CN109807871B - Planar motion flexible parallel robot with force sensing function - Google Patents
Planar motion flexible parallel robot with force sensing function Download PDFInfo
- Publication number
- CN109807871B CN109807871B CN201910243627.2A CN201910243627A CN109807871B CN 109807871 B CN109807871 B CN 109807871B CN 201910243627 A CN201910243627 A CN 201910243627A CN 109807871 B CN109807871 B CN 109807871B
- Authority
- CN
- China
- Prior art keywords
- elastic plate
- plate
- elastic
- pressing plate
- connecting block
- Prior art date
- 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.)
- Active
Links
Images
Abstract
The invention discloses a planar motion flexible parallel robot with force sensing, which relates to the field of robots and comprises a basic frame, a driving module and four-bar modules, wherein the driving module is arranged on the basic frame, and the four-bar modules are arranged on the basic frame and the driving module; the four-bar modules comprise an inner ring four-bar module and an outer ring four-bar module, the outer ring four-bar module is arranged on the outer side of the inner ring four-bar module, and the motion planes of the outer ring four-bar module and the inner ring four-bar module are parallel. The invention adopts a parallel elastic movement mechanism and applies a comprehensive position control method combining strain detection and image identification. The robot provided by the invention has the functions of high motion precision, high flexibility and force sensing, and has the characteristics of light weight of moving parts, adjustable terminal motion range, wide application range, low cost and high safety.
Description
Technical Field
The invention relates to the field of robots, in particular to a planar motion flexible parallel robot with force sensing function.
Background
The robot is more and more widely applied in various fields of production and life, the requirements of various fields on the robot are different, and in the fields of medical treatment, fragile object assembly and man-machine cooperation, higher requirements on the robot are provided in the aspects of motion precision, flexibility and force sensing.
The existing high-precision plane motion mechanism usually realizes corresponding functional requirements by means of a high-rigidity component and a transmission mechanism, but in the field of motion precision, the prior art has the defects of large inertia of motion parts, heavy base body, limited motion space of tail end output and the like; in the field of flexible mechanisms, because a metal high-rigidity structural part is still adopted, the defects of insufficient flexibility, safety and the like exist; in the field of force sensing, in the prior art, a force sensor is arranged at the tail end of a robot, so that the force sensor is high in cost, limited in circuit wiring and incapable of being used in a water-containing scene with easy conduction and electric leakage.
Patent application No. CN105904443A describes a two-degree-of-freedom compliant parallel mechanism with motion decoupling. The technical scheme disclosed by the application has the following defects: the motion range of the tail end of the mechanism is limited, the purpose of large-stroke motion cannot be achieved, the connecting rod part of the mechanism still adopts a rigid body, the reduction of rigidity is realized only by adopting a mode of reducing the sectional area at a rotating joint, and the flexibility and the safety of the mechanism are limited.
Patent application publication No. CN207273236U describes a direct-drive redundant planar parallel mechanism control device. The technical scheme disclosed by the application has the following defects: the structural component adopts a metal component, the motion inertia is large, the manufacturing and processing cost is high, and the tail end platform is in a closed triangle and has a limited motion range.
Therefore, those skilled in the art are dedicated to develop a planar motion flexible parallel robot with force sensing, which not only has the functions of high motion precision, high flexibility and force sensing, but also has the characteristics of light weight of moving parts, adjustable terminal motion range, wide application range, low cost and high safety.
Disclosure of Invention
In view of the above defects in the prior art, the technical problem to be solved by the invention is to overcome the defects of large inertia of moving parts, low moving precision, low mechanism flexibility, high cost, and limited safety and moving range of the existing plane moving robot.
In order to achieve the purpose, the invention provides a plane motion flexible parallel robot with force perception, which comprises a basic frame, a driving module and four-bar modules, wherein the driving module is arranged on the basic frame, and the four-bar modules are arranged on the basic frame and the driving module; the four-bar modules comprise an inner ring four-bar module and an outer ring four-bar module, the outer ring four-bar module is arranged on the outer side of the inner ring four-bar module, and the motion planes of the outer ring four-bar module and the inner ring four-bar module are parallel.
Further, basic frame includes frame, apron, preceding collateral branch fagging fixed set up in the both sides of the front portion of frame, the apron sets up anterior and fixed mounting in the frame are in on the preceding collateral branch fagging.
Furthermore, the driving module comprises a linear module, a left elastic plate connecting block, a right elastic plate connecting block, a middle elastic plate connecting block and a direct current servo motor; the linear module comprises a screw rod part, a ball nut part, a screw rod supporting part and a linear guide rail; the screw rod part and the ball nut part form a ball screw transmission pair; the screw rod supporting parts are arranged at the front end and the rear end of the screw rod part, the screw rod supporting parts are fixedly arranged at the middle rear part of the rack, and the screw rod supporting parts and the screw rod part form a rotating pair; the direct current servo motor is fixedly arranged at the front part of the rack, and an output shaft of the direct current servo motor is fixedly connected with the front end of the screw rod component; the linear guide rail is arranged below the screw rod part and is fixedly arranged at the middle rear part of the rack, the central axis of the linear guide rail is parallel to the central axis of the screw rod part, the lower end of the ball nut part is provided with a guide rail groove matched with the linear guide rail, and the ball nut part and the linear guide rail form a sliding pair; the driving module comprises 3 linear modules, and the 3 linear modules are sequentially arranged on the rack side by side in a left, middle and right manner at equal intervals; the number of the direct current servo motors is equal to that of the linear modules, and the direct current servo motors correspond to the linear modules one by one; the left elastic plate connecting block is fixedly installed on the upper portion of the ball nut member of the left linear module, the middle elastic plate connecting block is fixedly installed on the upper portion of the ball nut member of the middle linear module, and the right elastic plate connecting block is fixedly installed on the upper portion of the ball nut member of the right linear module.
Further, the outer ring four-bar module comprises a first elastic pressing plate, an outer elastic plate, a second elastic pressing plate, a short connecting rod and an outer sliding pair, the outer elastic plate comprises a left outer elastic plate and a right outer elastic plate, and the left outer elastic plate and the right outer elastic plate are arranged in parallel in the front-back direction; the first elastic pressing plate comprises a left first elastic pressing plate and a right first elastic pressing plate; the second elastic pressing plate comprises a left second elastic pressing plate and a right second elastic pressing plate; the rear end of the left outer elastic plate is arranged between the left elastic plate connecting block and the left first elastic pressing plate in an interference fit mode, and the rear end of the left outer elastic plate, the left elastic plate connecting block and the left first elastic pressing plate are fixedly connected through screws or bolts; the rear end of the right outer elastic plate is arranged between the right elastic plate connecting block and the right first elastic pressing plate in an interference fit mode, and the rear end of the right outer elastic plate, the right elastic plate connecting block and the right first elastic pressing plate are fixedly connected through screws or bolts; the front end of the left outer elastic plate is arranged between the left side of the short connecting rod and the left second elastic pressing plate in an interference fit mode, and the front end of the left outer elastic plate, the left side of the short connecting rod and the left second elastic pressing plate are fixedly connected through screws or bolts; the front end of the right outer elastic plate is arranged between the right side of the short connecting rod and the right side second elastic pressing plate in an interference fit mode, and the front end of the right outer elastic plate, the right side of the short connecting rod and the right side second elastic pressing plate are fixedly connected through screws or bolts; the outer sliding pair comprises an outer pulley block; the number of the outer pulley blocks is more than or equal to 4, the outer pulley blocks are arranged in pairs and side by side, and the distance between the outer pulley blocks is adjusted through jackscrews; the middle parts of the left outer elastic plate and the right outer elastic plate are respectively provided with the outer sliding pair, the outer sliding pairs are fixedly arranged on the cover plate, and the pulley clearance of the outer sliding pair arranged on the left side and the left outer elastic plate form small clearance fit; the pulley clearance of the outer sliding pair arranged on the right side and the right outer elastic plate form small clearance fit.
Furthermore, the inner ring four-bar module comprises a pressure plate, an inner elastic plate, a movable platform and an inner sliding pair, the inner elastic plate comprises a left inner elastic plate and a right inner elastic plate, and the left inner elastic plate and the right inner elastic plate are arranged in parallel in the front-back direction; the pressing plates comprise a first pressing plate, a second pressing plate, a third pressing plate and a fourth pressing plate; the rear end of the left inner elastic plate, the left side of the middle elastic plate connecting block and the first pressing plate are fixedly connected through screws or bolts; the rear end of the right inner elastic plate is arranged between the right side of the middle elastic plate connecting block and the second pressing plate in an interference fit mode, and the rear end of the right inner elastic plate, the right side of the middle elastic plate connecting block and the second pressing plate are fixedly connected through screws or bolts; the front end of the left inner elastic plate is arranged between the left side of the movable platform and the third pressure plate in an interference fit mode, and the front end of the left inner elastic plate, the left side of the movable platform and the third pressure plate are fixedly connected through screws or bolts; the front end of the right inner elastic plate is arranged between the right side of the movable platform and the fourth pressure plate in an interference fit mode, and the front end of the right inner elastic plate, the right side of the movable platform and the fourth pressure plate are fixedly connected through screws or bolts; the inner sliding pair comprises an inner pulley block; the number of the inner pulley sets is more than or equal to 4, the inner pulley sets are arranged in pairs and side by side, and the distance between the inner pulley sets is adjusted through a jackscrew; the middle parts of the left inner elastic plate and the right inner elastic plate are respectively provided with the front and the back inner sliding pairs, the inner sliding pair arranged at the back is fixedly arranged on the cover plate, the inner sliding pair arranged at the front is fixedly arranged on the short connecting rod, and the pulley clearance of the inner sliding pair at the left side is in small clearance fit with the left inner elastic plate; the pulley clearance of the inner sliding pair on the right side and the right inner elastic plate form small clearance fit; the movable platform is configured as an output interface of the planar motion flexible parallel robot with force perception.
Furthermore, the four-bar module further comprises a needle bar, the needle bar is arranged below the outer elastic plate and parallel to the moving direction of the outer elastic plate, the needle bar is arranged between the outer sliding pair and the ball nut component, the mounting surface of the needle bar is fixedly mounted on the cover plate, and the rolling surface of the needle bar and the outer elastic plate form a rolling pair.
Further, still include camera, camera support lower extreme fixed mounting on the apron, camera fixed mounting in camera support upper end, the camera is configured to detect the deformation form of outer elastic plate and interior elastic plate and the position of moving the platform.
Further, the four-bar module further comprises a strain gauge, the strain gauge comprises a first strain gauge, a second strain gauge, a third strain gauge and a fourth strain gauge, the first strain gauge is arranged on the left outer elastic plate and close to the short connecting rod side, the second strain gauge is arranged on the right outer elastic plate and close to the short connecting rod side, the third strain gauge is arranged on the left inner elastic plate and close to the movable platform side, and the fourth strain gauge is arranged on the right inner elastic plate and close to the movable platform side.
Further, the material of frame is the industry aluminium alloy, the material of apron is the resin, preceding collateral branch backup pad with the installation form of apron is the draw-in groove installation, outer elastic plate with the material of interior elastic plate is the spring steel, the rigidity of outer elastic plate is greater than the rigidity of interior elastic plate.
Further, still include target seat, insert the axle, the target seat passes through screw fixed mounting move on the platform, insert the axle and pass the target seat, it fixes to insert the axle through glue bonding on the target seat.
Compared with the prior art, the implementation of the invention has at least the following beneficial technical effects:
(1) the plane motion flexible parallel robot with force perception provided by the invention adopts a parallel motion mechanism and a comprehensive position control system, and has the characteristic of high precision of tail end output motion;
(2) according to the plane motion flexible parallel robot with the force sensing function, the force sensing system is realized by measuring the deformation of the driving mechanism, and the robot has the characteristics of high safety and convenience in arrangement;
(3) the plane motion flexible parallel robot with force perception provided by the invention has good effect of force smoothness, can be applied to the fields of medical treatment, assembly of fragile articles and man-machine cooperation, and has wide application prospect;
(4) the plane motion flexible parallel robot with the force perception function provided by the invention has the advantages of simple structure, small inertia of motion parts and adjustable motion range according to requirements.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is an overall block diagram of a preferred embodiment of the present invention;
FIG. 2 is a side view of a preferred embodiment of the present invention;
fig. 3 is a top view of a preferred embodiment of the present invention.
Wherein, 1-a screw rod supporting component; 2-a drive module; 3-a four-bar module; 4-a base frame; 5-cover plate; 6-front side supporting plate; 7-a linear module; 8-a left elastic plate connecting block; 9-middle elastic plate connecting block; 10-a direct current servo motor; 11-a first elastic pressure plate; 12-a platen; 13-an outer elastic plate; 14-an inner elastic plate; 15-a second elastic pressure plate; 16-short link; 17-moving the platform; 18-a target holder; 19-needle rolling row; 20-an inner sliding pair; 21-top thread; 22-inserting the shaft; 23-a strain gauge; 24-a camera support; 25-camera.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
Example 1:
as shown in fig. 1, fig. 2 and fig. 3, the present embodiment provides a planar motion flexible parallel robot with force sensing, which includes a base frame 4, a driving module 2, a four-bar module 3, a camera 25, and a camera support 24; the base frame 4 comprises a frame, a cover plate 5 and front side supporting plates 6, wherein the front side supporting plates 6 are fixedly arranged on two sides of the front part of the frame, and the cover plate 5 is fixedly arranged on the front side supporting plates 6 on two sides in a clamping groove mode; the lower end of the camera bracket 24 is fixedly arranged on the cover plate 5, and the camera 25 is fixedly arranged at the upper end of the camera bracket 24.
The driving module 2 is arranged on the basic frame 4, and the driving module 2 comprises a linear module 7, a left elastic plate connecting block 8, a right elastic plate connecting block, a middle elastic plate connecting block 9 and a direct current servo motor 10; the linear module 7 comprises a screw rod part, a ball nut part, a screw rod supporting part 1 and a linear guide rail; the diameter of the screw rod component is 16mm, and the lead is 10 mm; the screw rod part and the ball nut part form a ball screw transmission pair; the screw rod supporting parts 1 are arranged at the front end and the rear end of the screw rod part, the screw rod supporting parts 1 are fixedly arranged at the middle rear part of the rack, and the screw rod supporting parts 1 and the screw rod part form a rotating pair; the direct current servo motor 10 is fixedly arranged at the front part of the frame, and an output shaft of the direct current servo motor 10 is fixedly connected with the front end of the screw rod component; an output shaft of the direct current servo motor 10 rotates to drive the screw rod part to rotate, and then the ball nut part is driven to move linearly; the linear guide rail is arranged below the screw rod part and is fixedly arranged at the middle rear part of the rack, the central axis of the linear guide rail is parallel to the central axis of the screw rod part, the lower end of the ball nut part is provided with a guide rail groove matched with the linear guide rail, and the ball nut part and the linear guide rail form a sliding pair; the driving module 2 comprises 3 linear modules 7, the 3 linear modules 7 are sequentially arranged on the rack side by side in a left, middle and right mode, and the left and right linear modules 7 are symmetrically arranged by the central plane of the middle linear module 7; each linear module 7 is driven by an independent direct current servo motor 10, a left elastic plate connecting block 8 is fixedly arranged on the upper portion of a ball nut component of the left linear module 7, a middle elastic plate connecting block 9 is fixedly arranged on the upper portion of the ball nut component of the middle linear module 7, and a right elastic plate connecting block is fixedly arranged on the upper portion of the ball nut component of the right linear module 7.
The four-bar module 3 is arranged on the base frame 4 and the driving module 2; the four-bar module 3 comprises an inner ring four-bar module, an outer ring four-bar module, a needle roller row 19 and a strain gauge 23; the outer ring four-bar module is arranged on the outer side of the inner ring four-bar module, and the motion planes of the outer ring four-bar module and the inner ring four-bar module are parallel.
The outer ring four-bar module 3 comprises a first elastic pressing plate 11, an outer elastic plate 13, a second elastic pressing plate 15, a short connecting rod 16 and an outer sliding pair, the number of the outer elastic plates 13 is 2, the left outer elastic plate is arranged on the left side, the right outer elastic plate is arranged on the right side, and the left outer elastic plate and the right outer elastic plate are arranged in parallel in the front-back direction; the left outer elastic plate and the right outer elastic plate are stacked and arranged by the central plane of the middle straight line module 7; the first elastic pressing plate 11 comprises a left first elastic pressing plate and a right first elastic pressing plate; the second elastic pressing plate 15 comprises a left second elastic pressing plate and a right second elastic pressing plate; the rear end of the left outer elastic plate is arranged between the left elastic plate connecting block 8 and the left first elastic pressing plate in an interference fit manner, and the rear end of the left outer elastic plate, the left elastic plate connecting block 8 and the left first elastic pressing plate are fixedly connected through screws or bolts, preferably in the embodiment, the rear end of the left outer elastic plate, the left elastic plate connecting block 8 and the left first elastic pressing plate are in screw connection; the rear end of the right outer elastic plate, the right elastic plate connecting block and the right first elastic pressing plate are fixedly connected through screws or bolts, preferably in the embodiment, the rear end of the right outer elastic plate, the right elastic plate connecting block and the right first elastic pressing plate are in screw connection; the front end of the left outer elastic plate is arranged between the left second elastic pressing plates of the short connecting rod 16 and the left second elastic pressing plates in an interference fit mode, the front end of the left outer elastic plate, the left second elastic pressing plates of the short connecting rod 16 and the left second elastic pressing plates are fixedly connected through screws or bolts, and the screws are preferably connected in the embodiment; the front end of the right outer elastic plate is arranged between the right side of the short connecting rod 16 and the right second elastic pressing plate in an interference fit mode, the front end of the right outer elastic plate, the right side of the short connecting rod 16 and the right second elastic pressing plate are fixedly connected through screws or bolts, and the embodiment preferably adopts screw connection; the outer sliding pair comprises an outer pulley block; the number of the outer pulley blocks is equal to 4, the outer pulley blocks are arranged side by side in pairs, and the distance between the outer pulley blocks is adjusted through a jackscrew 21 of M2; the middle parts of the left outer elastic plate and the right outer elastic plate are provided with 1 outer sliding pair at the same position, the outer sliding pairs are fixedly arranged on the cover plate 5, and the pulley clearance of the outer sliding pair arranged at the left side and the left outer elastic plate form small clearance fit; the pulley clearance of the outer sliding pair arranged on the right side and the right outer elastic plate form small clearance fit; the needle row 19 is arranged below the outer elastic plate 13 and is parallel to the moving direction of the outer elastic plate 13, the needle row 19 is arranged between the outer sliding pair and the ball nut component, the mounting surface of the needle row 19 is fixedly mounted on the cover plate 5, the rolling surface of the needle row 19 and the outer elastic plate 13 form a rolling pair, the needle row 19 is used for bearing the downward force of the outer elastic plate 13, and the type embodiment of the needle row 19 is preferably FF 2010.
The inner ring four-bar module 3 comprises a pressure plate 12, an inner elastic plate 14, a movable platform 17 and an inner sliding pair 20, wherein the inner elastic plate 14 comprises 2 parts in total, the left inner elastic plate is arranged on the left side, the left inner elastic plate is arranged on the right side, the left inner elastic plate and the right inner elastic plate are arranged in parallel in the front-back direction, and the left inner elastic plate and the right inner elastic plate are stacked and arranged by the central plane of the middle linear module 7; the pressing plate 12 comprises a first pressing plate, a second pressing plate, a third pressing plate and a fourth pressing plate; the rear end of the left inner elastic plate, the left side of the middle elastic plate connecting block 9 and the first pressing plate are fixedly connected through screws or bolts, preferably in the embodiment, the rear end of the left inner elastic plate, the left side of the middle elastic plate connecting block 9 and the first pressing plate are in screw connection; the rear end of the right inner elastic plate is arranged between the right side of the middle elastic plate connecting block 9 and the second pressing plate in an interference fit mode, the rear end of the right inner elastic plate, the right side of the middle elastic plate connecting block 9 and the second pressing plate are fixedly connected through screws or bolts, and the embodiment preferably adopts screw connection; the front end of the left inner elastic plate is arranged between the left side of the movable platform 17 and the third pressure plate in an interference fit mode, the front end of the left inner elastic plate, the left side of the movable platform 17 and the third pressure plate are fixedly connected through screws or bolts, and the embodiment preferably adopts screw connection; the front end of the right inner elastic plate is arranged between the right side of the movable platform 17 and the fourth pressure plate in an interference fit mode, the front end of the right inner elastic plate, the right side of the movable platform 17 and the fourth pressure plate are fixedly connected through screws or bolts, and the embodiment preferably adopts screw connection; the inner sliding pair 20 comprises an inner pulley group; the number of the inner pulley sets is equal to 4, the inner pulley sets are arranged side by side in pairs, and the distance between the inner pulley sets is adjusted through a jackscrew 21 of M2; the middle parts of the left inner elastic plate and the right inner elastic plate are respectively provided with an inner sliding pair 20 in the front and at the back, the inner sliding pair 20 arranged at the back is fixedly arranged on the cover plate 5, the inner sliding pair 20 arranged at the front is fixedly arranged on the short connecting rod 16, and the pulley clearance of the inner sliding pair 20 at the left side and the left inner elastic plate form small clearance fit; the pulley clearance of the right inner sliding pair 20 and the right inner elastic plate form small clearance fit; the movable platform 17 is configured as an output interface of the planar motion flexible parallel robot with force perception.
The outer elastic plate 13 and the inner elastic plate 14 are made of 65Mn spring steel, the cross section of the outer elastic plate is rectangular, and the rigidity of the outer elastic plate 13 is greater than that of the inner elastic plate 14.
The strain gauge 23 includes a first strain gauge, a second strain gauge, a third strain gauge and a fourth strain gauge, the first strain gauge is disposed on the left outer elastic plate and close to the short connecting rod 16 side, the second strain gauge is disposed on the right outer elastic plate and close to the short connecting rod 16 side, the third strain gauge is disposed on the left inner elastic plate and close to the movable platform 17 side, and the fourth strain gauge is disposed on the right inner elastic plate and close to the movable platform 17 side.
The camera 25 is a high-resolution camera of 1000 ten thousand pixels, and the camera 25 is configured to detect the deformed states of the outer elastic sheet 13 and the inner elastic sheet 14 and the position of the movable platform 17.
The planar motion flexible parallel robot with the force sensing function further comprises a target base 18 and an inserting shaft 22, the target base 18 is fixedly mounted on the movable platform 17 through screws, the inserting shaft 22 penetrates through the target base 18, and the inserting shaft 22 is fixedly bonded on the target base 18 through glue.
When the end of the movable platform 17 is unloaded, the motion precision of the movable platform 17 can be ensured, but when the movable platform is loaded by the outside, the position of the end is wrong due to the passive compliance deformation of the outer elastic plate 13 and the inner elastic plate 14. The deformation forms of the outer elastic plate 13 and the inner elastic plate 14 and the position of the movable platform 17 are acquired in real time through a high-resolution camera 25 arranged above the cover plate 5, and finally the pose of the tail end movable platform 17 is updated in real time to form closed-loop control. Meanwhile, the deformation state of the external elastic plate 13 and the internal elastic plate 14 under the external load is acquired through the strain gauge 23, the deformation increment acquired by the camera 25 is converted into the load force according to the mechanical calculation, and the calculation result and the detection result of the strain gauge 23 are integrated, so that the detection precision of force sensing and the motion control precision are improved.
Example 2:
on the basis of embodiment 1, the camera 25 may be replaced by a laser radar, the combination of the dc servo motor 10, the screw member, and the ball nut member may be replaced by a combination of a servo hydraulic cylinder, a linear guide rod, and a slider, the servo hydraulic cylinder drives the slider to move in parallel on the linear guide rod, and the left elastic plate connecting block 8, the right elastic plate connecting block, and the middle elastic plate connecting block 9 are respectively fixedly disposed on the slider at the corresponding positions.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (5)
1. A plane motion flexible parallel robot with force perception is characterized by comprising a basic frame, a driving module and four-bar modules, wherein the driving module is installed on the basic frame, and the four-bar modules are installed on the basic frame and the driving module; the four-bar modules comprise an inner ring four-bar module and an outer ring four-bar module, the outer ring four-bar module is arranged on the outer side of the inner ring four-bar module, and the motion planes of the outer ring four-bar module and the inner ring four-bar module are parallel;
the foundation frame comprises a rack, a cover plate and front side supporting plates, the front side supporting plates are fixedly arranged on two sides of the front part of the rack, and the cover plate is arranged on the front part of the rack and is fixedly arranged on the front side supporting plates;
the outer ring four-bar module comprises a first elastic pressing plate, an outer elastic plate, a second elastic pressing plate, a short connecting rod and an outer sliding pair, wherein the outer elastic plate comprises a left outer elastic plate and a right outer elastic plate, and the left outer elastic plate and the right outer elastic plate are arranged in parallel in the front-back direction; the first elastic pressing plate comprises a left first elastic pressing plate and a right first elastic pressing plate; the second elastic pressing plate comprises a left second elastic pressing plate and a right second elastic pressing plate; the rear end of the left outer elastic plate is arranged between the left elastic plate connecting block and the left first elastic pressing plate in an interference fit mode, and the rear end of the left outer elastic plate, the left elastic plate connecting block and the left first elastic pressing plate are fixedly connected through screws or bolts; the rear end of the right outer elastic plate is arranged between the right elastic plate connecting block and the right first elastic pressing plate in an interference fit mode, and the rear end of the right outer elastic plate, the right elastic plate connecting block and the right first elastic pressing plate are fixedly connected through screws or bolts; the front end of the left outer elastic plate is arranged between the left side of the short connecting rod and the left second elastic pressing plate in an interference fit mode, and the front end of the left outer elastic plate, the left side of the short connecting rod and the left second elastic pressing plate are fixedly connected through screws or bolts; the front end of the right outer elastic plate is arranged between the right side of the short connecting rod and the right side second elastic pressing plate in an interference fit mode, and the front end of the right outer elastic plate, the right side of the short connecting rod and the right side second elastic pressing plate are fixedly connected through screws or bolts; the outer sliding pair comprises an outer pulley block; the number of the outer pulley blocks is more than or equal to 4, the outer pulley blocks are arranged in pairs and side by side, and the distance between the outer pulley blocks is adjusted through jackscrews; the middle parts of the left outer elastic plate and the right outer elastic plate are respectively provided with the outer sliding pair, the outer sliding pairs are fixedly arranged on the cover plate, and the pulley clearance of the outer sliding pair arranged on the left side and the left outer elastic plate form small clearance fit; the pulley clearance of the outer sliding pair arranged on the right side and the right outer elastic plate form small clearance fit;
the inner ring four-bar module comprises a pressing plate, an inner elastic plate, a movable platform and an inner sliding pair, wherein the inner elastic plate comprises a left inner elastic plate and a right inner elastic plate, and the left inner elastic plate and the right inner elastic plate are arranged in parallel in the front-back direction; the pressing plates comprise a first pressing plate, a second pressing plate, a third pressing plate and a fourth pressing plate; the rear end of the left inner elastic plate is arranged between the left side of the middle elastic plate connecting block and the first pressing plate in an interference fit mode, and the rear end of the left inner elastic plate, the left side of the middle elastic plate connecting block and the first pressing plate are fixedly connected through screws or bolts; the rear end of the right inner elastic plate is arranged between the right side of the middle elastic plate connecting block and the second pressing plate in an interference fit mode, and the rear end of the right inner elastic plate, the right side of the middle elastic plate connecting block and the second pressing plate are fixedly connected through screws or bolts; the front end of the left inner elastic plate is arranged between the left side of the movable platform and the third pressure plate in an interference fit mode, and the front end of the left inner elastic plate, the left side of the movable platform and the third pressure plate are fixedly connected through screws or bolts; the front end of the right inner elastic plate is arranged between the right side of the movable platform and the fourth pressure plate in an interference fit mode, and the front end of the right inner elastic plate, the right side of the movable platform and the fourth pressure plate are fixedly connected through screws or bolts; the inner sliding pair comprises an inner pulley block; the number of the inner pulley sets is more than or equal to 4, the inner pulley sets are arranged in pairs and side by side, and the distance between the inner pulley sets is adjusted through a jackscrew; the middle parts of the left inner elastic plate and the right inner elastic plate are respectively provided with the front and the back inner sliding pairs, the inner sliding pair arranged at the back is fixedly arranged on the cover plate, the inner sliding pair arranged at the front is fixedly arranged on the short connecting rod, and the pulley clearance of the inner sliding pair at the left side is in small clearance fit with the left inner elastic plate; the pulley clearance of the inner sliding pair on the right side and the right inner elastic plate form small clearance fit; the movable platform is configured as an output interface of the planar motion flexible parallel robot with force perception;
the lower end of the camera support is fixedly arranged on the cover plate, the camera is fixedly arranged at the upper end of the camera support, and the camera is configured to detect the deformation forms of the outer elastic plate and the inner elastic plate and the position of the movable platform;
the four-bar module further comprises a strain gauge, the strain gauge comprises a first strain gauge, a second strain gauge, a third strain gauge and a fourth strain gauge, the first strain gauge is arranged on the left outer elastic plate and close to the short connecting rod side, the second strain gauge is arranged on the right outer elastic plate and close to the short connecting rod side, the third strain gauge is arranged on the left inner elastic plate and close to the movable platform side, and the fourth strain gauge is arranged on the right inner elastic plate and close to the movable platform side.
2. The planar motion flexible parallel robot with force sensing of claim 1, wherein the driving module comprises a linear module, a left elastic plate connecting block, a right elastic plate connecting block, a middle elastic plate connecting block, a direct current servo motor; the linear module comprises a screw rod part, a ball nut part, a screw rod supporting part and a linear guide rail; the screw rod part and the ball nut part form a ball screw transmission pair; the screw rod supporting parts are arranged at the front end and the rear end of the screw rod part, the screw rod supporting parts are fixedly arranged at the middle rear part of the rack, and the screw rod supporting parts and the screw rod part form a rotating pair; the direct current servo motor is fixedly arranged at the front part of the rack, and an output shaft of the direct current servo motor is fixedly connected with the front end of the screw rod component; the linear guide rail is arranged below the screw rod part and is fixedly arranged at the middle rear part of the rack, the central axis of the linear guide rail is parallel to the central axis of the screw rod part, the lower end of the ball nut part is provided with a guide rail groove matched with the linear guide rail, and the ball nut part and the linear guide rail form a sliding pair; the driving module comprises 3 linear modules, and the 3 linear modules are sequentially arranged on the rack side by side in a left, middle and right manner at equal intervals; the number of the direct current servo motors is equal to that of the linear modules, and the direct current servo motors correspond to the linear modules one by one; the left elastic plate connecting block is fixedly installed on the upper portion of the ball nut member of the left linear module, the middle elastic plate connecting block is fixedly installed on the upper portion of the ball nut member of the middle linear module, and the right elastic plate connecting block is fixedly installed on the upper portion of the ball nut member of the right linear module.
3. The force sensing, planar motion, flexible, parallel robot of claim 2 wherein said four-bar module further comprises a row of needles disposed below said outer elastomeric sheet and parallel to the direction of motion of said outer elastomeric sheet, said row of needles disposed between said outer slide pair and said ball nut member, said row of needles having mounting surfaces fixedly mounted to said cover plate, said row of needles having rolling surfaces forming a rolling pair with said outer elastomeric sheet.
4. The planar motion flexible parallel robot with force sensing function as claimed in claim 3, wherein the frame is made of industrial aluminum profile, the cover plate is made of resin, the front support plate and the cover plate are mounted in a slot manner, the outer elastic plate and the inner elastic plate are made of spring steel, and the rigidity of the outer elastic plate is greater than that of the inner elastic plate.
5. The planar motion flexible parallel robot with force sensing of claim 4, further comprising a target base and an insertion shaft, wherein the target base is fixedly mounted on the movable platform through screws, the insertion shaft penetrates through the target base, and the insertion shaft is fixedly bonded on the target base through glue.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910243627.2A CN109807871B (en) | 2019-03-28 | 2019-03-28 | Planar motion flexible parallel robot with force sensing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910243627.2A CN109807871B (en) | 2019-03-28 | 2019-03-28 | Planar motion flexible parallel robot with force sensing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109807871A CN109807871A (en) | 2019-05-28 |
| CN109807871B true CN109807871B (en) | 2021-11-23 |
Family
ID=66610817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910243627.2A Active CN109807871B (en) | 2019-03-28 | 2019-03-28 | Planar motion flexible parallel robot with force sensing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109807871B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111702748A (en) * | 2020-07-07 | 2020-09-25 | 上海大学 | Flexible parallel mechanism suitable for grabbing in special environment |
| CN112077882A (en) * | 2020-09-18 | 2020-12-15 | 马鞍山迈若斯机器人科技有限公司 | Obstacle avoidance robot based on touch sense |
| CN115139289B (en) * | 2022-08-09 | 2023-07-28 | 哈尔滨工业大学 | Measuring method of force-position fusion measurement control device based on vision |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| JP2009291877A (en) * | 2008-06-04 | 2009-12-17 | Jtekt Corp | Parallel mechanism and machine tool having the same |
| CN106272354A (en) * | 2016-09-13 | 2017-01-04 | 浙江理工大学 | A kind of plane two one-movement-freedom-degree compliant parallel mechanism of large stroke and high precision |
| CN108284435A (en) * | 2018-03-07 | 2018-07-17 | 燕山大学 | A kind of planar three freedom parallel connection platform of big revolution |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101050B (en) * | 2013-03-05 | 2015-06-10 | 清华大学 | Novel plane two-degree-of-freedom redundant drive parallel moving platform |
| US10434322B2 (en) * | 2016-05-17 | 2019-10-08 | Center Of Human-Centered Interaction For Coexistence | Robot for controlling position of motion platform and bio-stimulation system having the same |
-
2019
- 2019-03-28 CN CN201910243627.2A patent/CN109807871B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104272A (en) * | 2007-08-16 | 2008-01-16 | 上海交通大学 | Two-degree-of-freedom plane parallel robot mechanism |
| JP2009291877A (en) * | 2008-06-04 | 2009-12-17 | Jtekt Corp | Parallel mechanism and machine tool having the same |
| CN106272354A (en) * | 2016-09-13 | 2017-01-04 | 浙江理工大学 | A kind of plane two one-movement-freedom-degree compliant parallel mechanism of large stroke and high precision |
| CN108284435A (en) * | 2018-03-07 | 2018-07-17 | 燕山大学 | A kind of planar three freedom parallel connection platform of big revolution |
Non-Patent Citations (1)
| Title |
|---|
| 平面二自由度并联机构的运动学和动力学研究;林协源等;《机床与液压》;20150915;第54-57页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109807871A (en) | 2019-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109807871B (en) | Planar motion flexible parallel robot with force sensing function | |
| CN103101050B (en) | Novel plane two-degree-of-freedom redundant drive parallel moving platform | |
| US20020170188A1 (en) | Table system with angular position controls | |
| CN107733204B (en) | Linear motor module for robot splicing | |
| CN108326885B (en) | Large-stroke electric clamping jaw with built-in controller | |
| CN102890000A (en) | Planar continuous loading testing device for numerical-control movable worktable | |
| CN204966059U (en) | Little positioning table of three degrees of freedom | |
| CN101786134B (en) | Twelve-motor parallel drive multi-link mechanical servo press | |
| CN215334246U (en) | Linear module with extremely high length utilization rate | |
| KR20140125380A (en) | Using data about the force flow in a press for the operation of a ram | |
| CN212978109U (en) | Pressing mechanism and pressure maintaining device | |
| CN110744329B (en) | Supporting device and method for dynamic processing of elastic thin-walled part | |
| CN203592108U (en) | One-arm multi-machine automatic feeding mechanical arm | |
| CN215066507U (en) | PCBA multifunctional test platform | |
| CN217142899U (en) | Vehicle body width correcting device and correcting equipment with same | |
| CN113103213B (en) | Feeding and discharging robot with single manipulator | |
| CN219575604U (en) | Two-degree-of-freedom motion platform based on flexible hinge | |
| CN218956078U (en) | Fatigue detection equipment for film clamping chain spring | |
| CN211197809U (en) | Transition mechanism and workpiece conveying line | |
| CN211564302U (en) | X-direction double-drive moving beam integrated device of numerical control turret punch press | |
| CN113825593B (en) | Clamping device | |
| CN216328317U (en) | Triaxial mechanical arm device | |
| CN108772849A (en) | A kind of series elastic driver based on torque motor | |
| CN215557097U (en) | Duplex station pipeline structure for assembling lens module | |
| CN218396851U (en) | Crimping apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |