CN109129559A - A kind of gravity balance device of series parallel robot in five degrees of freedom - Google Patents
A kind of gravity balance device of series parallel robot in five degrees of freedom Download PDFInfo
- Publication number
- CN109129559A CN109129559A CN201810973403.2A CN201810973403A CN109129559A CN 109129559 A CN109129559 A CN 109129559A CN 201810973403 A CN201810973403 A CN 201810973403A CN 109129559 A CN109129559 A CN 109129559A
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- China
- Prior art keywords
- length adjustment
- adjustment device
- active length
- freedom
- degrees
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of gravity balance device of series parallel robot in five degrees of freedom, it is used on series parallel robot in five degrees of freedom, its the first active length adjustment device, the rear portion of second active length adjustment device and driven length adjustment device is respectively hinged in rotating bracket, the both ends of rotating bracket pass through first fixed plate respectively and are connected in robot base, third active length adjustment device is located at the first active length adjustment device, below second active length adjustment device and driven length adjustment device, and rear portion is hinged on Hooke's hinge, the both ends of Hooke's hinge pass through second fixed plate respectively and are connected in robot base, it is symmetricly set on two pneumatic cylinders of third active length adjustment device two sides, the cylinder body tail end of two pneumatic cylinders is connected to the two sides of third active length adjustment device outer tube, the piston rod of two pneumatic cylinders Front end be connected on moving platform.The support force that the present invention can be carried third active length adjustment device is passed directly in robot base.
Description
Technical field
The present invention relates to a kind of gravity balance devices.More particularly to a kind of gravitational equilibrium of series parallel robot in five degrees of freedom
Device.
Background technique
A kind of series parallel robot in five degrees of freedom of the bracket containing multi-axis turning disclosed in patent ZL201510401279.9,
It is made of the two degrees of freedom rotary head concatenated with 3-freedom parallel mechanism and therewith, wherein parallel institution includes rack, three
Means of active gulation, a driven regulating device, a moving platform and the multi-axis turning branch can be axially elongated or shortened
Frame has many advantages, such as that working space/equipment land occupation is better than big, manufacture and assembly technology type, kinematics is simple.However, the machine
Due to the influence of robot self gravity when the horizontal placement of people's module, so that the motor load in one of means of active gulation
Much larger than the motor load in other two means of active gulation, the realization of robot high speed characteristics is seriously constrained.For this
Kind series parallel robot in five degrees of freedom, University Of Tianjin propose a kind of gravity self balancing apparatus.
Patent CN107351124A discloses a kind of gravity balance device of series parallel robot in five degrees of freedom, by being mounted on
The overhanging bracket at revolute bracket rear portion, two installation axle beds and be connected to overhanging bracket and install axle bed between two
A cylinder composition, wherein the cylinder is also constant pressure cylinder, it is ensured that realization of the cylinder along axial constant thrust, cylinder both ends
It is connect respectively with overhanging bracket and installation axle bed by flexural pivot, this gravity balance device can fall gravitational field to electricity with partial equilibrium
The influence of machine static retention forces square.However, the occupied space of the gravity balance device is larger, in robot kinematics
Easily mechanical interference is generated with robot itself.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of occupied space is smaller, structure more simple five is freely
Spend the gravity balance device of series-parallel robot.
The technical scheme adopted by the invention is that: a kind of gravity balance device of series parallel robot in five degrees of freedom is used in
The first active being respectively hinged at by the two degrees of freedom rotary head being connected and moving platform and front end on the moving platform rear end face
Length adjustment device, the second active length adjustment device, third active length adjustment device and driven length adjustment device are constituted
Series parallel robot in five degrees of freedom on, wherein the first active length adjustment device, the second active length adjustment device and from
The rear portion of dynamic length adjustment device is respectively hinged in rotating bracket, and the both ends of the rotating bracket pass through one first respectively and consolidate
Dead axle seat is connected in robot base, and the third active length adjustment device is located at the first active length adjustment device,
Below two active length adjustment devices and driven length adjustment device, and rear portion is hinged on Hooke's hinge, the Hooke's hinge
Both ends pass through second fixed plate respectively and are connected in robot base, which is characterized in that gravity balance device includes
Be symmetricly set on the third active length adjustment device two sides can be by carrying needed for third active length adjustment device
Support force is passed directly to two pneumatic cylinders in robot base, and the cylinder body tail end of two pneumatic cylinders is connected to described
The two sides of third active length adjustment device outer tube, the front end of the piston rod of two pneumatic cylinders is connected to moving platform
On.
It is respectively arranged on the moving platform in the two sides for the third flexural pivot for connecting the third active length adjustment device
One connection shaft seat is provided with pneumatic cylinder supporting element, the pneumatic cylinder branch on the outer tube of the third active length adjustment device
The both ends of support member the two sides for being located at the third active length adjustment device outer tube it is symmetrical be respectively arranged with attachment base, two
The cylinder body tail end of a pneumatic cylinder is respectively hinged on corresponding attachment base, the front end of the piston rod of two pneumatic cylinders
It is respectively hinged at corresponding connection shaft seat.
Two pneumatic cylinders are that the pneumatic cylinder can be guaranteed along the axial constant pressure pneumatic cylinder for realizing constant thrust.
A kind of gravity balance device of series parallel robot in five degrees of freedom of the invention, can balance robot completely or partially
Influence of the self gravity to motor static retention forces square, realizes the gravity self-balancing of robot, is conducive to improve this five freely
Spend the Static and dynamic performance of series-parallel robot.The present invention has the advantage that
1. series parallel robot in five degrees of freedom gravity balance device size described in is smaller, and structure is simple, is easily installed, in machine
It is not easy to generate mechanical interference with robot itself in device people's motion process, feasibility is preferable.
In series parallel robot in five degrees of freedom gravity balance device described in 2., constant pressure cylinder both ends respectively with connection shaft seat and
Installation pipe clamp is connected by flexural pivot to guarantee that the series-parallel robot thrust that constant pressure cylinder generates in motion process can be effective
Act on moving platform, in actual installation use process, suitable oscillating bearing can be used realize flexural pivot connect, it is practical
Property is strong.
3. can wholly or largely eliminate gravitational field to motor static retention forces by cylinder pressure described in reasonable set
The influence of square, gravitational equilibrium effect is more significant, greatly improves the static and dynamic performance of the robot.
Detailed description of the invention
Fig. 1 is the overall structure diagram of series parallel robot in five degrees of freedom；
Fig. 2 is the rearview of Fig. 1；
Fig. 3 is the structural schematic diagram that series parallel robot in five degrees of freedom is mounted in robot base；
Fig. 4 is the inventive principle figure of series parallel robot in five degrees of freedom gravity balance device；
Fig. 5 is the structural schematic diagram of the gravity balance device installation condition of series parallel robot in five degrees of freedom of the invention.
In figure
1: rotating bracket 2: connection shaft seat
3: cylinder body 4: pneumatic cylinder supporting element
5: robot base 6: piston rod
7: driven 8: the first active length adjustment device of length adjustment device
9: the second active length adjustment devices 10: third active length adjustment device
11: the first fixed plate, 12: the second fixed plate
13: 14: the second servo motor of first servo motor
15: 16: the first flexural pivot of third servo motor
17: the second flexural pivots 18: third flexural pivot
19: 20: the first revolute pair of revolute pair
21: the second revolute pairs 22: Hooke's hinge
23: moving platform 24: two degrees of freedom rotary head
25: attachment base
Specific embodiment
It is done below with reference to gravity balance device of the embodiment and attached drawing to a kind of series parallel robot in five degrees of freedom of the invention
It is described in detail out.
A kind of gravity balance device of series parallel robot in five degrees of freedom of the invention, is used in series parallel robot in five degrees of freedom
On.The series parallel robot in five degrees of freedom is distinguished by the two degrees of freedom rotary head 24 and moving platform 23 that are connected and front end
The first active length adjustment device 8, the second active length adjustment device 9, third being hinged on 23 rear end face of moving platform
Active length adjustment device 10 and driven length adjustment device 7 are constituted.Wherein, the first active length adjustment device 8, second
The rear portion of active length adjustment device 9 and driven length adjustment device 7 is respectively hinged in rotating bracket 1, the rotating bracket 1
Both ends pass through first fixed plate 11 respectively and be connected in robot base 5, the third active length adjustment device
10 are located at below the first active length adjustment device 8, the second active length adjustment device 9 and driven length adjustment device 7, and
Rear portion is hinged on Hooke's hinge 22, and the both ends of the Hooke's hinge 22 pass through second fixed plate 12 respectively and are connected to robot
On pedestal 5.
The series parallel robot in five degrees of freedom detailed construction is as shown in Figure 1, Figure 2, Figure 3 shows, by having one to be translatable two
There are two the two degrees of freedom rotary heads 24 of rotational freedom to form for the 3-freedom parallel mechanism of rotation and the tool concatenated therewith, wherein
Parallel institution includes three the first active length adjustment device 8, the second active length adjustment dresses can be axially elongated or shortened
Set the robot base of rotating bracket 1, one of driven length adjustment device 7, one of 9, third active length adjustment device 10, one
5.The first active length adjustment device 8,9 one end of the second active length adjustment device are respectively corresponded through the first revolute pair
20 and second revolute pair 21 connect with the rotating bracket 1, the other end passes through the first flexural pivot 16 for being made of three revolute pairs
It is connect with the second flexural pivot 17 with the moving platform 23；Described 10 one end of third active length adjustment device is by two revolute pairs
The Hooke's hinge 22 of composition is connect with two the second fixed plates 12 being mounted in the robot base 5, the other end by by
The third flexural pivot 18 of three revolute pairs composition is connect with moving platform 23；The rotating bracket 1 is by revolute pair and is mounted on institute
State the first fixed plate 11 connection in robot base 5.Two degrees of freedom rotary head 24 is concatenated with moving platform 23.Connect rotating bracket
1 and the first active length adjustment device 8, the second active length adjustment device 9 shaft axis, and connection rotating bracket 1 with
The shaft axis of driven length adjustment device 7 is parallel to each other, and orthogonal with the connection shaft axis of robot base 5.Described
First active length adjustment device 8, the second active length adjustment device 9, third active length adjustment device 10 are corresponding
Under first servo motor 13, the second servo motor 14 and third servo motor 15 drive, it can extend and shorten, so that described dynamic
Platform 23 can be rotated around the axis of the first fixed plate 11, can be around the shaft of connection rotating bracket 1 and driven length adjustment device 7
Axis rotation, and can be moved along the axis of driven length adjustment device 7, and then form a translation and two rotational freedoms.
When the series parallel robot in five degrees of freedom is using horizontal placement as shown in Figure 3, due to the influence of self gravity, so that
The suffered load of third servo motor 15 of 10 end of third active length adjustment device is mounted on much larger than first servo motor 13
It is loaded with suffered by the second servo motor 14, seriously constrains the realization of robot high speed characteristics.
As shown in Figure 3, Figure 4, the gravity balance device of the series parallel robot in five degrees of freedom includes to be symmetricly set on
10 two sides of third active length adjustment device can be by the support force of carrying needed for third active length adjustment device 10
Two pneumatic cylinders being passed directly in robot base 5, two pneumatic cylinders are that the pneumatic cylinder can be guaranteed along axial real
The constant pressure pneumatic cylinder of existing constant thrust.3 tail end of cylinder body of two pneumatic cylinders is connected to the third active length tune
The front end of the two sides of 10 outer tube of regulating device, the piston rod 6 of two pneumatic cylinders is connected on moving platform 23.It ensure that five
The freedom degree series-parallel robot thrust that constant pressure cylinder 3 generates during the motion can be with useful effect on moving platform, i.e. constant pressure
Cylinder helps to counteract that influence of a part of robot gravity to third active length adjustment device 10 along the thrust that axially generates, can
Influence of the gravitational field to motor static retention forces square in third active length adjustment device 10 is effectively eliminated or reduced, realizes machine
The gravity self-balancing of people.
Distinguish on the moving platform 23 in the two sides for connecting the third flexural pivot 18 of the third active length adjustment device 10
It is provided with a connection shaft seat 2, is provided with pneumatic cylinder supporting element 4, institute on the outer tube of the third active length adjustment device 10
It states the both ends of pneumatic cylinder supporting element 4 and is set respectively the two sides for being located at 10 outer tube of third active length adjustment device are symmetrical
It is equipped with attachment base 25,3 tail end of cylinder body of two pneumatic cylinders is respectively hinged on corresponding attachment base 25, two gas
The front end of the piston rod 6 of cylinder pressure is respectively hinged at corresponding connection shaft seat 2.
The series parallel robot in five degrees of freedom gravity balance device principle are as follows: as shown in Figure 4, Figure 5, if it is flat to cancel gravity
Weigh device, i.e. F=0, then F3Significantly greater than F1And F2, the series parallel robot in five degrees of freedom self gravity is substantially by third active
Length adjustment device 10 undertakes, and series parallel robot in five degrees of freedom has the trend (τ) rotated counterclockwise along rotating bracket at this time,
This will certainly make the load excessive for the third servo motor 15 being mounted in third active length adjustment 10.When the gravity is flat
When weighing apparatus device is acted on series parallel robot in five degrees of freedom, it is based on statics Analysis, can be established comprising two constant pressure pneumatic cylinder edges
Thrust F, the series parallel robot in five degrees of freedom self gravity G and the first active length adjustment device 8, second axially generated is actively
Motor static retention forces (F in length adjustment device 9 and third active length adjustment device 101F2F3) equilibrium equation F1+F2+
F3+ F=G, i.e. F3=G-F1-F2- F, as can be seen from the above formula that applying third active length adjustment device after gravity balance device
It is influenced to be decreased significantly compared to before gravitational equilibrium by series parallel robot in five degrees of freedom self gravity field.Pass through reasonable set perseverance
Calm the anger cylinder pressure pressure to guarantee thrust F, the gravity self-balancing of series parallel robot in five degrees of freedom can be realized, reach whole or base
The purpose that this elimination gravitational field G influences 15 static retention forces square of third servo motor.
Although calculating is described to example of the invention above in conjunction with attached drawing, the invention is not limited to above-mentioned
Specific embodiment, the ginseng of gravity balance device can be changed in actual engineering according to series-parallel robot difference size
Number, but the principle and method that calculate are no different with above-mentioned, within these are all belonged to the scope of protection of the present invention.
Claims (3)
1. a kind of gravity balance device of series parallel robot in five degrees of freedom, be used in two degrees of freedom rotary head (24) by being connected and
Moving platform (23) and front end be respectively hinged at the first active length adjustment device (8) on the moving platform (23) rear end face,
Second active length adjustment device (9), third active length adjustment device (10) and driven length adjustment device (7) constitute five
On freedom degree series-parallel robot, wherein the first active length adjustment device (8), the second active length adjustment device (9) and
The rear portion of driven length adjustment device (7) is respectively hinged on rotating bracket (1), and the both ends of the rotating bracket (1) lead to respectively
It crosses first fixed plate (11) to be connected on robot base (5), the third active length adjustment device (10) is located at
Below first active length adjustment device (8), the second active length adjustment device (9) and driven length adjustment device (7), and
Rear portion is hinged on Hooke's hinge (22), and the both ends of the Hooke's hinge (22) pass through second fixed plate (12) respectively and are connected to
In robot base (5), which is characterized in that gravity balance device includes to be symmetricly set on the third active length adjustment dress
That sets (10) two sides can be passed directly to robot base for the support force carried needed for third active length adjustment device (10)
(5) two pneumatic cylinders on, cylinder body (3) tail end of two pneumatic cylinders are connected to the third active length adjustment dress
The two sides of (10) outer tube are set, the front end of the piston rod (6) of two pneumatic cylinders is connected on moving platform (23).
2. a kind of gravity balance device of series parallel robot in five degrees of freedom according to claim 1, which is characterized in that described
It is respectively arranged on moving platform (23) in the two sides for the third flexural pivot (18) for connecting the third active length adjustment device (10)
One connection shaft seat (2) is provided with pneumatic cylinder supporting element (4), institute on the outer tube of the third active length adjustment device (10)
State the both ends of pneumatic cylinder supporting element (4) point symmetrical in the two sides for being located at third active length adjustment device (10) outer tube
It not being provided with attachment base (25), cylinder body (3) tail end of two pneumatic cylinders is respectively hinged on corresponding attachment base (25),
The front end of the piston rod (6) of two pneumatic cylinders is respectively hinged at corresponding connection shaft seat (2).
3. a kind of gravity balance device of series parallel robot in five degrees of freedom according to claim 1, which is characterized in that two
The pneumatic cylinder is that the pneumatic cylinder can be guaranteed along the axial constant pressure pneumatic cylinder for realizing constant thrust.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810973403.2A CN109129559A (en) | 2018-08-24 | 2018-08-24 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810973403.2A CN109129559A (en) | 2018-08-24 | 2018-08-24 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
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| CN109129559A true CN109129559A (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810973403.2A Pending CN109129559A (en) | 2018-08-24 | 2018-08-24 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
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| CN (1) | CN109129559A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000760A (en) * | 2019-04-21 | 2019-07-12 | 安徽理工大学 | Series parallel type moves self-balancing heavy duty foundry robot |
| CN111604885A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Six-freedom-degree series-parallel robot with multi-axis rotating support |
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| CN103787080A (en) * | 2014-02-14 | 2014-05-14 | 江南大学 | Light-load high-speed conveying mechanical arm |
| CN104526684A (en) * | 2014-12-30 | 2015-04-22 | 天津大学 | High-rigidity hybrid robot capable of achieving gravity self balancing |
| CN104985596A (en) * | 2015-07-09 | 2015-10-21 | 天津大学 | Five-freedom hybrid robot with multi-axis rotation brackets |
| CN106217359A (en) * | 2016-08-31 | 2016-12-14 | 中冶华天工程技术有限公司 | Stacking machine mechanical arm balance pretensioner systems |
| JP2017159402A (en) * | 2016-03-09 | 2017-09-14 | 川崎重工業株式会社 | Articulated robot and gas reduction state estimation method for gas spring thereof |
| CN107351124A (en) * | 2017-07-25 | 2017-11-17 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
| CN107414791A (en) * | 2017-07-25 | 2017-12-01 | 天津大学 | A kind of symmetrical Planar Mechanisms series-parallel robot in face |
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2018
- 2018-08-24 CN CN201810973403.2A patent/CN109129559A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103787080A (en) * | 2014-02-14 | 2014-05-14 | 江南大学 | Light-load high-speed conveying mechanical arm |
| CN104526684A (en) * | 2014-12-30 | 2015-04-22 | 天津大学 | High-rigidity hybrid robot capable of achieving gravity self balancing |
| CN104985596A (en) * | 2015-07-09 | 2015-10-21 | 天津大学 | Five-freedom hybrid robot with multi-axis rotation brackets |
| JP2017159402A (en) * | 2016-03-09 | 2017-09-14 | 川崎重工業株式会社 | Articulated robot and gas reduction state estimation method for gas spring thereof |
| CN106217359A (en) * | 2016-08-31 | 2016-12-14 | 中冶华天工程技术有限公司 | Stacking machine mechanical arm balance pretensioner systems |
| CN107351124A (en) * | 2017-07-25 | 2017-11-17 | 天津大学 | A kind of gravity balance device of series parallel robot in five degrees of freedom |
| CN107414791A (en) * | 2017-07-25 | 2017-12-01 | 天津大学 | A kind of symmetrical Planar Mechanisms series-parallel robot in face |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000760A (en) * | 2019-04-21 | 2019-07-12 | 安徽理工大学 | Series parallel type moves self-balancing heavy duty foundry robot |
| CN110000760B (en) * | 2019-04-21 | 2024-02-09 | 安徽理工大学 | Series-parallel movable self-balancing heavy-load casting robot |
| CN111604885A (en) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | Six-freedom-degree series-parallel robot with multi-axis rotating support |
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Application publication date: 20190104 |