CN111438683A - Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation - Google Patents
Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation Download PDFInfo
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- CN111438683A CN111438683A CN202010276638.3A CN202010276638A CN111438683A CN 111438683 A CN111438683 A CN 111438683A CN 202010276638 A CN202010276638 A CN 202010276638A CN 111438683 A CN111438683 A CN 111438683A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Abstract
The invention discloses a four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation, which comprises a base, a motion platform, a first motion branch, a second motion branch, a third motion branch and a fourth motion branch, wherein the first motion branch, the second motion branch, the third motion branch and the fourth motion branch are connected with the base and the motion platform in a parallel mode. The four movement branches are respectively driven by a servo motor, wherein the first movement branch and the third movement branch have the same structure, and the second movement branch and the fourth movement branch have the same structure. The fourth movement branch and the first movement branch are identical in structure and connection form among components except for different relative installation positions of servo motors. The workpiece or the fixture is arranged on the motion platform, and three-dimensional movement and one-dimensional rotation of the motion platform are realized through the driving of the servo motors corresponding to the four motion branches. The invention has good application prospect in the operation requiring three-dimensional movement and one-dimensional rotation in the modern industrial field.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation.
Background
Early industrial robots generally adopted a series structure, namely, the series structure is taken as the mechanism prototype, and the industrial robots mainly have the defects of complex structure, low rigidity, large inertia and the like. In order to overcome the defects, people turn attention to a parallel structure robot taking a parallel mechanism as an original shape, the robot is generally composed of a base, a moving platform and a plurality of moving branches connected with the base in a parallel mode, and all driving motors of the robot can be arranged on the base or near the base, so that the robot has certain unique performances compared with a robot with a series structure, such as large rigidity, good symmetry, compact structure, good dynamic performance and the like.
The Stewart platform is the most typical six-degree-of-freedom parallel robot, which consists of a motion platform, a base and six telescopic motion branches connecting the motion platform and the base, wherein the motion platform realizes six-dimensional space motion of any position and any attitude through the telescopic motion of the six motion branches, namely, the robot has six degrees of freedom. However, many practical parallel robots in modern production need only have a partial degree of freedom, and such parallel robots are referred to as less-than-degree-of-freedom parallel robots with respect to six-degree-of-freedom parallel robots, such as parallel robots having two, three, four, and five degrees of freedom, respectively.
In the applicant's earlier application CN101417423A, a three-dimensional mobile industrial robot with 3-2-1 structure is disclosed, in which six equal-length rigid support rods with spherical hinges at both ends are divided into a first group, a second group and a third group according to 3, 2 and 1, one end of the three rigid support rods in the first group is connected with a motion platform by a spherical hinge, and the other end of the three rigid support rods in the first group is connected with a first connecting piece by a spherical hinge; one end of the two rigid supporting rods of the second group is connected with the motion platform through a spherical hinge, and the other end of the two rigid supporting rods of the second group is connected with the second connecting piece through a spherical hinge; one end of the rigid support rod of the third group is connected with the motion platform through a spherical hinge, and the other end of the rigid support rod of the third group is connected with the third connecting piece through a spherical hinge; the first connecting piece, the second connecting piece and the third connecting piece are respectively arranged on sliding tables of the three linear movement driving units, and the three linear movement driving units are arranged on the base in a crossed mode. The three-dimensional movement of the motion platform can be realized through the driving of the three linear movement driving units. In the parallel robot with less degrees of freedom, four-branch four-degree-of-freedom robots which have three-dimensional space movement and one-dimensional rotation and have practicability are rare.
Disclosure of Invention
The invention aims to provide a four-degree-of-freedom industrial robot with a brand new configuration, three-dimensional movement and one-dimensional rotation, which has the advantages of large working space, high precision and good manufacturability and can be applied to the modern industrial fields of woodworking furniture, automobiles, electronics, nuclear industry, aerospace and the like.
The technical scheme adopted by the invention is as follows:
the invention provides a four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation, which comprises a base, a motion platform and a first motion branch, a second motion branch, a third motion branch and a fourth motion branch which are connected between the base and the motion platform in a parallel mode, wherein the first motion branch, the second motion branch, the third motion branch and the fourth motion branch are respectively provided with a servo motor, the first motion branch and the third motion branch respectively comprise a first servo motor, a U-shaped swinging block, a first H-shaped connecting rod, a second H-shaped connecting rod and a cross shaft, the lower part of the U-shaped swinging block is rotationally connected onto the base through a first rotating shaft, the upper part of the U-shaped swinging block is rotationally connected onto the first end of the first H-shaped connecting rod through a second rotating shaft, the second end of the first H-shaped connecting rod is rotationally connected onto the first end of the second H-shaped connecting rod through a third rotating shaft, the second end of the second H-shaped connecting rod is rotationally connected to the cross shaft through a cross shaft first shaft, and the cross shaft is rotationally connected to the motion platform through a cross shaft second shaft; the first servo motor of the first motion branch and the first servo motor of the third motion branch are both arranged at the lower part of the U-shaped swing block, an output shaft of the first servo motor is fixedly connected with the base, the output shaft of the first servo motor is coaxially arranged with the first rotating shaft, the second rotating shaft is mutually vertically arranged with the first rotating shaft, and the second rotating shaft, the third rotating shaft and the first shaft of the cross shaft are mutually parallel; the second movement branch and the fourth movement branch respectively comprise a second servo motor, a U-shaped swinging block, a first H-shaped connecting rod, a second H-shaped connecting rod and a cross shaft, the lower part of the U-shaped swinging block is rotationally connected to the base through a first rotating shaft, the upper part of the U-shaped swinging block is rotationally connected to the first end of the first H-shaped connecting rod through a second rotating shaft, the second end of the first H-shaped connecting rod is rotationally connected to the first end of the second H-shaped connecting rod through a third rotating shaft, the second end of the second H-shaped connecting rod is rotationally connected to the cross shaft through a first cross shaft, and the cross shaft is rotationally connected to the movement platform through a second cross shaft; and the second servo motor of the second motion branch and the second servo motor of the fourth motion branch are both arranged on the upper side surface of the U-shaped swinging block, the motor output shaft of the second servo motor is fixedly connected with the second end of the first H-shaped connecting rod, and the output shaft of the second servo motor and the second rotating shaft are coaxially arranged.
Preferably, the first movement branch and the fourth movement branch are disposed at two sides of the first end of the base, the second movement branch and the third movement branch are disposed at two sides of the second end of the base, respectively, the first movement branch and the third movement branch are disposed along a diagonal direction of the base, and the second movement branch and the fourth movement branch are disposed along the diagonal direction of the base.
Preferably, the first rotation axes of the first, second, third and fourth movement branches are parallel to each other.
Preferably, the corresponding second shafts of the first, second, third and fourth motion branches are mounted in parallel with each other, the second shafts of the first and fourth motion branches are coaxially arranged, and the second shafts of the second and third motion branches are coaxially arranged.
Preferably, in the first movement branch and the third movement branch, the rotation of the U-shaped swing block relative to the base about the first rotation axis can be controlled by the driving of the first servo motor.
Preferably, in the second movement branch and the fourth movement branch, the rotation of the first H-shaped link around the second rotation axis relative to the U-shaped swing block can be controlled by the driving of the second servo motor.
The workpiece or the clamp is arranged on the motion platform, and three-dimensional movement and one-dimensional rotation of the motion platform can be realized through the driving of the servo motors corresponding to the four motion branches.
Compared with the prior art, the invention has the following beneficial effects:
the four-branch four-degree-of-freedom industrial robot has three-dimensional movement and one-dimensional rotation, and the motion characteristics are clear, namely three-dimensional movement and one-dimensional rotation;
the invention adopts a parallel configuration, and a first motion branch, a second motion branch, a third motion branch and a fourth motion branch are arranged between the base and the motion platform in a parallel mode, so that the structure is compact, and the precision is high;
the branches of the invention have the same structure, the manufacturability is good and the installation is easy;
the mechanism has wide application prospect in the operation requiring three-dimensional movement and one-dimensional rotation in the modern industrial field.
Drawings
Fig. 1 is a schematic structural diagram of a four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation according to the invention; and
fig. 2 is a schematic diagram of the motion branch composition of the four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation.
The main reference numbers:
1-a base; 2-a first motion branch; 3-a second motion branch; 4-a motion platform; 5-third motion branch; 6-fourth motion branch; 20-a first rotating shaft; 21-a first servo motor; 22-U-shaped swinging blocks; 23-a second axis of rotation; 24-a first H-shaped link; 25-a third axis of rotation; 26-a second H-shaped link; 27-a cross shaft; 271-a cross-shaft first shaft; 272-Cross second axis; 61-second servomotor.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a four-branch four-degree-of-freedom industrial robot, which comprises a base 1, a motion platform 4, a first motion branch 2, a second motion branch 3, a third motion branch 5 and a fourth motion branch 6, wherein the first motion branch, the second motion branch, the third motion branch and the fourth motion branch are connected with the base and the motion platform in a parallel mode, as shown in figures 1 and 2.
The four motion branches of the first motion branch 2, the second motion branch 3, the third motion branch 5 and the fourth motion branch 6 are respectively driven by a servo motor, and the first motion branch 2 and the third motion branch 5 have the same structure. The first motion branch 2 comprises a first servomotor 21, a U-shaped pendulum block 22, a first H-shaped link 24, a second H-shaped link 26 and a cross 27, the lower part of the U-shaped pendulum block 22 being rotationally connected to the base 1 via a first rotational axis 20, the upper part of the U-shaped pendulum block 22 being rotationally connected to a first end of the first H-shaped link 24 via a second rotational axis 23, the second end of the first H-shaped link 24 being rotationally connected to a first end of the second H-shaped link 26 via a third rotational axis 25, the second end of the second H-shaped link 26 being rotationally connected to the cross 27 via a cross first shaft 271, the cross 27 being rotationally connected to the motion platform 4 via a cross second shaft 272.
The first servo motor 21 of the first motion branch 2 and the third motion branch 5 is installed at the lower part of the U-shaped swing block 22, the output shaft of the first servo motor 21 is fixedly connected with the base 1, the output shaft of the first servo motor 21 is coaxially arranged with the first rotating shaft 20, the second rotating shaft 23 is installed perpendicular to the first rotating shaft 20, and the second rotating shaft 23, the third rotating shaft 25 and the first shaft 271 of the cross shaft are installed in parallel. In the first movement branch 2 and the third movement branch 5, the rotation of the U-shaped swing block 22 relative to the base 1 about the first rotation axis 20 can be controlled by the driving of the first servo motor 21.
The second motion branch 3 and the fourth motion branch 6 are identical in structure, and the second motion branch 3 and the fourth motion branch 6 each include a second servo motor 61, a U-shaped swing block 22, a first H-shaped link 24, a second H-shaped link 26, and a cross 27. The lower portion of the U-shaped pendulum block 22 is pivotally connected to the base 1 via a first pivot shaft 20, the upper portion of the U-shaped pendulum block 22 is pivotally connected to the first end of a first H-shaped link 24 via a second pivot shaft 23, the second end of the first H-shaped link 24 is pivotally connected to the first end of a second H-shaped link 26 via a third pivot shaft 25, the second end of the second H-shaped link 26 is pivotally connected to the cross 27 via a cross first shaft 271, and the cross 27 is pivotally connected to the motion platform 4 via a cross second shaft 272.
In other words, the fourth motion branch 6 differs from the first motion branch 2 in its structure: the first servo motor 21 in the first motion branch 2 is arranged at the lower part of the U-shaped swing block 22, the motor output shaft is fixedly connected with the base 1, the output shaft of the first servo motor 21 is coaxially arranged with the first rotating shaft 20, the second servo motor 61 in the fourth motion branch 6 is arranged at the upper side surface of the U-shaped swing block 22, the motor output shaft of the second servo motor 61 is fixedly connected with the second end of the first H-shaped connecting rod 24, and the output shaft of the second servo motor 61 is coaxially arranged with the second rotating shaft 23; that is, the fourth moving branch 6 has the same composition and connection form among the components as the first moving branch 2 except that the relative installation positions of the servo motors are different; in the second movement branch 3 and the fourth movement branch 6, the rotation of the first H-shaped link 24 about the second rotation axis 23 relative to the U-shaped swing block 22 can be controlled by the driving of the second servo motor 61.
The first movement branch 2 and the fourth movement branch 6 are arranged on both sides of the first end of the base 1, the second movement branch 3 and the third movement branch 5 are arranged on both sides of the second end of the base 1, i.e. the first movement branch 2, the second movement branch 3, the third movement branch 5 and the fourth movement branch 6 are mounted in sequence with respect to the center of the base 1, and the corresponding first rotation axes 20 of the four movement branches are mounted parallel to each other. Thus, the first and third movement branches 2 and 5 are arranged in a diagonal direction of the base 1, and the second and fourth movement branches 3 and 6 are arranged in a diagonal direction of the base 1.
The cross second shafts 272 corresponding to the first motion branch 2, the second motion branch 3, the third motion branch 5 and the fourth motion branch 6 are arranged in parallel with each other, the cross second shafts 272 corresponding to the first motion branch 2 and the fourth motion branch 6 are coaxially arranged, and the cross second shafts 272 corresponding to the second motion branch 3 and the third motion branch 5 are coaxially arranged.
The workpiece or the fixture is arranged on the motion platform 4, and the three-dimensional movement and the one-dimensional rotation of the motion platform 4 can be realized through the driving of the servo motors 21 corresponding to the four motion branches.
In the working process, the four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation realizes the three-dimensional movement of the motion platform 4 and the rotation around the axis of the second shaft 272 of the cross shaft by arranging the first motion branch 2, the second motion branch 3, the third motion branch 5 and the fourth motion branch 6 which have basically the same structure between the base 1 and the motion platform 4 in a parallel mode and reasonably arranging the installation mode of the rotation shaft. Different end effectors are arranged on the motion platform, so that different operation requirements can be met, for example, a workpiece can be turned and moved by arranging a clamp, spraying operation can be carried out by arranging a spray gun, and welding operation can be carried out by arranging a welding gun. The industrial robot has the advantages of simple structure, large working space and high precision, and can be applied to the modern industrial fields of woodworking furniture, automobiles, electronics, nuclear industry, aerospace and the like.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (6)
1. A four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation comprises a base, a motion platform, and a first motion branch, a second motion branch, a third motion branch and a fourth motion branch which are connected between the base and the motion platform in a parallel mode, wherein the first motion branch, the second motion branch, the third motion branch and the fourth motion branch are respectively provided with a servo motor,
the first movement branch and the third movement branch respectively comprise a first servo motor, a U-shaped swinging block, a first H-shaped connecting rod, a second H-shaped connecting rod and a cross shaft, the lower part of the U-shaped swinging block is rotationally connected to the base through a first rotating shaft, the upper part of the U-shaped swinging block is rotationally connected to the first end of the first H-shaped connecting rod through a second rotating shaft, the second end of the first H-shaped connecting rod is rotationally connected to the first end of the second H-shaped connecting rod through a third rotating shaft, the second end of the second H-shaped connecting rod is rotationally connected to the cross shaft through the first cross shaft, and the cross shaft is rotationally connected to the movement platform through a second cross shaft; the first servo motor of the first motion branch and the first servo motor of the third motion branch are both arranged at the lower part of the U-shaped swing block, an output shaft of the first servo motor is fixedly connected with the base, the output shaft of the first servo motor is coaxially arranged with the first rotating shaft, the second rotating shaft is mutually vertically arranged with the first rotating shaft, and the second rotating shaft, the third rotating shaft and the first shaft of the cross shaft are mutually parallel;
the second movement branch and the fourth movement branch respectively comprise a second servo motor, a U-shaped swinging block, a first H-shaped connecting rod, a second H-shaped connecting rod and a cross shaft, the lower part of the U-shaped swinging block is rotationally connected to the base through a first rotating shaft, the upper part of the U-shaped swinging block is rotationally connected to the first end of the first H-shaped connecting rod through a second rotating shaft, the second end of the first H-shaped connecting rod is rotationally connected to the first end of the second H-shaped connecting rod through a third rotating shaft, the second end of the second H-shaped connecting rod is rotationally connected to the cross shaft through the first cross shaft, and the cross shaft is rotationally connected to the movement platform through a second cross shaft; and the second servo motor of the second motion branch and the second servo motor of the fourth motion branch are both arranged on the upper side surface of the U-shaped swinging block, the motor output shaft of the second servo motor is fixedly connected with the second end of the first H-shaped connecting rod, and the output shaft of the second servo motor and the second rotating shaft are coaxially arranged.
2. A four-branch four-degree-of-freedom industrial robot having three-dimensional movement and one-dimensional rotation according to claim 1, wherein the first motion branch and the fourth motion branch are disposed on both sides of the first end of the base, the second motion branch and the third motion branch are disposed on both sides of the second end of the base, respectively, and the first motion branch and the third motion branch are disposed along a diagonal direction of the base, and the second motion branch and the fourth motion branch are disposed along the diagonal direction of the base.
3. A four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation according to claim 1 or 2, characterized in that the corresponding first axes of rotation of the first, second, third and fourth motion branches are mounted parallel to each other.
4. A four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation according to claim 3, wherein the corresponding second cross shafts of the first, second, third and fourth motion branches are mounted parallel to each other, the corresponding second cross shafts of the first and fourth motion branches are arranged coaxially, and the corresponding second cross shafts of the second and third motion branches are arranged coaxially.
5. A four-branch four-degree-of-freedom industrial robot having three-dimensional movement and one-dimensional rotation according to claim 1 or 2, wherein the rotation of the U-shaped swing block relative to the base about the first rotation axis can be controlled by the driving of the first servo motor in the first motion branch and in the third motion branch.
6. A four-branch four-degree-of-freedom industrial robot having three-dimensional movement and one-dimensional rotation according to claim 1 or 2, wherein in the second motion branch and the fourth motion branch, the rotation of the first H-shaped link about the second rotation axis relative to the U-shaped swing block can be controlled by the driving of the second servo motor.
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| CN202010276638.3A CN111438683B (en) | 2020-04-10 | 2020-04-10 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
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| CN202010276638.3A CN111438683B (en) | 2020-04-10 | 2020-04-10 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114274123A (en) * | 2022-01-13 | 2022-04-05 | 燕山大学 | Four-freedom-degree parallel platform with three-dimensional movement and one-dimensional rotation |
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| CN111438683B (en) | 2021-05-14 |
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