CN111604883A - Multi-degree-of-freedom high-performance hybrid robot - Google Patents
Multi-degree-of-freedom high-performance hybrid robot Download PDFInfo
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- CN111604883A CN111604883A CN202010366202.3A CN202010366202A CN111604883A CN 111604883 A CN111604883 A CN 111604883A CN 202010366202 A CN202010366202 A CN 202010366202A CN 111604883 A CN111604883 A CN 111604883A
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a multi-degree-of-freedom high-performance hybrid robot which comprises a static platform, a rotating part, a first outer ring, a second outer ring, four active telescopic legs, a movable platform and a two-degree-of-freedom rotating head connected to the tail end of the movable platform, wherein the two-degree-of-freedom rotating head is connected with the two ends of the movable platform; the first active telescopic leg and the third active telescopic leg penetrate through the rotating piece; the tail ends of the first active telescopic leg and the third active telescopic leg are connected with the movable platform through the revolute pair; the second telescopic leg and the fourth telescopic leg are symmetrically distributed on two sides of the rotating part; the second active telescopic leg and the fourth active telescopic leg penetrate through the first outer ring and the second outer ring respectively and are connected with the corresponding outer rings through revolute pairs respectively; the two outer rings are rotatably connected with the static platform; the tail ends of the second telescopic leg and the fourth telescopic leg are connected with the movable platform through a ball pair; the invention has the advantages of less number of components and low manufacturing cost.
Description
Technical Field
The invention belongs to the field of hybrid robots, and particularly relates to a hybrid robot capable of realizing multiple degrees of freedom.
Background
The hybrid robot mechanism has the advantages of high rigidity, strong bearing capacity, small error accumulation, good dynamic performance and the like due to the characteristics of both a machine tool and a joint robot, and is widely applied to a plurality of technical fields in recent years.
The spatial hybrid robot with the positioning head disclosed in patent GB2173472 includes three active adjusting devices that can be extended or shortened in the axial direction, and this kind of robot is a three-degree-of-freedom hinge with the hinge of the active length adjusting device connected to the positioning head, and each length adjusting device is connected to the frame through a two-degree-of-freedom hinge, resulting in a large number of mechanism hinges and members, and a complex structure. The patent CN102699899A discloses an overconstrained high-rigidity multi-coordinate hybrid robot, which also includes three active adjusting devices and a driven adjusting device that can extend or contract along the axial direction; the robot reduces the number of degrees of freedom of hinges in the mechanism, but the robot is an over-constrained mechanism and has strict requirements on manufacturing and mounting of parts. In addition, each length adjusting device is connected with the frame through a two-degree-of-freedom hinge, so that the structure is complex, the number of moving components is large, and the manufacturing process of the frame is complex. Patent CN1212221C discloses a four-degree-of-freedom hybrid robot, which is composed of a parallel mechanism with two degrees of freedom and a two-degree-of-freedom rotor connected in series with the parallel mechanism. However, the parallel connection part of the robot can only realize plane motion, and the robot needs to be connected in series with a mechanism with translational or rotational freedom degree to realize space motion.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom hybrid robot capable of realizing the number of multi-degree-of-freedom, so that the number of components is reduced, the manufacturing cost is reduced, and the modularized multi-degree-of-freedom hybrid robot is convenient to realize.
The technical solution for realizing the purpose of the invention is as follows:
a multi-degree-of-freedom high-performance hybrid robot comprises a static platform, a rotating part, a first outer ring, a second outer ring, four active telescopic legs, a movable platform and a two-degree-of-freedom rotating head connected to the tail end of the movable platform;
the first active telescopic leg and the third active telescopic leg penetrate through the rotating piece; the tail ends of the first active telescopic leg and the third active telescopic leg are connected with the movable platform through the revolute pair;
the second telescopic leg and the fourth telescopic leg are symmetrically distributed on two sides of the rotating part; the second active telescopic leg and the fourth active telescopic leg penetrate through the first outer ring and the second outer ring respectively and are connected with the corresponding outer rings through revolute pairs respectively; the first outer ring and the second outer ring are both rotationally connected with the static platform; the tail ends of the second telescopic leg and the fourth telescopic leg are connected with the movable platform through a ball pair;
the rotation axes of the first active telescopic leg and the rotating part, the rotation axes of the third active telescopic leg and the rotating part, the rotation axes of the first active telescopic leg and the movable platform and the rotation axes of the third active telescopic leg and the movable platform are all parallel to each other; the rotating axes of the first driving telescopic leg and the rotating part, and the rotating axes of the third driving telescopic leg and the rotating part are vertically intersected with the rotating axes of the rotating part and the static platform;
the rotating axes of the second active telescopic leg and the first outer ring are vertically intersected with the rotating axes of the first outer ring and the static platform; and the rotation axes of the fourth active telescopic leg and the second outer ring are vertically intersected with the rotation axes of the second outer ring and the static platform.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the first branched chain and the third branched chain have the same structure and share one rotating shaft, and the first branched chain and the third branched chain are connected with the rotating shaft and the static platform only through a rotating pair, so that the number of hinges can be effectively reduced.
(2) The first branched chain and the third branched chain are of rectangular structures, and the long sides of the first branched chain and the third branched chain are in the direction of a rotating axis where the driving telescopic leg and the movable platform are connected, so that the rigidity of the branched chain is restrained, and the rigidity of the whole machine is improved;
(3) the number of degrees of freedom of the robot can be changed by increasing the constraint of the brake, so that the robot has different operation modes, and the rigidity and the precision of the robot are increased while the constraint is increased.
(4) The multi-degree-of-freedom high-performance hybrid robot only comprises five modules, namely a static platform, a connecting piece, a branched chain, a movable platform and a rotary head, and the robot can have different functions and shapes by changing one module, so that modular design and manufacturing can be realized.
Drawings
Fig. 1 is a schematic view of the general structure of a hybrid robot in embodiment 1.
Fig. 2 is a schematic structural view of the first and third active telescopic legs in embodiment 1.
Fig. 3 is a schematic structural view of the second and fourth active telescopic legs in embodiment 1.
Fig. 4 is a schematic view of the connection between the robot and the frame in embodiment 1.
Fig. 5 is a schematic view of the general structure of the hybrid robot in embodiment 2.
Fig. 6 is a schematic view of the connection between the robot and the frame in embodiment 2.
Fig. 7 is a schematic view of the connection between the robot and the frame in embodiment 3.
Fig. 8 is a schematic view of the connection between the robot and the frame in embodiment 4.
Fig. 9 is a schematic view of the connection between the robot and the frame in embodiment 5.
Fig. 10 is a schematic view of the overall structure of the robot in embodiment 6.
Fig. 11 is a schematic view of the connection between the robot and the frame in embodiment 6.
Fig. 12 is a schematic view of the overall structure of the robot in embodiment 7.
Fig. 13 is a schematic view of the connection between the robot and the frame in embodiment 7.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Example 1
Referring to fig. 1, the multi-degree-of-freedom high-performance hybrid robot of the embodiment includes a static platform 1, a rotating shaft 2, two outer rings 3 to 4, four active telescopic legs 5 to 8, a moving platform 10, and a two-degree-of-freedom rotor 11 connected to the end of the moving platform 10; the first active telescopic leg 5 and the third active telescopic leg 7 are identical in structure, the first active telescopic leg 5 and the third active telescopic leg 7 penetrate through the rotating shaft 2 and are respectively connected with the rotating shaft 2 through revolute pairs, the rotating shaft 2 is connected with the static platform 1 through the revolute pairs, and the tail ends of the first active telescopic leg 5 and the third active telescopic leg 7 are connected with the movable platform 10 through the revolute pairs;
the four axes of the rotation axes of the first active telescopic leg 5 and the rotating shaft 2, the rotation axes of the third active telescopic leg 7 and the rotating shaft 2, the rotation axes of the first active telescopic leg 5 and the movable platform 10 and the rotation axes of the third active telescopic leg 7 and the movable platform 10 are parallel to each other; the rotating axes of the first active telescopic leg 5 and the rotating shaft 2 and the rotating axes of the third active telescopic leg 7 and the rotating shaft 2 are vertically intersected with the rotating axes of the rotating shaft 2 and the static platform 1;
the second active telescopic leg 6 and the fourth active telescopic leg 8 are identical in structure, and the second telescopic leg 6 and the fourth telescopic leg 8 are symmetrically distributed on two sides of the rotating shaft 2.
The second active telescopic leg 6 penetrates through the first outer ring 3 and is connected with the first outer ring 3 through a revolute pair, and the first outer ring 3 is rotatably connected with the static platform 1; and the rotation axes of the second active telescopic leg 6 and the first outer ring 3 are vertically intersected with the rotation axes of the first outer ring 3 and the static platform 1. The tail end of the second active telescopic leg 6 is connected with a movable platform 10 through a ball pair 9.
The fourth active telescopic leg 8 penetrates through the second outer ring 4 and is connected with the second outer ring 4 through a revolute pair, and the second outer ring 4 is rotatably connected with the static platform 1; and the rotation axes of the fourth active telescopic leg 8 and the second outer ring 4 are vertically intersected with the rotation axes of the second outer ring 4 and the static platform 1. The tail end of the fourth active telescopic leg 8 is connected with a movable platform 10 through a ball pair 9.
With reference to fig. 2, the first active telescopic leg 5 and the third active telescopic leg 7 are respectively provided with a screw guide rail pair therein, the cross-sectional shapes of the cylinder bodies 15 of the first active telescopic leg 5 and the third active telescopic leg 7 are both rectangular, and the long side direction is the direction of the rotation axis connecting the active telescopic legs 5 and 7 and the movable platform 10, which is beneficial to restraining rigidity of the branched chain and further improving the rigidity of the whole machine. The front end of the telescopic rod 16 is provided with a rotating head 17 connected with the movable platform 10, the driving motor 13 is connected with the cylinder body 15 through the motor base 14, a guide rail is arranged in the cylinder body 15 to guide the movement of the telescopic rod 16, and the driving motor 13 is connected to control the linear movement of the lead screw guide rail pair, so that the active movement of the first active telescopic leg 5 or the third active telescopic leg 7 is realized. With reference to fig. 3, the second active telescopic leg 6 and the fourth active telescopic leg 8 are internally provided with a screw pair and a guide key, the cross-sectional shapes of the second active telescopic leg 6 and the fourth active telescopic leg 8 are both circular, the driving motor 18 is connected with the cylinder body 20 through the motor base 19, the cylinder body 20 is provided with the guide key to guide the motion of the telescopic rod 21, and the linear motion of the screw pair is controlled by the connected driving motor 18, so that the active movement of the second active telescopic leg 6 or the fourth active telescopic leg 8 is realized. With reference to fig. 4, the static platform 1 of the robot is connected to the frame 28, so that the four-degree-of-freedom machining equipment shown in fig. 4 can be built.
Example 2
Referring to fig. 5, the multi-degree-of-freedom high-performance hybrid robot of the present embodiment further includes a brake 12 on the basis of embodiment 1, the brake 12 is fixed on the stationary platform 1, an output end of the brake 12 is fixedly connected to the rotating shaft 2, and the rotation or relative rest of the rotating shaft 2 and the stationary platform 1 is controlled by the brake 12, so that the number of degrees of freedom of the robot can be controlled. With reference to fig. 6, the three/four degree of freedom manufacturing equipment as shown in fig. 6 can be built by connecting the static platform 1 of the robot with the frame 28.
Example 3
With reference to fig. 7, the multi-degree-of-freedom high-performance hybrid robot of the present embodiment connects the static platform 1 of the robot to the frame 28 on the basis of embodiment 2; the machine frame 28 is provided with a long-stroke guide rail in the vertical direction, the static platform 1 of the robot is matched with the guide rail through a sliding block, the sliding block is in threaded connection with a lead screw, two ends of the lead screw are supported through a bearing seat, the lead screw is driven to rotate through a motor fixed on the machine frame 28, the sliding block is driven to control the robot to move in the vertical direction, and the processing equipment shown in fig. 7 can be built.
Example 4
With reference to fig. 8, the multi-degree-of-freedom high-performance hybrid robot of the present embodiment connects the static platform 1 of the robot to the frame 28 on the basis of embodiment 2; the frame 28 is provided with a long-stroke guide rail in the horizontal direction, the static platform 1 is matched with the guide rail through a slide block, a lead screw is driven by a motor to drive the slide block, the movement of the robot in the horizontal direction is controlled, and the processing equipment shown in fig. 8 can be built.
Example 5
With reference to fig. 9, the multi-degree-of-freedom high-performance hybrid robot of the present embodiment connects the static platform 1 of the robot to the frame 28 on the basis of embodiment 2; the machine frame 28 is provided with an X-axis long-stroke guide rail, two long-stroke guide rails in two perpendicular directions in the Y-axis direction are arranged between the machine frame 28 and the platform, the static platform 1 is matched with the upper guide rail of the machine frame 28 through a sliding block, and the machine frame 28 is matched with the upper guide rail of the platform through the sliding block; the motor drives the lead screw to drive the sliding block, the movement of the robot in the X-axis and Y-axis directions is controlled, and the processing equipment shown in figure 9 can be built.
Example 6
With reference to fig. 10, the multi-degree-of-freedom high-performance hybrid robot of the present embodiment further includes a brake 12, a first bevel gear 23, and a second bevel gear 24 on the basis of embodiment 1; the brake 12 is fixed on the static platform 1, the output end of the brake 12 is fixedly connected with a first bevel gear 23, the second bevel gear 24 is fixedly connected with a rotating shaft 25, and the first bevel gear 23 is matched with the second bevel gear 24. With reference to fig. 11, the static platform 1 of the robot is connected to the frame 28, so that the processing equipment shown in fig. 11 can be built.
Example 7
Referring to fig. 12, the multi-degree-of-freedom high-performance hybrid robot of the present embodiment includes a static platform 1, four outer rings 3, 4, 26, and 27, a moving platform 10, four active telescopic legs 5 to 8, and a two-degree-of-freedom rotor 11 connected to the end of the moving platform 10; the difference from the embodiment 1 is that in the embodiment 1, the first active telescopic leg 5 and the third active telescopic leg 7 both penetrate through the rotating shaft 2 and are respectively connected with the rotating shaft 2 through a revolute pair, and the rotating shaft 2 is connected with the static platform 1 through a revolute pair; in this embodiment, the first active telescopic leg 5 and the third active telescopic leg 7 respectively penetrate through the third outer ring 26 and the fourth outer ring 27, and are respectively connected to the third outer ring 26 and the fourth outer ring 27 through revolute pairs, and the third outer ring 26 and the fourth outer ring 27 are respectively connected to the stationary platform 1 through revolute pairs.
The rotation axes of the first active telescopic leg 5 and the third outer ring 26 are vertically intersected with the rotation axes of the third outer ring 26 and the static platform 1; the rotation axes of the third active telescopic leg 7 and the fourth outer ring 27 are vertically intersected with the rotation axes of the fourth outer ring 27 and the static platform 1; the axes of rotation of the first active telescoping leg 5 and the first outer race 26 are collinear with the axes of rotation of the third active telescoping leg 7 and the third outer race 27.
The rotation axes of the first active telescopic leg 5 and the third outer ring 26, the rotation axes of the first active telescopic leg 5 and the movable platform 10, the rotation axes of the third active telescopic leg 7 and the fourth outer ring 27, and the rotation axes of the third active telescopic leg 7 and the movable platform 10 are all four straight lines which are parallel to each other.
With reference to fig. 13, the static platform 1 of the robot is connected to the frame 28, so that the processing equipment shown in fig. 11 can be built.
Claims (10)
1. A multi-degree-of-freedom high-performance hybrid robot comprises a static platform (1), a rotating part, a first outer ring (3), a second outer ring (4), four active telescopic legs (5-8), a movable platform (10) and a two-degree-of-freedom rotating head (11) connected to the tail end of the movable platform (10); it is characterized in that the preparation method is characterized in that,
the first active telescopic leg (5) and the third active telescopic leg (7) penetrate through the rotating part; the tail ends of the first active telescopic leg (5) and the third active telescopic leg (7) are connected with the movable platform (10) through the revolute pair;
the second telescopic leg (6) and the fourth telescopic leg (8) are symmetrically distributed on two sides of the rotating part; the second active telescopic leg (6) and the fourth active telescopic leg (8) respectively penetrate through the first outer ring (3) and the second outer ring (4) and are respectively connected with the corresponding outer rings through revolute pairs; the first outer ring (3) and the second outer ring (4) are rotatably connected with the static platform (1); the tail ends of the second telescopic leg (6) and the fourth telescopic leg (8) are connected with the movable platform (10) through a ball pair;
the four axes are parallel to each other, namely the rotation axis connecting the first driving telescopic leg (5) and the rotating part, the rotation axis connecting the third driving telescopic leg (7) and the rotating part, the rotation axis connecting the first driving telescopic leg (5) and the movable platform (10), and the rotation axis connecting the third driving telescopic leg (7) and the movable platform (10); the rotating axis connecting the first driving telescopic leg (5) and the rotating part and the rotating axis connecting the third driving telescopic leg (7) and the rotating part are vertically intersected with the rotating axis connecting the rotating part and the static platform (1);
the rotating axis connecting the second active telescopic leg (6) and the first outer ring (3) is vertically intersected with the rotating axis connecting the first outer ring (3) and the static platform (1); and the rotating axis connecting the fourth active telescopic leg (8) and the second outer ring (4) is vertically intersected with the rotating axis connecting the second outer ring (4) and the static platform (1).
2. The multi-degree-of-freedom high-performance hybrid robot according to claim 1, wherein the rotating member is a rotating shaft (2), and the rotating shaft (2) is connected with the static platform (1) through a revolute pair; the first active telescopic leg (5) and the third active telescopic leg (7) penetrate through the rotating shaft (2) and are connected with the rotating shaft (2) through revolute pairs.
3. The multiple degree of freedom high performance hybrid robot according to claim 1, wherein the rotating pieces are a third outer ring (26) and a fourth outer ring (27); the third outer ring (26) and the fourth outer ring (27) are respectively connected with the static platform (1) through revolute pairs; the first active telescopic leg (5) and the third active telescopic leg (7) respectively penetrate through the third outer ring (26) and the fourth outer ring (27) and are respectively connected with the third outer ring (26) and the fourth outer ring (27) through revolute pairs. And the rotating axis connecting the third outer ring (26) and the static platform (1) is coaxial with the rotating axis connecting the fourth outer ring (27) and the static platform (1).
4. The multi-degree-of-freedom high-performance hybrid robot according to claims 1 and 2, further comprising a brake (12), wherein the brake (12) is fixed on the static platform (1), and an output end of the brake (12) is fixedly connected with the rotating shaft (2).
5. The multiple-degree-of-freedom high-performance hybrid robot according to claims 1 and 2, further comprising a brake (12), a support rod (22), a first bevel gear (23) and a second bevel gear (24), wherein the support rod (22) is fixedly connected to the stationary platform (1), the brake (12) is fixed to the support rod (22), an output end of the brake (12) is fixedly connected to the first bevel gear (23), the second bevel gear (24) is fixedly connected to the rotating shaft (2), and the first bevel gear (23) is matched with the second bevel gear (24).
6. The multiple-degree-of-freedom high-performance hybrid robot according to any one of claims 1-5, wherein the static platform (1) is fixedly connected with a frame (28).
7. The multiple degree of freedom high performance hybrid robot according to any of claims 1-5, characterized in that the static platform (1) is connected to the frame (28) by an active kinematic pair.
8. The multiple degree of freedom high performance hybrid robot according to any one of claim 7, wherein the active kinematic pair is vertically disposed.
9. The multiple degree of freedom high performance hybrid robot according to any one of claim 7, wherein the active kinematic pair is disposed in a horizontal direction.
10. The multiple degree of freedom high performance hybrid robot according to any of claim 9, characterized in that the frame (28) is connected to the platform (29) by an active kinematic pair.
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| CN202010366202.3A CN111604883A (en) | 2020-04-30 | 2020-04-30 | Multi-degree-of-freedom high-performance hybrid robot |
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| CN202010366202.3A CN111604883A (en) | 2020-04-30 | 2020-04-30 | Multi-degree-of-freedom high-performance hybrid robot |
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Cited By (1)
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| US20210220953A1 (en) * | 2018-09-26 | 2021-07-22 | Yanshan University | Symmetrical three-axis parallel spindle head capable of multi-directional fixed-point rotation |
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