecting plate, and the three-dimensional translation connecting rod is fixedly arranged at the center of the connecting plate.
The three-dimensional translational connecting rod and the connecting plate are of an integrated structure.
According to the invention, two rotation movements and one grabbing movement of one grabbing parallel structure are controlled through two three-dimensional translational movements, so that the grabbing parallel structure has the rotation capability pointing to the whole spherical surface, and the grabbing capability is increased; and the whole mechanism is not provided with a driving motor on a moving part.
Drawings
FIG. 1 is a schematic perspective view of the assembled invention;
FIG. 2 is an initial schematic diagram of the present invention when gripping a workpiece;
FIG. 3 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 4 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 5 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 6 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 7 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 8 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 9 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 10 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 11 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
FIG. 12 is a schematic view of the partial rotation process of the present invention when gripping a workpiece;
fig. 13 is a schematic view of the partial rotation process of the present invention when gripping a workpiece.
Detailed Description
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding to those skilled in the art.
As shown in fig. 1 and 2, the invention discloses a six-degree-of-freedom parallel device based on a parallel mechanism, which comprises a fixed frame 3, a three-degree-of-freedom translation mechanism 2 and a grabbing mechanism 1, wherein the two three-degree-of-freedom translation mechanisms 2 are symmetrically arranged on two sides of the fixed frame 3, the grabbing parallel mechanism 1 comprises a clamp, two three-dimensional translation connecting rods 5 and two hook hinges 7, the clamp is composed of two clamp connecting rods 4, the two clamp connecting rods 4 are arranged in a crossed manner and are connected in a rotating manner through a rotating shaft 8, and the two clamp connecting rods 4 perform opening and closing movement by taking the rotating shaft 8 as rotation to form one opening and closing degree of freedom of the grabbing parallel mechanism 1. The two three-dimensional translational connecting rods 5 are fixedly connected with the two three-degree-of-freedom translational structures 2 respectively, and the three-degree-of-freedom translational structures 2 drive the three-dimensional translational connecting rods 5 to perform translational motion in three directions of an X axis, a Y axis and a Z axis to form three translational degrees of freedom. Each three-dimensional translation connecting rod 5 is provided with a hook joint 7, the hook joint 7 is provided with a vertical rod shaft 71 and a horizontal rod shaft 72, the vertical rod shaft 71 of the hook joint 7 is inserted into the three-dimensional translation connecting rod 5 and is in rotary connection with the three-dimensional translation connecting rod 5, one hook joint 7 extends downwards to enable the horizontal rod shaft 72 to be located below the three-dimensional translation connecting rod 5, the other hook joint 7 extends upwards to enable the horizontal rod shaft 72 to be located above the three-dimensional translation connecting rod 5, and the hook joint rotates relative to the three-dimensional translation connecting rod by taking the axis of the vertical rod shaft as a rotation center line to form one rotation degree of freedom of a grabbing parallel mechanism, so that the horizontal rod shafts of the two hook joints are located at different upper and lower positions respectively. One clamp connecting rod 4 is rotationally connected with the horizontal rod shaft 72 of the Hooke joint 7 positioned below the three-dimensional translation connecting rod 5, the other clamp connecting rod 4 is rotationally connected with the horizontal rod shaft 72 of the Hooke joint 7 positioned above the three-dimensional translation connecting rod 5, and the clamp connecting rod 4 rotates by taking the horizontal rod shaft 72 of the Hooke joint 7 as a rotation center.
In addition, the vertical rod shafts 71 and the horizontal rod shafts 72 of the hook joints 7 are vertically arranged, the vertical rod shafts 71 of the two hook joints 7 are parallel to each other, the horizontal rod shafts 72 and the rotating shafts 8 of the two hook joints 7 are parallel to each other, and the consistency and the accuracy of movement are ensured. The Hooke's joint uses the vertical rod shaft as the rotation center to form the rotation motion of the rotation degree of freedom, and the clamp connecting rod uses the horizontal rod shaft as the rotation center to form the rotation motion of the rotation degree of freedom mutually perpendicular.
The three-dimensional translational connecting rod is provided with a connecting plate, and the three-degree-of-freedom translational mechanism is fixedly connected with the connecting plate. The three-dimensional translation connecting rod is arranged at the center of the connecting plate, so that the uniformity of stress is ensured. The three-dimensional translational connecting rod and the connecting plate are of an integrated structure.
In the invention, the three-degree-of-freedom translation mechanism is not particularly limited, and only translation motion in three directions of an X axis, a Y axis and a Z axis needs to be realized. For example, the mechanism can be a spatial translation series mechanism formed by three serially connected moving pairs or other spatial translation series mechanisms. Or may be a Delta mechanism, a Gantry Robot mechanism, a Cartesian Robot mechanism, an orthoscale mechanism, or a Tsai's mechanism, or other form of spatially-translated parallel mechanism. And are not listed here.
The three-degree-of-freedom translation mechanism 2 forms three translational degrees of freedom in the directions of an x axis, a y axis and a z axis, and captures one opening and closing degree of freedom formed by rotation of two clamp connecting rods in the parallel structure 1 around a rotating shaft, one rotational degree of freedom formed by rotation of a Hooke hinge around a vertical rod shaft relative to the three-dimensional translational connecting rod, and one rotational degree of freedom formed by rotation of the clamp connecting rods around a horizontal rod shaft of the Hooke hinge, so that six-degree-of-freedom motion is formed.
In the invention, as shown in fig. 2, the opening and closing of the clamp is adjusted to a proper initial position to clamp the workpiece 9. The three-degree-of-freedom translation mechanism drives the three-dimensional translation connecting rod to carry out translation motion in X-axis, Y-axis and Z-axis directions. The clamp connecting rod rotates in the same plane, the Hooke hinge rotates relative to the three-dimensional translation connecting rod by taking the vertical rod shaft as the rotation center, and the Hooke hinge rotates within the range of 90 degrees, as shown in figure 3. The rotation is then continued until 90 degrees with respect to the initial position, as shown in fig. 4. The clamp link is then rotated 180 degrees in the same plane, completing the 180 degree rotation in the same plane, as shown in fig. 5 and 6. The clamp link is then returned to a position 90 degrees relative to the initial position as shown in fig. 7 and 8. Then the clamp connecting rod rotates by taking the horizontal rod shaft of the Hooke hinge as a rotation center, and simultaneously the Hooke hinge rotates by taking the vertical rod shaft as a rotation center, and the clamp connecting rod is matched with the translational motion of the three-degree-of-freedom translational mechanism to realize 360-degree circumferential rotation, as shown in figures 9-13. Therefore, the clamp connecting rod has the rotating capability of pointing to the whole spherical surface, and no kinematic singular exists in the upper hemispherical surface and the lower hemispherical surface.
In addition, the clamp may have other structures, as long as the purpose of clamping the workpiece can be achieved by rotation, and the above-mentioned clamp structure is only one preferred embodiment and is not limited thereto. And the clamping action is still controlled by two three-dimensional translational links.
It should be noted that the above description is not intended to limit the invention, and any obvious substitutions are within the scope of the invention without departing from the inventive concept thereof.

Claims (5)

1. The utility model provides a six degrees of freedom parallel device based on snatch parallel mechanism, includes mount, three degree of freedom translation mechanisms and snatchs the mechanism, and two three degree of freedom translation mechanisms are installed in the both sides of mount symmetry, its characterized in that snatch parallel mechanism includes:
the clamp is composed of two clamp connecting rods, the two clamp connecting rods are arranged in a crossed mode and are connected with each other in a rotating mode through a rotating shaft, and the two clamp connecting rods perform opening and closing movement by taking the rotating shaft as rotation;
the three-dimensional translational connecting rods are fixedly connected with the three-degree-of-freedom translational mechanism, and the three-degree-of-freedom translational mechanism drives the three-dimensional translational connecting rods to perform translational motion in three directions of an X axis, a Y axis and a Z axis;
two Hooke joints, wherein each Hooke joint is provided with a vertical rod shaft and a horizontal rod shaft, each three-dimensional translation connecting rod is provided with one Hooke joint, the vertical rod shaft of each Hooke joint is inserted into the three-dimensional translation connecting rod and is rotationally connected with the three-dimensional translation connecting rod, one Hooke joint downwards extends out to enable the horizontal rod shaft to be positioned below the three-dimensional translation connecting rod, the other Hooke joint upwards extends out to enable the horizontal rod shaft to be positioned above the three-dimensional translation connecting rod, and the Hooke joint rotates relative to the three-dimensional translation connecting rod by taking the axis of the vertical rod shaft as a rotation center line;
one clamp connecting rod is rotationally connected with a horizontal rod shaft of the Hooke joint positioned below the three-dimensional translation connecting rod, the other clamp connecting rod is rotationally connected with a horizontal rod shaft of the Hooke joint positioned above the three-dimensional translation connecting rod, and the clamp connecting rod rotates by taking the horizontal rod shaft of the Hooke joint as a rotation center.
2. The six-degree-of-freedom parallel device based on the grabbing parallel mechanism according to claim 1, wherein the vertical rod shafts and the horizontal rod shafts of the hook joints are vertically arranged, the vertical rod shafts of the two hook joints are parallel to each other, and the horizontal rod shafts and the rotating shafts of the two hook joints are parallel to each other.
3. The six-degree-of-freedom parallel device based on the grabbing parallel mechanism according to claim 2, wherein the three-dimensional translational connecting rod is a cylindrical tube or a reducer with gradually reduced outer diameter.
4. A six degree of freedom parallel device based on a grabbing parallel mechanism according to claim 3, wherein the three degree of freedom translation mechanism is provided with a connecting plate, and a three-dimensional translation connecting rod is fixedly arranged at the center of the connecting plate.
5. The six-degree-of-freedom parallel device based on the grabbing parallel mechanism of claim 4, wherein the three-dimensional translational connecting rod and the connecting plate are of an integrally formed structure.
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