CN108515512A - A kind of four-degree-of-freedom parallel connection correction platform - Google Patents
A kind of four-degree-of-freedom parallel connection correction platform Download PDFInfo
- Publication number
- CN108515512A CN108515512A CN201810243510.XA CN201810243510A CN108515512A CN 108515512 A CN108515512 A CN 108515512A CN 201810243510 A CN201810243510 A CN 201810243510A CN 108515512 A CN108515512 A CN 108515512A
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- universal joint
- degree
- axis
- tablet
- parallel connection
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- 230000008719 thickening Effects 0.000 claims description 25
- 238000005461 lubrication Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 238000003466 welding Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012857 repacking Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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
Abstract
The invention discloses a kind of four-degree-of-freedom parallel connection correction platforms, including upper flat plate, lower tablet, four sets of adjusting branches are connected between the upper flat plate, lower tablet quadrangle, the adjusting branch includes linear motor, two universal joints, one end of the linear motor is flexibly connected lower tablet by universal joint, the output end of the linear motor is flexibly connected upper flat plate by universal joint, one rotation axis of the universal joint is parallel to connected tablet, and another rotation axis is perpendicular to the tablet connected.The present invention integrally has there are four degree of freedom, it can be achieved that the rotational motion of the movement and a direction in three directions.Simple and compact for structure, small, light weight can be used for a variety of workplaces such as precision positioning or welding correction by the output for every motor of making rational planning for.
Description
Technical field
The present invention relates to a kind of four-degree-of-freedom parallel connection correction platforms, are mainly used in welding deviation correcting technology field.
Background technology
Currently, in fields such as robot weldings, need to position with high accuracy and very delicate movement, therefore high-performance
Correction platform become the technical support in the field.
Currently, existing welding robot is mostly nonopen, the trajectory planning algorithm that manufacturer can only be used to provide can not
Repacking carries out rectification work, and most locating platforms often have the shortcomings that volume, quality are big.
In addition, " teaching-reproduction " humanoid robot being most widely used at present can only be repeated continuously the rail of advance teaching
Mark and action, it is difficult to ensure the precision of repetitive operation and copes with the variation that external welding surroundings are occurred in welding process, due to
The precision of robot repetitive operation is difficult to ensure, and welding wire usually crimps because colliding welding wire during use,
Therefore there are certain errors between the physical location and ideal position of solder joint so that position while welding inaccuracy, excessively weldering occurs
Connect or weld insufficient situation.In addition, it is also possible that obtaining workpiece surface small heat occurs for the heat that also will produce when welding
Deformation, the position for making position while welding and planning in advance generate offset.
Invention content
For the above technical problem, the present invention provides a kind of four-degree-of-freedom parallel connection correction platform, and entire platform is based on 4-UPU
Designed by mechanism, by the air line distance of the output shaft of four linear motors of coordinated planning, end's platform can be with each in platform
The coordinated movement of various economic factors of a linear motor for adjusting branch generate along tri- directions X, Y, Z move and rotation about the z axis is rectified a deviation.
The present invention is achieved through the following technical solutions：
A kind of four-degree-of-freedom parallel connection is rectified a deviation platform, including upper flat plate, lower tablet, the upper flat plate, lower tablet quadrangle it
Between be connected with four sets of adjusting branches, the adjusting branch includes linear motor, two universal joints, the linear motor
One end is rotatablely connected lower tablet by universal joint, and the output end of the linear motor is rotatablely connected upper flat plate, institute by universal joint
A rotation axis for stating universal joint is parallel to connected tablet, and another rotation axis is perpendicular to the tablet connected.
Further, the linear motor includes motor body, motor output shaft, and the motor body is lived by universal joint
The lower tablet of dynamic connection, motor output shaft are flexibly connected upper flat plate by universal joint.
Further, the linear motor is splined linear motor, and motor output shaft end is linear motion when output.
Further, it is also connected between the motor body and universal joint and is provided with flange Universal joint fork, the method
The flange end of blue Universal joint fork is fixedly connected by trip bolt with the motor body, the flange Universal joint fork
Plug end is connected with universal joint.
Further, no flange Universal joint fork is connected between the motor output shaft end and universal joint,
One end of the no flange Universal joint fork is fixedly connected by self-clinching standoff with the motor output shaft end, it is described can not
The plug end of blue Universal joint fork is connected with universal joint.
Further, the universal joint includes attachment screw, the lubricative axle sleeve that is fixed on tablet, T shape axis pins thicken
Circle, the long pin shaft being arranged in the cross-hole, is arranged to vertical long pin shaft interior universal joint square equipped with cross-hole
Connection axis pin in cross-hole and screw thread axis pin, the long pin shaft middle part is provided through the through-hole of its vertical axis, described
Axis pin thickening circle be connected with axis pin is connect across lubricative axle sleeve endoporus, the attachment screw sequentially passes through in axis pin thickening circle
Heart hole, connecting pin axis center hole, shaft through-hole of having strong market potential are connected with screw thread axis pin.
Further, the axis pin thickening circle is connected with axis pin is connect by screw thread across lubricative axle sleeve endoporus.
Further, the lubricative axle sleeve is oil-free self lubrication axle sleeve, further decreases and is sent out between universal joint and tablet
Frictional force when raw relative rotation, maintains easily.
Further, it is additionally provided with thrust bearing between the flange portion and the tablet connected of the axis pin thickening circle,
Sliding friction when universal joint is rotated between thickening circle flange face and tablet becomes rolling friction, reduces frictional force.
Further, the thrust bearing is taper roll bearing or plane thrust bearing.
Compared with prior art, four-degree-of-freedom parallel connection correction platform provided by the present invention, there are four degree of freedom for whole tool, can
Realize the rotational motion of the movement and a direction in three directions.Simple and compact for structure, small, light weight, progress are high, install
And convenient disassembly can be used for a variety of work such as precision positioning or welding correction by the output for every linear motor of making rational planning for
Occasion.
Description of the drawings
Fig. 1 is overall structure diagram of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of single branch of the present invention.
Fig. 3 is the degree of freedom schematic diagram of the embodiment of the present invention.
In figure：The first attachment screws of 1-；2- the first axis pin thickening circles；The first thrust bearings of 3-；The first oil-free self lubrications of 4-
Axle sleeve；The connection axis pins of 5- first；The first long pin shafts of 6-；7- the first screw thread axis pins；8- flange Universal joint forks；9- trip bolts；
10- motor bodies；11- motor output shafts；12- self-clinching standoffs；13- is without flange Universal joint fork；14- the second screw thread axis pins；15-
Second long pin shaft；The connection axis pins of 16- second；17- the second oil-free self lubrication axle sleeves；The second thrust bearings of 18-；The second axis pins of 19-
Thickening circle；The second attachment screws of 20-；21- the second universal joint squares；22- the first universal joint squares；23- upper flat plates；It is put down under 24-
Plate.
Specific implementation mode
It elaborates below to the embodiment of the present invention, the present embodiment is that technical solution is implemented with the present invention, is had
Detailed embodiment and specific operation process.The scope of the present invention is not limited to following embodiments.
As depicted in figs. 1 and 2, a kind of four-degree-of-freedom parallel connection correction platform, including upper flat plate 23, lower tablet 24, it is described
Four sets of adjusting branches are connected between upper flat plate 23,24 4 jiaos of lower tablet, the adjusting branch includes linear motor, two
One end of a universal joint, the linear motor is rotatablely connected lower tablet 24, the output of the linear motor by the first universal joint
End is rotatablely connected upper flat plate 23 by the second universal joint, and a rotation axis of two universal joints is parallel to connected tablet,
Another rotation axis is perpendicular to the tablet connected.
Specifically, the linear motor is splined linear motor, including motor body 10, motor output shaft 11, output
When 11 end of motor output shaft be linear motion.The motor body 10 passes through sequentially connected flange Universal joint fork 8, first
The lower tablet 24 of universal joint flexible connection, 11 end of the motor output shaft passes sequentially through no flange Universal joint fork the 13, the 20000th
It is flexibly connected upper flat plate 23 to section.
The flange end of the flange Universal joint fork 8 is fixedly connected by trip bolt 9 with the motor body 10, institute
The plug end for stating flange Universal joint fork 8 is connected with the first universal joint.
One end of the no flange Universal joint fork 13 is solid by self-clinching standoff 12 and 11 end of motor output shaft
Fixed connection, the plug end of the no flange Universal joint fork 13 is connected with the second universal joint.
First universal joint includes the first attachment screw 1, the first oil-free self lubrication axis being fixed on lower tablet 24
Set 4, the first axis pin of T shapes thickening circle 2, interior the first universal joint square 22 equipped with cross-hole, setting are in the cross-hole
The first long pin shaft 6, the first connection axis pin 5 and first for being arranged in the cross-hole of vertical first long pin shaft, 6 ground
Screw thread axis pin 7, first long pin shaft, 6 middle part are provided through the through-hole of its vertical axis, the first axis pin thickening circle 2
It is threadedly coupled with the first screw thread axis pin 7 across 4 endoporus of the first oil-free self lubrication axle sleeve, increases by first axis pin and add
The purpose of thickness circle 2 is primarily due to the first universal joint, and included axis pin is too short can not play connection function.First attachment screw 1
Sequentially pass through 2 centre bore of the first axis pin thickening circle, the first 5 centre bore of connection axis pin, 6 through-hole of the first long pin shaft and the first threaded
Axis 7 is connected, at this point, the rotation of both direction may be implemented in the first universal joint：First, being rotated around the first connection axis pin 5, separately
One is rotated around the first long pin shaft 6.It is also set between the flange portion and the lower tablet 24 of the first axis pin thickening circle 2
It is equipped with the first thrust bearing 3, first thrust bearing 3 selects taper roll bearing, the inner ring of the taper roll bearing solid
Be scheduled in the first axis pin thickening circle 2, when for the first universal joint to be rotated described in the first axis pin thickening circle 2 method
Sliding friction between blue face and the lower tablet 24 becomes rolling friction, reduces frictional force.
Similarly, second universal joint includes the second attachment screw 20, the second oil-free being fixed on upper flat plate 23
Self lubrication bearing 17, interior the second universal joint square 21 equipped with cross-hole, is arranged described the second axis pin of T shapes thickening circle 19
The second connection that the second long pin shaft 15, vertical second long pin shaft, 15 ground in cross-hole are arranged in the cross-hole
Axis pin 16 and the second screw thread axis pin 14, second long pin shaft, 15 middle part is provided through the through-hole of its vertical axis, described
Second axis pin thickening circle 19 passes through 17 endoporus of the second oil-free self lubrication axle sleeve to connect axis pin 16 with described second and is threadedly coupled,
Increase the second axis pin thickening circle 19 purpose be primarily due to the second universal joint carry axis pin too it is short can not play connection make
With.Second attachment screw 20 sequentially passes through 19 centre bore of the second axis pin thickening circle, the second 16 centre bore of connection axis pin, second
15 through-hole of long pin shaft is connected with the second screw thread axis pin 14, at this point, the rotation of both direction may be implemented in the second universal joint：When
It is rotated around the second connection axis pin 16, the other is being rotated around the second long pin shaft 15.The second axis pin thickening circle 19
The second thrust bearing 18 is additionally provided between flange portion and the upper flat plate 23, second thrust bearing 18 selects taper roller
The inner ring of bearing, the taper roll bearing is fixed in the second axis pin thickening circle 19, for sending out the second universal joint
Sliding friction between the flange face and the upper flat plate 23 of second axis pin thickening circle 19 described in when raw rotation becomes rolling friction,
Reduce frictional force.
In above-described embodiment, the lower tablet 24 is pedestal, and upper flat plate 23 is movable part, below with upper flat plate 23
Motion conditions, using the degree of freedom of spiral Algorithm Analysis upper flat plate 23, as shown in figure 3, number a in figure, b, c, d, e are indicated respectively
Each one degree of freedom adjusted in branch, a, b, d, e are the rotary freedom of upper and lower two universal joint, and c is the straight of linear motor
Line freedom of motion, and the rotation axis of degree of freedom b and degree of freedom d is parallel to upper flat plate 23, the rotation of degree of freedom a and degree of freedom e
Shaft axis is perpendicular to upper flat plate 23.According to spiral algorithm, each movement secondary axis of every adjusting branch can be used in the present embodiment
Spiral is collectively expressed as：
$ia=(0,0,1；0,0,0)
$ib=(lib, mib, 0；0,0,0)
$ic=(0,0,0；Pic, Qic, Ric)
$id=(lid, mid, 0；Pid, Qid, Rid)
$ie=(0,0,1；Pie, Qie, 0)
Subscript i is i-th of branch (i=1,2,3,4), and l, m, P, Q, R are indicated together with subscript respectively more than the direction of kinematic pair
String and corresponding position parameter.
The backpitch of each kinematic pair is calculated by reciprocity product, they can be by two backpitch couple edge groups
Conjunction obtains；
$1 r=(0,0,0；1,0,0)
$2 r=(0,0,0；0,1,0)
It can be considered that the degree of freedom of entire mechanism limitation is the rotation of X, Y-direction.
As shown in Figure 1, when the rule movement simultaneously of four motors, the straight of tri- directions X, Y, Z may be implemented in upper flat plate 23
Line movement and the rotation around Z axis, specially：
Motor output shaft is stretched out when being located above two linear motors retraction motor output shaft 11, being located at two linear motor of lower section
When 11, the upper flat plate 23 is moved along Y-direction.Similarly, when positioned at two linear motor of front be retracted motor output shaft 11, after being located at
When two linear motors of side stretch out motor output shaft 11, the upper flat plate 23 moves in X direction.When four linear motors are retracted simultaneously
Or it stretches out and upper flat plate 23 may make to be moved along Z axis.
In addition, when moving in rotation need to be carried out, rotary force will produce when being stretched out simultaneously in cornerwise two adjustings branch
Square, upper flat plate 23 can about the z axis rotate under the moment loading, and it is defeated simultaneously to be only in cornerwise two linear motors
Go out, other two linear motor does not export and as platform rotates.
The present embodiment is compact-sized, and controllability is strong, and the scope of application is wider, and installation and removal are also more convenient；It can meet
The correction demand of four degree of freedom, and the space of the parallel institution is bigger, may be mounted at open robot end
End, the rectification work realized for robot.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
All any modification, equivalent and improvement etc., should be included in the protection of the claims in the present invention made by within spirit and principle
Within the scope of.
Claims (10)
- The platform 1. a kind of four-degree-of-freedom parallel connection is rectified a deviation, which is characterized in that including upper flat plate (23), lower tablet (24), described is upper Four sets of adjusting branches are connected between tablet (23), lower tablet (24) quadrangle, it is characterised in that：The adjusting branch packet Linear motor, two universal joints are included, one end of the linear motor is rotatablely connected lower tablet (24), the straight line by universal joint The output end of motor is rotatablely connected upper flat plate (23) by universal joint, and a rotation axis of the universal joint, which is parallel to, to be connected Tablet, another rotation axis is perpendicular to the tablet connected.
- The platform 2. four-degree-of-freedom parallel connection according to claim 1 is rectified a deviation, which is characterized in that the linear motor includes motor Main body (10), motor output shaft (11), the motor body (10) are flexibly connected lower tablet (24), motor output by universal joint Axis (11) is flexibly connected upper flat plate (23) by universal joint.
- The platform 3. four-degree-of-freedom parallel connection according to claim 2 is rectified a deviation, which is characterized in that the linear motor is that spline is straight Line motor, motor output shaft (11) end is linear motion when output.
- The platform 4. four-degree-of-freedom parallel connection according to claim 2 is rectified a deviation, which is characterized in that the motor body (10) with It is also connected between universal joint and is provided with flange Universal joint fork (8), the flange end of the flange Universal joint fork (8) passes through fastening Screw (9) is fixedly connected with the motor body (10), and the plug end of the flange Universal joint fork (8) is connected with universal joint It connects.
- The platform 5. four-degree-of-freedom parallel connection according to claim 1 is rectified a deviation, which is characterized in that the motor output shaft (11) No flange Universal joint fork (13), one end of the no flange Universal joint fork (13) are connected between end and universal joint It is fixedly connected with described motor output shaft (11) end by self-clinching standoff (12), the no flange Universal joint fork (13) Plug end is connected with universal joint.
- The platform 6. four-degree-of-freedom parallel connection according to claim 1 is rectified a deviation, which is characterized in that the universal joint includes connection Screw, T shape axis pins thickening circle, interior universal joint square equipped with cross-hole, is arranged in institute the lubricative axle sleeve being fixed on tablet The connection axis pin and screw thread axis pin being arranged in cross-hole with stating the long pin shaft in cross-hole, vertical long pin shaft, the length The through-hole of its vertical axis is provided through in the middle part of axis pin, the axis pin thickening circle passes through lubricative axle sleeve endoporus and connect axis pin It is connected, the attachment screw sequentially passes through axis pin thickening circle centre bore, connecting pin axis center hole, have strong market potential shaft through-hole and threaded Axis is connected.
- The platform 7. four-degree-of-freedom parallel connection according to claim 6 is rectified a deviation, which is characterized in that the axis pin thickening circle passes through Lubricative axle sleeve endoporus is connected with axis pin is connect by screw thread.
- The platform 8. four-degree-of-freedom parallel connection according to claim 6 is rectified a deviation, which is characterized in that the lubricative axle sleeve is oil-free Self lubrication bearing.
- The platform 9. four-degree-of-freedom parallel connection according to claim 6 is rectified a deviation, which is characterized in that the method for the axis pin thickening circle It is additionally provided with thrust bearing between blue portion and the tablet connected.
- The platform 10. four-degree-of-freedom parallel connection according to claim 9 is rectified a deviation, which is characterized in that the thrust bearing is circular cone Roller bearing or plane thrust bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810243510.XA CN108515512B (en) | 2018-03-23 | 2018-03-23 | Four-degree-of-freedom parallel correction platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810243510.XA CN108515512B (en) | 2018-03-23 | 2018-03-23 | Four-degree-of-freedom parallel correction platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108515512A true CN108515512A (en) | 2018-09-11 |
| CN108515512B CN108515512B (en) | 2023-10-27 |
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| CN201810243510.XA Active CN108515512B (en) | 2018-03-23 | 2018-03-23 | Four-degree-of-freedom parallel correction platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1745986A (en) * | 2005-10-10 | 2006-03-15 | 燕山大学 | Experimental platform of parallel mechanism with 3 and 4 freedom and adjustable 3-UPU |
| CN104029196A (en) * | 2014-05-21 | 2014-09-10 | 燕山大学 | Three-rotation one-movement symmetric four-degree-of-freedom parallel mechanism |
| CN105856197A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Pure translational motion 3-UPU parallel-connection mechanism free of unexpected rotation |
| US20160250749A1 (en) * | 2015-02-26 | 2016-09-01 | Khalifa University Of Science, Technology And Research | Parallel mechanism based automated fiber placement system |
| CN106737606A (en) * | 2017-02-14 | 2017-05-31 | 华南理工大学 | A kind of rotatable parallel motion |
| CN208147842U (en) * | 2018-03-23 | 2018-11-27 | 华南理工大学 | A kind of four-degree-of-freedom parallel connection correction platform |
-
2018
- 2018-03-23 CN CN201810243510.XA patent/CN108515512B/en active Active
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|---|---|---|---|---|
| CN1745986A (en) * | 2005-10-10 | 2006-03-15 | 燕山大学 | Experimental platform of parallel mechanism with 3 and 4 freedom and adjustable 3-UPU |
| CN104029196A (en) * | 2014-05-21 | 2014-09-10 | 燕山大学 | Three-rotation one-movement symmetric four-degree-of-freedom parallel mechanism |
| US20160250749A1 (en) * | 2015-02-26 | 2016-09-01 | Khalifa University Of Science, Technology And Research | Parallel mechanism based automated fiber placement system |
| CN105856197A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Pure translational motion 3-UPU parallel-connection mechanism free of unexpected rotation |
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| CN208147842U (en) * | 2018-03-23 | 2018-11-27 | 华南理工大学 | A kind of four-degree-of-freedom parallel connection correction platform |
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| Title |
|---|
| 史巧硕: "一种并联机构末端特征分析方法", 《机械设计与研究》, vol. 24, no. 5, pages 22 - 24 * |
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| CN108515512B (en) | 2023-10-27 |
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