CN111515926B - Parallel robot - Google Patents
Parallel robot Download PDFInfo
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- CN111515926B CN111515926B CN202010263477.4A CN202010263477A CN111515926B CN 111515926 B CN111515926 B CN 111515926B CN 202010263477 A CN202010263477 A CN 202010263477A CN 111515926 B CN111515926 B CN 111515926B
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- guide rail
- driving
- movable platform
- rod
- sliding block
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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
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Abstract
The invention relates to a parallel robot, which comprises a first guide rail, a second guide rail and a movable platform, wherein the first guide rail is connected with the movable platform through two sets of same connecting mechanisms; a telescopic connecting device is connected between the second guide rail and the movable platform; the connecting mechanism comprises a driving sliding block, a supporting rod, a hooke hinge and a rotating hinge, the hooke hinge is connected with one end of the supporting rod and the driving sliding block, and the other end of the supporting rod is provided with the rotating hinge; the driving slide block slides linearly along the first guide rail; the rotating hinge is fixedly connected with the near side of the movable platform; the telescopic connecting device comprises a driving extension rod and a third driving sliding block, and one end of the driving extension rod is connected with the third driving sliding block through a ball pair; the other end of the driving extension rod is connected with the rear side of the movable platform through a revolute pair; the third driving slide block is connected with the second guide rail through a sliding pair; and the movable platform is driven to install the operation tool through rotation.
Description
Technical Field
The invention belongs to the technical field of parallel robots, and relates to a parallel robot.
Background
With the continuous development and gradual maturity of the robot technology, due to the characteristics of strong flexibility, high openness, better meeting the flexible requirements of production and manufacturing and the like, more and more diversified robots are applied to the field of curved surface processing; at present, three-degree-of-freedom rectangular coordinate robots and six-degree-of-freedom series robots are widely applied in industrial production, the three-degree-of-freedom rectangular coordinate robots can basically meet most of plane processing, the six-degree-of-freedom series robots have greater advantages, any position in a working space can be achieved, tail end postures can be freely adjusted according to needs, and therefore the three-degree-of-freedom rectangular coordinate robots are wider in application field and better in working effect; meanwhile, in the robot field, the parallel robot has the advantages of high response speed, easiness in control, high operation precision, high working efficiency and the like compared with a serial robot.
The prior 2-PUR-PSR parallel mechanism is the closest to the technical scheme of the invention, the parallel mechanism consists of two guide rails which are vertical to each other, a first branched chain, a second branched chain, a third branched chain and a movable platform, the movable platform of the parallel mechanism has three degrees of freedom of two rotations and one movement, one degree of freedom of movement and one degree of freedom of partial rotation are reduced compared with the operation tool disclosed by the invention, and simultaneously the guide rails of the parallel mechanism are parallel to each other, so the parallel mechanism has the advantages of more degrees of freedom, strong flexibility and large working range of the movable platform; if the invention is applied to the gluing field, the working efficiency of curved surface gluing can be effectively improved.
Disclosure of Invention
The invention aims to solve the technical problems of improving the degree of freedom of a working tool, providing a parallel robot with a delicate structure, wherein the working tool has four degrees of freedom and one local degree of freedom of rotation, and effectively solving the problems of small working range and low working efficiency of the existing small robot device such as a gluing device.
The parallel robot comprises a first guide rail, a second guide rail and a movable platform, wherein the first guide rail is connected with the movable platform through two sets of same connecting mechanisms which can form symmetrical positions on two sides of the movable platform, so that the angle conversion of the movable platform is facilitated; a telescopic connecting device is connected between the second guide rail and the movable platform, and the telescopic connecting device can push the movable platform to rotate around the first guide rail;
the connecting mechanism comprises a driving sliding block, a supporting rod, a Hooke hinge and a rotating hinge, the Hooke hinge is connected with one end of the supporting rod and the driving sliding block, the rotating hinge is arranged at the other end of the supporting rod, the sliding block is driven to move along a first guide rail according to a spiral theory, the Hooke hinge respectively winds two rotating degrees of freedom parallel to the first guide rail and a rotating shaft perpendicular to the first guide rail and the rotating degree of freedom of the rotating hinge to jointly form a constraint vector equation, the degree of freedom of the moving platform is limited, and the moving platform has two rotating degrees of freedom and two moving degrees of freedom;
the driving sliding block slides linearly along the first guide rail, the movable platform and the operation tool can move along the direction of the first guide rail, the working range of the movable platform is expanded, and the working continuity is improved;
the rotating hinge is fixedly connected with one side of the movable platform, which is positioned at the connecting mechanism, so that the connecting mechanism at the two sides of the movable platform is in favor of the rotating connection with the two sides of the movable platform;
the two sets of same connecting mechanisms are respectively arranged at two sides of the movable platform, are coplanar and do not touch, so that the two sets of same connecting mechanisms are ensured not to interfere with each other, and are coplanar, and the connecting mechanisms are favorable for stably transmitting the transmission force to the two sides of the movable platform;
the telescopic connecting device comprises a driving extension rod and a third driving sliding block, one end of the driving extension rod is connected with the third driving sliding block through a ball pair, the third driving sliding block is driven to move along a second guide rail according to the moving freedom degree of the third driving sliding block on the basis of the spiral theory, the moving freedom degree of the driving extension rod from the second guide rail to the moving platform is driven, and three rotating freedom degrees of the ball pair are driven;
the other end of the driving extension rod is connected with the rear side of the movable platform through a revolute pair, so that the connection does not affect the degree of freedom of the movable platform, and under the condition that the degree of freedom of the movable platform is not changed, the rear side of the movable platform is provided with the telescopic connecting device, and two sides of the movable platform are provided with two sets of the same connecting mechanisms, so that the stability and controllability of the movable platform are improved;
the third driving sliding block is connected with the second guide rail through a sliding pair, moves along the second guide rail and moves along the movable platform, so that the reachable range of the movable platform is larger;
the movable platform is provided with an operating tool, and the movable platform mainly conveys the operating tool to a working position and then processes a workpiece by the operating tool;
the operation tool is fixedly arranged at the output end of the rotary drive, the top end of the rotary drive is fixedly arranged at the bottom end of the movable platform, and the rotary drive drives the operation tool to rotate during working, so that a local rotational degree of freedom is formed, and the angle adjustment of the operation tool is facilitated.
As a preferred technical scheme:
according to the parallel robot, the first guide rail and the second guide rail are parallel to each other and are positioned on the same horizontal plane, the driving slide block and the third driving slide block can be helped to stably run on the first guide rail and the second guide rail through the position relation, the movable platform can be driven to move along the first guide rail and the second guide rail through the connecting mechanism and the telescopic connecting device, and the working space range of the movable platform is enlarged.
According to the parallel robot, the distance between the first guide rail and the second guide rail is equal to one half of the longest rod of the driving extension rod, and the length of the support rod is equal to one half of the longest rod of the driving extension rod.
According to the parallel robot, the first driving slide block, the second driving slide block, the third driving slide block and the driving extension rod are the moving driving pairs, the stroke range of the moving driving pairs is large, the control is simple, the working range of the moving platform can be increased, the rotating driving pairs are the rotating driving pairs, the rotating driving pairs drive the operation, the working angle is adjusted, and the processing quality is improved.
According to the parallel robot, the top end of the driving sliding block is provided with a concave groove along the direction parallel to the first guide rail, and the tops of two sides inside the concave groove are fixedly provided with the chuck protrusions; the front side and the rear side middle part of first guide rail have all seted up the spout along the direction of first guide rail, the protruding spout sliding connection with first guide rail front side and rear side middle part of dop, the protruding sliding connection with the spout of first guide rail of dop for the cooperation between drive slider and the first guide rail is inseparabler, and is difficult for droing, has guaranteed sliding connection's stationarity simultaneously.
As above a parallel robot, move the platform and be the cuboid shape, the top middle part of moving the platform has seted up the rectangle and has perforated, and the rectangle perforation can alleviate the quality of moving the platform to reduce the inertia of moving the platform, the rear side of moving the platform and the equal fixed mounting in both sides have "concave" shape connector, the both ends of the fixed rotation hinge of being convenient for better for the atress of moving the platform is more balanced.
Compared with the prior art, the working tool has two rotational degrees of freedom, two moving degrees of freedom and one local rotational degree of freedom, so that the working tool is more flexible and wider in working range when machining curved workpieces compared with the prior art. For example, when a cylindrical curved surface is machined, when the central line of the cylindrical curved surface is not overlapped with the rotating shaft of the movable platform with the rotational freedom degree around the guide rail direction, the working tool in the prior art cannot vertically point to the cylindrical curved surface, so that the machining quality is poor; therefore, when the cylindrical curved surface is processed in the prior art, the central line of the cylindrical curved surface needs to be coincided with the rotating shaft of the movable platform around the rotational freedom degree of the first guide rail, and the existing processing operation is complex. However, the working tool of the invention has a local rotational degree of freedom, and the center line of the cylindrical curved surface does not need to coincide with the rotating shaft of the movable platform around the rotational degree of freedom of the first guide rail during processing, so that the working steps are simplified.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) the parallel machine has the advantages that the movable platform of the parallel machine has a rotational degree of freedom around the moving direction of the first driving slide block, a rotational degree of freedom around the moving direction perpendicular to the first driving slide block, a vertical degree of freedom, and a moving degree of freedom along the moving direction of the first driving slide block relative to the first guide rail and the second guide rail, and has two rotational degrees of freedom and two partial rotational degrees of freedom, because the working tool is installed at the bottom end of the movable platform through rotational driving, the working tool has two rotational degrees of freedom, two moving degrees of freedom and one partial rotational degree of freedom, so that the rotational posture of the working tool is more flexible, and meanwhile, because the working tool can move along the first guide rail and the second guide rail, the working range of the device is larger, and the device is suitable for gluing large curved surfaces;
(2) because the device is a parallel robot, and the parallel robot has the advantages of high response speed, high precision, convenient control and the like compared with the existing serial robot, the parallel robot has higher gluing efficiency compared with the existing serial gluing robot.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic bottom view of the present invention;
in the figure: 1. a first guide rail; 2. a first drive slider; 3. a first support bar; 4. a movable platform; 5. rotationally driving; 6. a work tool; 7. a second support bar; 8. a second driving slider; 9. a third driving slider; 10. driving the wand; 11. a second guide rail.
Detailed Description
The invention will be further illustrated with reference to specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The parallel robot disclosed by the invention comprises a first guide rail 1, a second guide rail 11 and a movable platform 4, wherein the first guide rail 1 is connected with the movable platform 4 through two sets of same connecting mechanisms; a telescopic connecting device is connected between the second guide rail 11 and the movable platform 4;
the connecting mechanism comprises a driving sliding block, a supporting rod, a hooke hinge and a rotating hinge, the hooke hinge is connected with one end of the supporting rod and the driving sliding block, and the other end of the supporting rod is provided with the rotating hinge;
the driving slide block slides linearly along the first guide rail 1;
the rotating hinge is fixedly connected with one side of the movable platform 4 positioned on the connecting mechanism;
the two sets of same connecting mechanisms are respectively arranged at two sides of the movable platform 4, and are coplanar and do not touch;
the two sets of same connecting mechanisms are respectively as follows:
one end of the first guide rail 1 is connected with a first driving slide block 2 in a sliding mode, the bottom end of the first driving slide block 2 is connected with a first supporting rod 3 in a rotating mode through a hooke hinge, and the bottom end of the first supporting rod 3 is connected with a movable platform 4 in a rotating mode through a rotating hinge.
The other end sliding connection of first guide rail 1 has second drive slider 8, 8 bottoms of second drive slider are connected with second bracing piece 7 through hooke's hinge rotation, 7 bottoms of second bracing piece are connected with movable platform 4 through rotating the hinge and rotate.
The telescopic connecting device comprises a driving extension rod 10 and a third driving slide block 9, wherein one end of the driving extension rod 10 is connected with the third driving slide block 9 through a ball pair;
the other end of the driving extension rod 10 is connected with the rear side of the movable platform 4 through a revolute pair;
the third driving slide block 9 is connected with the second guide rail 11 in a sliding pair manner;
a working tool 6 is arranged on the movable platform 4;
the working tool 6 is fixedly arranged at the output end of the rotary drive 5, and the top end of the rotary drive 5 is fixedly arranged at the bottom end of the movable platform 4.
The first guide rail 1 and the second guide rail 11 are parallel to each other and are on the same horizontal plane.
The distance between the first guide rail 1 and the second guide rail 11 is equal to one half of the longest rod length of the drive elongated rod 10 and the length of the strut is equal to one half of the longest rod length of the drive elongated rod 10.
The first driving slide block 2, the second driving slide block 8, the third driving slide block 9 and the driving extension rod 10 are a moving driving pair, and the rotary driving 5 is a rotary driving pair.
The top end of the driving sliding block is provided with a concave groove along the direction parallel to the first guide rail 1, and the tops of two sides inside the concave groove are fixedly provided with clamp protrusions; the front side and the rear side middle part of the first guide rail 1 are provided with sliding grooves along the direction of the first guide rail 1, and the clamping head is protruded and connected with the sliding grooves in the front side and the rear side middle part of the first guide rail 1 in a sliding mode. .
The movable platform 4 is in a cuboid shape, a rectangular perforation is formed in the middle of the top end of the movable platform 4, concave connectors are fixedly mounted on the rear side and the two sides of the movable platform 4, and rotating hinges are fixedly mounted on the inner sides of the concave connectors.
In the following, gluing is taken as an example: when the device carries out gluing operation on a cylindrical curved surface, the cylindrical curved surface is firstly placed below the device, then the first driving slide block 2 and the second driving slide block 8 move oppositely on the first guide rail 1, so that the included angle between the first support rod 3 and the second support rod 7 is reduced, meanwhile, the extension rod 10 is driven to extend synchronously, the movable platform 4 is pushed to enable the operation tool 6 to reach a processing area of the cylindrical curved surface, then the operation tool 6 carries out gluing operation on the cylindrical curved surface, when in operation, if the movable platform 4 needs to increase the rotation angle around the direction vertical to the moving direction of the first driving slide block 2, the third driving slide block 9 moves, meanwhile, the extension rod 10 also extends synchronously, the third driving slide block 9 further increases the rotation angle around the movable platform 4 through the telescopic connection device, the rotation angle is vertical to the moving direction of the first driving slide block 2, and the working angle of the operation tool 6 is also adjusted, the angle requirement of the gluing operation is met; when the angle of the movable platform 4 around the first guide rail 1 needs to be increased, only the extension rod 10 needs to be driven to extend to push the movable platform 4 to rotate around the first guide rail, then the rotation driver 5 adjusts the angle of the working tool 6 to generate a local rotation degree of freedom, the processing angle of the working tool is compensated, and the angle requirement of gluing operation is met; after the gluing operation of the area is finished, the first driving slide block 2 and the second driving slide block 8 are arranged on the first guide rail 1, the third driving slide block 9 synchronously moves on the second guide rail 11, and the movable platform 4 is conveyed to the next working area to work.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a parallel robot, includes first guide rail (1), second guide rail (11) and moves platform (4), characterized by: the first guide rail (1) is connected with the movable platform (4) through two sets of same connecting mechanisms; a telescopic connecting device is connected between the second guide rail (11) and the movable platform (4);
the connecting mechanism comprises a driving sliding block, a supporting rod, a hooke hinge and a rotating hinge, the hooke hinge is connected with one end of the supporting rod and the driving sliding block, and the other end of the supporting rod is provided with the rotating hinge;
the driving slide block slides linearly along the first guide rail (1);
the rotating hinge is fixedly connected with one side of the movable platform (4) on the connecting mechanism;
the two sets of same connecting mechanisms are respectively arranged at two sides of the movable platform (4), and are coplanar;
the telescopic connecting device comprises a driving extension rod (10) and a third driving sliding block (9), and one end of the driving extension rod (10) is connected with the third driving sliding block (9) through a ball pair;
the other end of the driving extension rod (10) is connected with the rear side of the movable platform (4) through a revolute pair;
the third driving slide block (9) is connected with the second guide rail (11) in a sliding pair manner;
the movable platform (4) is provided with a working tool (6);
the operation tool (6) is fixedly arranged at the output end of the rotary drive (5), and the top end of the rotary drive (5) is fixedly arranged at the bottom end of the movable platform (4).
2. A parallel robot according to claim 1, characterized in that the first guide rail (1) and the second guide rail (11) are parallel to each other and in the same horizontal plane.
3. A parallel robot according to claim 1, characterized in that the distance between the first guide rail (1) and the second guide rail (11) is equal to half the longest rod length of the drive elongation rod (10) and the length of the support rod is equal to half the longest rod length of the drive elongation rod (10).
4. A parallel robot according to claim 1, characterized in that the first driving slide (2), the second driving slide (8), the third driving slide (9) and the driving extension rod (10) are a moving driving pair and the rotational drive (5) is a rotational driving pair.
5. The parallel robot as claimed in claim 1, wherein the top end of the driving slider is provided with a concave groove along a direction parallel to the first guide rail (1), and the top ends of two sides inside the concave groove are fixedly provided with clamp protrusions; the front side and the rear side middle part of the first guide rail (1) are provided with sliding grooves along the direction of the first guide rail (1), and the clamping head is protruded and connected with the sliding grooves in the front side and the rear side middle part of the first guide rail (1) in a sliding mode.
6. The parallel robot as claimed in claim 1, wherein the movable platform (4) is rectangular, a rectangular through hole is formed in the middle of the top end of the movable platform (4), a concave connector is fixedly mounted on the rear side and two sides of the movable platform (4), and a rotating hinge is fixedly mounted on the inner side of the concave connector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010263477.4A CN111515926B (en) | 2020-04-07 | 2020-04-07 | Parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010263477.4A CN111515926B (en) | 2020-04-07 | 2020-04-07 | Parallel robot |
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| CN111515926A CN111515926A (en) | 2020-08-11 |
| CN111515926B true CN111515926B (en) | 2021-10-26 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043228B (en) * | 2021-03-22 | 2022-03-01 | 江苏宏达数控科技股份有限公司 | Multi-station power tool rest posture adjusting detection platform and control method thereof |
| CN113208794B (en) * | 2021-04-20 | 2022-10-25 | 哈尔滨工业大学 | Lower limb fracture reduction parallel robot |
| CN113211418B (en) * | 2021-06-07 | 2022-05-17 | 中国科学院宁波材料技术与工程研究所 | Two-rotation one-movement parallel mechanism and mechanical equipment |
| CN117506870A (en) * | 2023-12-11 | 2024-02-06 | 河北农业大学 | Orchard operation device with serial-parallel mechanism |
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| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| WO2002098603A1 (en) * | 2001-06-01 | 2002-12-12 | Siemens Aktiengesellschaft | Production machine |
| KR100882624B1 (en) * | 2001-02-23 | 2009-02-06 | 윌레민 머신즈 에스.에이. | Kinematic device for support and programmable displacement of a terminal element in a machine or an instrument |
| CN104057440A (en) * | 2014-07-16 | 2014-09-24 | 温州市骐邦环保科技有限公司 | Billiard robot based on double parallel mechanisms |
| CN106426096A (en) * | 2016-10-25 | 2017-02-22 | 浙江理工大学 | Large turning angle two-rotation-and-one-movement parallel mechanism |
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2020
- 2020-04-07 CN CN202010263477.4A patent/CN111515926B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| KR100882624B1 (en) * | 2001-02-23 | 2009-02-06 | 윌레민 머신즈 에스.에이. | Kinematic device for support and programmable displacement of a terminal element in a machine or an instrument |
| WO2002098603A1 (en) * | 2001-06-01 | 2002-12-12 | Siemens Aktiengesellschaft | Production machine |
| CN104057440A (en) * | 2014-07-16 | 2014-09-24 | 温州市骐邦环保科技有限公司 | Billiard robot based on double parallel mechanisms |
| CN106426096A (en) * | 2016-10-25 | 2017-02-22 | 浙江理工大学 | Large turning angle two-rotation-and-one-movement parallel mechanism |
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