CN114393565B - Rope-driven high-precision two-degree-of-freedom parallel robot - Google Patents
Rope-driven high-precision two-degree-of-freedom parallel robot Download PDFInfo
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- CN114393565B CN114393565B CN202210068014.1A CN202210068014A CN114393565B CN 114393565 B CN114393565 B CN 114393565B CN 202210068014 A CN202210068014 A CN 202210068014A CN 114393565 B CN114393565 B CN 114393565B
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
The invention discloses a rope-driven high-precision two-degree-of-freedom parallel robot which comprises a frame, a movable platform, two groups of driving components, two groups of parallel ropes and an auxiliary tensioning component. Wherein the movable platform and the frame are arranged at intervals; the two groups of driving assemblies are ball screw pair driving assemblies and are symmetrically arranged on the left side and the right side of the frame; the two groups of parallel ropes are symmetrically arranged left and right and are positioned in the same installation plane with the two groups of driving components; one end of each of the two groups of parallel ropes is connected to the two groups of driving components in a one-to-one correspondence manner, and the other end of each of the two groups of parallel ropes is connected to the movable platform; the number of ropes of each group of parallel ropes is not less than three, and the lengths of the ropes are all equal; the two ends of the auxiliary tensioning assembly are respectively connected with the center of the frame and the center of the movable platform and are used for tensioning all ropes in each group of parallel ropes all the time. The robot provided by the invention has the advantages that the positioning of the moving platform is more accurate, the parallel ropes have no friction loss, and redundant driving is avoided.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a rope-driven high-precision two-degree-of-freedom parallel robot.
Background
The cable-driven parallel robot is a special type of parallel robot, and adopts a lightweight and flexible rope to replace a rigid rod as a motion chain so as to realize motion driving of a terminal motion platform. The cable-driven parallel robot inherits the high-load configuration advantage of the rigid parallel mechanism, has the characteristics of small motion inertia, large working space, low cost and easy reconstruction of the cable drive, and is a novel robot with huge application potential.
The traditional cable-driven parallel robot generally comprises a roller winding type driving element, a pulley block, a rope and other elements, the rope is wound on the roller, the rope is guided to be connected to a rope connecting point on a terminal movable platform through the pulley block, and then the roller is driven to rotate through a motor, so that winding and unwinding of the rope are realized, the length of the rope between the movable platform and the pulley block is changed, and the movement control of the terminal movable platform is realized. In the traditional cable-driven parallel robot, the cable outlet point of the rope on the roller is changed at moment along with the movement of the terminal moving platform, and the cable outlet point of the rope on the pulley is also changed at moment, however, in the kinematic model of the cable-driven robot, the cable outlet point of the rope on the roller and the cable outlet point of the rope on the pulley are both idealized into a fixed point, so that along with the movement of the terminal moving platform, the ideal cable outlet point of the kinematic model of the cable-driven robot and the actual cable outlet point of the rope deviate, thereby causing a larger deviation between the robot control model and the actual situation of the traditional cable-driven parallel robot and further affecting the positioning precision of the terminal moving platform of the robot. Therefore, accuracy becomes a major obstacle to limit the application of the parallel robot. In addition, the rope is guided and commutated by a plurality of pulleys, friction wear and energy loss are caused in the process, and the service life of the rope is further reduced.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention aims to provide a rope-driven high-precision two-degree-of-freedom parallel robot, which has the advantages of more accurate positioning control on a movable platform, no friction loss of a parallel rope system, long service life and avoidance of redundant driving.
The rope-driven high-precision two-degree-of-freedom parallel robot according to the embodiment of the invention comprises:
the machine frame is provided with a machine frame,
the movable platform is arranged opposite to the rack at intervals;
the two groups of driving assemblies are ball screw pair driving assemblies and are symmetrically arranged on the left side and the right side of the frame;
the two groups of parallel ropes are symmetrically arranged left and right and are positioned in the same installation plane with the two groups of driving components; one ends of the two groups of parallel ropes are respectively connected to the two groups of driving assemblies in a one-to-one correspondence manner, and the other ends of the two groups of parallel ropes are respectively connected to the movable platform; the number of ropes of each group of parallel ropes is not less than three, the lengths of the ropes are all equal, the connection points of the ropes in each group of parallel ropes and the corresponding driving assembly form a first polygon, the connection points of the ropes in each group of parallel ropes and the movable platform form a second polygon, and the first polygons and the second polygons in the same group of parallel ropes are congruent and always parallel;
the two ends of the auxiliary tensioning assembly are respectively connected with the center of the frame and the center of the movable platform and are used for tensioning all ropes in each group of parallel ropes all the time;
when the parallel cable system is in work, the two groups of driving assemblies respectively control the two groups of parallel cable systems to move so as to realize that the movable platform can only perform plane two-degree-of-freedom movement.
The rope-driven high-precision two-degree-of-freedom parallel robot provided by the embodiment of the invention has the following advantages: the invention uses the ball screw pair driving assembly to drive the parallel cable system to drive the movable platform to move, does not need to use the roller to wind and pay up the rope or use the pulley block to guide and change the rope, avoids the problem that the rope wound on the roller or the rope out point of the rope guided and changed by the pulley block can be changed continuously along with the movement of the rope, the out point of each rope positioned on the ball screw pair driving assembly in the parallel cable system is fixed, the length of each rope is also fixed, the consistency of the movement model of the robot and the movement condition of the robot is ensured, that is, the accuracy of the movement model of the rope driving robot is ensured, the high-accuracy positioning of the movable platform is realized, the friction loss caused by the contact of the parallel cable system and the roller and the pulley block is avoided, and the service life of the parallel cable system is prolonged; secondly, the auxiliary tensioning assembly is utilized to realize tensioning of the parallel ropes, so that the ropes in the parallel ropes are always parallel, driving and restraining capabilities of the parallel ropes on the movable platform are guaranteed, redundant driving is avoided, and the robot structure is simplified; thirdly, the ball screw pair driving assembly and the parallel cable system form a light moving chain, the light moving chain is used for driving the moving platform to move, the mass of the parallel robot is greatly reduced, the parallel robot can easily realize high speed and acceleration, namely, high dynamic movement can be realized, the moving efficiency of the robot is greatly improved, the load brought by the mass of the robot is smaller, the energy consumption for driving the robot to move is smaller, and meanwhile, the advantage of high load capacity of the parallel robot is inherited; and the fourth and light kinematic chains avoid complex hinges such as spherical hinges and the like used for a large number of rigid rod motion branched chains in the prior art, and have the advantages of simple structure, low cost and easy modularization.
In some embodiments, each group of ball screw pair driving components comprises a screw mounting seat, a screw nut, a rope mounting seat and a motor, wherein the screw mounting seat is fixed on the frame, two ends of the screw are rotatably arranged on the screw mounting seat, the screw nut is arranged on the screw, the rope mounting seat is fixed with the screw nut, the rope mounting seat is fixed with one end of the parallel cable, and the motor is used for driving the screw to rotate so as to drive the screw nut and the rope mounting seat to synchronously move along the length direction of the screw through the rotation of the screw, thereby realizing the two-degree-of-freedom movement of the movable platform through driving the parallel cable.
In some embodiments, the ball screw assembly drive assembly further comprises a guide rail disposed on the screw mount and having an extension direction parallel to the extension direction of the screw, and a slider fixed on the rope mount and slidably disposed on the guide rail.
In some embodiments, the working space of the mobile platform is determined by the length of the parallel ropes with the parallel ropes, the travel of the lead screw nut and the installation angle between the lead screws of the two sets of the drive assemblies.
In some embodiments, the axis of the auxiliary tensioning assembly is located in the motion plane of the moving platform, the auxiliary tensioning assembly is telescopic along the axis direction of the auxiliary tensioning assembly, one end of the auxiliary tensioning assembly is connected with the frame through a first rotating pair, the other end of the auxiliary tensioning assembly is connected with the moving platform through a second rotating pair, and the rotation axis of the first rotating pair and the rotation axis of the second rotating pair are parallel and perpendicular to the motion plane of the moving platform.
In some embodiments, the auxiliary tensioning assembly applies a pushing force to the movable platform through a fixed fluid pressure or a compression spring, and the auxiliary tensioning assembly is opposed to the rope pulling force of the two groups of parallel ropes, so that all ropes in the two groups of parallel ropes are always in a tensioning state.
In some embodiments, the auxiliary tensioning assembly is a pneumatic or hydraulic cylinder when the auxiliary tensioning assembly uses a fixed fluid pressure to achieve tensioning.
In some embodiments, when the auxiliary tensioning assembly employs a compression spring to achieve tensioning, the auxiliary tensioning assembly comprises: a loop bar, a guide bar and a spring; the one end of loop bar with first revolute pair links to each other, the one end of guide bar is followed in with inserting of the other end of loop bar is in the loop bar, the other end of guide bar with the second revolute pair links to each other, the spring housing is established on the guide bar just the both ends of spring are in respectively support and are pressed the other end tip department of loop bar with second revolute pair department, perhaps the spring sets up in the loop bar just the both ends of spring are in respectively support and are pressed the inner wall department of loop bar one end and the one end tip department of guide bar, perhaps the spring housing is established loop bar with on the guide bar just the both ends of spring are in respectively support and are pressed first revolute pair department and second revolute pair department.
In some embodiments, the auxiliary tensioning assembly further comprises a sliding bearing provided at the other end of the loop bar and fixed to the loop bar by the locking nut, and the guide bar passes through the sliding bearing.
In some embodiments, the number of ropes per set of said parallel roping is three.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic diagram of a rope-driven high-precision two-degree-of-freedom parallel robot.
Fig. 2 is a schematic diagram of another rope-driven high-precision two-degree-of-freedom parallel robot of the present invention.
Fig. 3 is a schematic view of yet another rope-driven two-degree-of-freedom parallel robot of the present invention.
Fig. 4 is a schematic diagram of yet another rope-driven high-precision two-degree-of-freedom parallel robot of the present invention.
Fig. 5 is a schematic structural view of a ball screw assembly driving assembly according to the present invention.
Fig. 6 is a working space schematic diagram of the movable platform of the present invention.
Fig. 7 is a schematic structural diagram of the moving platform of the present invention.
Fig. 8 is a first structural schematic diagram of the auxiliary tensioning assembly of the present invention.
Fig. 9 is a second structural schematic diagram of the auxiliary tensioning assembly of the present invention.
Fig. 10 is a third structural schematic diagram of the auxiliary tensioning assembly of the present invention.
Reference numerals:
rope-driven high-precision two-degree-of-freedom parallel robot 1000
Rack 1
Movable platform 2
Drive assembly 3
Screw mount 301 screw 302 screw nut 303 rope mount 304 motor 305
Guide 306 slide 307
Parallel ropes 4
Auxiliary tensioning assembly 5
Valve core 501 valve body 502 connector 503 loop bar 504 guide bar 505 spring 506
Sliding bearing 507 lock nut 508
First revolute pair 6 second revolute pair 7 end effector 8
The installation angle alpha between the first triangle ABC and the second triangle DEF screw moves the center point P of the platform
Rope length l first movement boundary i second movement boundary ii third movement boundary iii
Fourth motion boundary IV first intersection point Q 1 Second intersection point Q 2 Third intersection point Q 3 Fourth intersection point Q 4
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
A rope-driven high-precision two-degree-of-freedom parallel robot 1000 of an embodiment of the present invention is described below with reference to fig. 1 to 10.
As shown in fig. 1 to 4, the rope-driven high-precision two-degree-of-freedom parallel robot 1000 according to the embodiment of the present invention includes a frame 1, a movable platform 2, two sets of driving components 3, two sets of parallel ropes 4, and an auxiliary tensioning component 5. Wherein the movable platform 2 is arranged at a distance from the frame 1; the two groups of driving assemblies 3 are ball screw pair driving assemblies, and the two groups of driving assemblies 3 are symmetrically arranged on the left side and the right side of the frame 1; the two groups of parallel ropes 4 are symmetrically arranged left and right and are positioned in the same installation plane with the two groups of driving components 3; one end of each of the two groups of parallel ropes 4 is connected to the two groups of driving components 3 in a one-to-one correspondence manner, and the other end of each of the two groups of parallel ropes is connected to the movable platform 2; the number of ropes of each group of parallel ropes 4 is not less than three, the lengths of the ropes are all equal, the connection points of the ropes in each group of parallel ropes 4 and the corresponding driving assembly 3 form a first polygon, the connection points of the ropes in each group of parallel ropes 4 and the movable platform 2 form a second polygon, and the first polygons and the second polygons in the same group of parallel ropes 4 are all equal and always parallel; the two ends of the auxiliary tensioning assembly 5 are respectively connected with the center of the frame 1 and the center of the movable platform 2 and are used for tensioning all ropes in each group of parallel ropes 4 all the time; when the two groups of driving components 3 work, the two groups of parallel ropes 4 are respectively controlled to move, so that the movable platform 2 can only move in two degrees of freedom in a plane.
In particular, the frame 1 is stationary in use, and the frame 1 is arranged such that, on the one hand, the robot according to the invention can be mounted on an external support structure by means of the frame 1, and on the other hand, the frame 1 provides a mounting location for the drive assembly 3, the auxiliary tensioning assembly 5, etc.
The movable platform 2 is arranged at a distance from the frame 1; for example, the frame 1 and the movable platform 2 may be disposed at a vertically opposite interval (as shown in fig. 1 to 2), or may be disposed at a horizontally opposite interval (not shown). In actual use, various end effectors can be mounted on the movable platform 2 to realize various operation functions, for example, when clamping jaws or suckers are mounted on the movable platform 2, the object grabbing operation can be realized.
The two groups of driving assemblies 3 are ball screw pair driving assemblies, and the two groups of driving assemblies 3 are symmetrically arranged on the left side and the right side of the frame 1; it will be appreciated that the driving assembly 3 is used for providing power, and the ball screw pair driving assembly is used for driving the parallel cable system 4, so that the length of the parallel cable system 4 can be ensured to be fixed, and the position of the cable outlet point of the parallel cable system 4 on the ball screw pair driving assembly is not changed along with the movement of the ball screw pair driving assembly with the parallel cable system 4, so that the positioning precision of the movable platform 2 is greatly increased when the driving assembly 3 is used for driving the parallel cable system 4 to drive the movable platform 2 to move. It should be noted that, the conventional cable-driven parallel robot generally includes a drum winding type driving element, a pulley block, a rope and other elements, winds the rope on the drum, guides the rope to be connected to a cable connection point on the terminal moving platform through the pulley block, and then drives the drum to rotate through a motor, so as to realize winding and unwinding of the rope, thereby changing the length of the rope between the moving platform and the pulley block, and realizing motion control of the terminal moving platform. In the traditional cable-driven parallel robot, the cable outlet point of the rope on the roller is changed at moment along with the movement of the terminal moving platform, and the cable outlet point of the rope on the pulley is also changed at moment, however, in the kinematic model of the cable-driven robot, the cable outlet point of the rope on the roller and the cable outlet point of the rope on the pulley are both idealized into a fixed point, so that along with the movement of the terminal moving platform, the ideal cable outlet point of the kinematic model of the cable-driven robot and the actual cable outlet point of the rope deviate, thereby causing a larger deviation between the robot control model and the actual situation of the traditional cable-driven parallel robot and further affecting the positioning precision of the terminal moving platform of the robot. The robot adopts the ball screw pair driving assembly to drive the parallel cable system 4 to drive the movable platform 2 to move, the position of the cable outlet point of the parallel cable system 4 on the ball screw pair driving assembly is fixed and can not be changed all the time, so that the robot control model is kept to be highly consistent with the actual movement condition of the robot, the positioning precision of the movable platform 2 is improved, and the practical application of the cable parallel robot is facilitated. The two sets of driving assemblies 3 are symmetrically arranged on the left and right sides of the frame 1, specifically, the two sets of driving assemblies can be symmetrically arranged on the left and right sides of the frame 1 in an inverted splayed shape, as shown in fig. 1, 2 and 6, one set of driving assemblies 3 in the two sets of driving assemblies 3 is fixed on the left side of the frame 1 in a downward tilting manner from left to right, the other set of driving assemblies 3 in the two sets of driving assemblies 3 is fixed on the right side of the frame 1 in a downward tilting manner from right to left, the two sets of driving assemblies 3 are symmetrically arranged on the left and right sides of the frame 1 in an inverted splayed shape, or the two sets of driving assemblies 3 can be symmetrically arranged on the lower surfaces of the left and right sides of the frame 1 in a horizontal arrangement, as shown in fig. 3, in this way, the parallel cable system 4 can be directly connected with the movable platform 2 through a straight line path without using a pulley block for guiding and reversing, so that the problem of friction loss between a rope and a pulley block in the parallel system 4 is avoided, and the service life of the parallel system 4 is prolonged. In addition, the two groups of driving components 3 can be horizontally arranged on the upper surfaces of the left side and the right side of the frame 1 (as shown in fig. 4), at the moment, the parallel ropes 4 can be guided and reversed by using the pulley blocks, and the positioning precision of the movable platform 2 can be calculated and compensated according to the diameter of the pulley in the pulley blocks, so that the aim of improving the positioning precision can be achieved.
The two groups of parallel ropes 4 are symmetrically arranged left and right and are positioned in the same installation plane with the two groups of driving components 3; one end of each of the two parallel ropes 4 is connected to the two driving assemblies 3 in a one-to-one correspondence manner, and the other end of each of the two parallel ropes is connected to the movable platform 2, so that the driving assemblies 3 can drive the movable platform 2 to move through the parallel ropes 4. The parallel ropes 4 and the driving components 3 form a light moving chain, and the parallel ropes 4 are symmetrically arranged left and right to form two light moving chains. Compared with the existing rigid branched chain driven planar two-degree-of-freedom parallel robot technology, the high-precision two-degree-of-freedom parallel robot 1000 driven by the rope provided by the embodiment of the invention has the advantages that on one hand, the mass of the parallel robot is greatly reduced, and the parallel robot is easy to realize high speed and acceleration, so that the motion efficiency of the robot is greatly improved, the load brought by the mass of the robot is smaller, the energy consumption for driving the robot to move is smaller, and the high load capacity of the parallel robot is inherited; on the other hand, the use of the light-weight kinematic chain avoids complex hinges such as spherical hinges and the like which are used in a large number of rigid rod piece kinematic branches in the prior art, and the light-weight kinematic chain has the advantages of simple structure, low cost and easy modularization.
The number of ropes of each group of parallel ropes 4 is not less than three and the lengths are all equal, it is understood that the number of each group of parallel ropes 4 is at least three (for example, as shown in fig. 1 and 2), four ropes, five ropes and the like can be arranged according to the requirement, and as the number of the ropes increases, the bearing capacity of the parallel ropes 4 also increases, and the lengths of the ropes in each group of parallel ropes 4 are all equal, so that the ropes can be always parallel. The connection points of the ropes in each group of parallel ropes 4 and the corresponding driving assembly 3 form a first polygon, the connection points of the ropes in each group of parallel ropes 4 and the movable platform 2 form a second polygon, and the first polygon and the second polygon in the same group of parallel ropes 4 are congruent and always parallel, so that the ropes in each group of parallel ropes 4 always keep parallel no matter the movable platform 2 is in a static state or a moving state, any two ropes in one group of parallel ropes 4, a line segment between the connection points of the two ropes and the driving assembly 3 and a line segment between the connection points of the two ropes and the movable platform 2 always form a parallelogram structure, and the movable platform 2 can move in two degrees of freedom in a plane due to the constraint effect of the parallelogram structure of the parallel ropes 4.
Specifically, as shown in fig. 5 and 7, when three ropes are in each group of parallel ropes 4, the connection points of the three ropes and the driving assembly 3 are respectively an a point, a B point and a C point, the a point, the B point and the C point are sequentially connected to form a first triangle ABC (as shown in fig. 5), the connection point of the rope with one end connected to the a point and the moving platform 2 is a D point, the connection point of the rope with one end connected to the B point and the moving platform 2 is an E point, the connection point of the rope with one end connected to the C point and the moving platform 2 is an F point, the D point, the E point and the F point are sequentially connected to form a second triangle DEF (as shown in fig. 7), and the first triangle ABC and the second triangle DEF are all parallel all the time, so that two-degree-of-freedom motion of the plane of the moving platform 2 is realized.
The two ends of the auxiliary tensioning assembly 5 are respectively connected to the center of the frame 1 and the center of the movable platform 2, and are used for tensioning all ropes in each group of parallel ropes 4 all the time. It will be appreciated that the auxiliary tensioning assembly 5 will always exert a pushing force on the mobile platform 2, irrespective of whether the mobile platform 2 is in a stationary or in a moving state, which pushing force opposes the pulling force of the parallel ropes 4, thus ensuring that all the ropes in each set of parallel ropes 4 are always in tension and that the whole robot forms a tensioned whole structure. The auxiliary tensioning assembly 5 is arranged to enable the ropes in the parallel ropes 4 to be always parallel, so that the driving and restraining capacity of the parallel ropes 4 to the movable platform 2 is guaranteed; on the other hand, redundant driving of the movable platform 2 is avoided, because the auxiliary tensioning assembly 5 applies thrust to the movable platform 2 in a passive manner, no additional driving element is required, and the structure is simple and easy to control.
When the two groups of driving assemblies 3 work, the two groups of parallel ropes 4 are controlled to move respectively, so that the moving platform 2 can only move in two degrees of freedom in a plane, and the moving platform 2 can realize high dynamic movement. Here, the "two-degree-of-freedom planar motion" of the movable platform 2 will be described, and as shown in fig. 1 and 2, the high-precision two-degree-of-freedom parallel robot 1000 driven by ropes establishes an xyz three-dimensional coordinate system, in which the yz plane is a motion plane of the movable platform 2, that is, the movable platform 2 has translational degrees of freedom in y-axis and z-axis directions in the motion plane, and the rotational degrees of freedom of the movable platform 2 about the x-axis, the y-axis and the z-axis and the translational degrees of freedom along the x-axis are constrained.
The rope-driven high-precision two-degree-of-freedom parallel robot 1000 according to the embodiment of the invention has the following advantages: the first, the invention uses the ball screw pair driving assembly to drive the parallel cable system 4 to drive the movable platform 2 to move, does not need to use the roller to wind and pay up the rope, does not need to use the pulley block to guide and change the rope, avoid winding on the roller or the rope that is guided and changed by the pulley block goes out of the rope point and can change constantly with the movement of the rope, the connecting point (rope out point) that each rope locates at the ball screw pair driving assembly in the parallel cable system 4 is fixed, each rope length is fixed, have guaranteed the uniformity of the movement condition of robot movement model and robot, namely guaranteed the accuracy of the rope driving robot kinematic model, has realized the high-accuracy location to the movable platform 2, and has avoided the friction loss that the parallel cable system 4 contacts with roller and pulley block, has lengthened the life of the parallel cable system 4; secondly, the auxiliary tensioning assembly 5 is utilized to realize tensioning of the parallel ropes 4, so that the ropes in the parallel ropes 4 are always parallel, the driving and restraining capacity of the parallel ropes 4 to the movable platform 2 is ensured, redundant driving is avoided, and the robot structure is simplified; thirdly, the ball screw pair driving assembly and the parallel cable system 4 form a light moving chain, the moving platform 2 is driven to move by the light moving chain, the mass of the parallel robot is greatly reduced, the parallel robot can easily realize high speed and acceleration, namely, high dynamic movement can be realized, so that the moving efficiency of the robot is greatly improved, the load brought by the mass of the robot is smaller, the energy consumption for driving the robot to move is smaller, and meanwhile, the advantage of high load capacity of the parallel robot is inherited; and the fourth and light kinematic chains avoid complex hinges such as spherical hinges and the like used for a large number of rigid rod motion branched chains in the prior art, and have the advantages of simple structure, low cost and easy modularization.
In some embodiments, as shown in fig. 5, each set of ball screw pair driving assembly includes a screw mounting seat 301, a screw 302, a screw nut 303, a rope mounting seat 304 and a motor 305, wherein the screw mounting seat 301 is fixed on the frame 1, two ends of the screw 302 are rotatably arranged on the screw mounting seat 301, the screw nut 303 is arranged on the screw 302, the rope mounting seat 304 is fixed with the screw nut 303, the rope mounting seat 304 is fixed with one end of the parallel cable system 4, the motor 305 is used for driving the screw 302 to rotate, so that the screw nut 303 and the rope mounting seat 304 are driven to synchronously move along the length direction of the screw 302 through the rotation of the screw 302, and thus the two-degree-of-freedom movement of the movable platform 2 is realized through driving the parallel cable system 4. When the ball screw pair driving assembly works, the motor 305 rotates to drive the screw rod 302 to rotate, and the screw rod 302 rotates to drive the screw rod nut 303 to move along the axial direction of the screw rod 302, so that the position of the rope mounting seat 304 is changed, the position of the parallel cable system 4 is changed, and finally the position of the movable platform 2 is regulated and controlled.
In some embodiments, the ball screw assembly drive assembly further comprises a guide rail 306 and a slider 307, the guide rail 306 is disposed on the screw mount 301 and extends in a direction parallel to the direction of extension of the screw 302, and the slider 307 is fixed on the rope mount 304 and slidably disposed on the guide rail 306. As shown in fig. 5, two sets of guide rails 306 may be provided, two sets of guide rails 306 are symmetrically provided on both sides of the lead screw 302, two sliding blocks 307 are provided on the two sets of guide rails 306, and are installed at the bottom of the rope mount 304, and the guide rails 306 and the sliding blocks 307 are provided to fix the directions of the lead screw nut 303 and the rope mount 304, so as to improve the rigidity and stability of the driving assembly 3.
In some embodiments, the working space of the mobile platform 2 is determined by the length of the parallel cable 4, the travel of the screw nut 303 and the installation angle between the screws 302 of the two sets of drive assemblies 3. That is, the robot of the present invention can adjust the length of the parallel ropes 4, the stroke of the screw nut 303, and the installation angle between the screws 302 of the two sets of driving assemblies 3 as needed to provide the robot with a working space of a proper size and position.
The method of solving the working space of the movable platform 2 is described below.As shown in fig. 6, the ball screw pair driving assembly is provided with two groups, the installation angle between the screw rods 302 of the two groups of ball screw pair driving assemblies is alpha, the center point of the movable platform 2 is P, the length of the rope in the parallel ropes 4 is l, when the rope mounting seat 304 of one group of the two groups of ball screw pair driving assemblies moves to the uppermost position of the screw rods 302, the center point P of the movable platform 2 acts as a straight line parallel to the rope connected to the rope mounting seat 304, and the straight line intersects with the rope mounting seat 304 at a first intersection point Q 1 At a first intersection point Q 1 The first movement boundary I of the movable platform 2 at the limit position can be obtained by drawing an arc with the length l of the rope as the radius of the circle center; when the rope mount 304 of one of the two ball screw pair driving units moves to the lowest end position of the screw 302, the center point P of the moving platform 2 makes a straight line parallel to the rope connected to the rope mount 304, and the straight line intersects with the rope mount 304 at a second intersection point Q 2 At a second intersection point Q 2 The second motion boundary II of the movable platform 2 at the limit position can be obtained by drawing an arc with the length l of the rope as the radius; when the rope mount 304 of the other of the two ball screw pair driving assemblies moves to the uppermost position of the screw 302, the center point P of the moving platform 2 makes a straight line parallel to the rope connected to the rope mount 304, and the straight line intersects the rope mount 304 at Q 3 Point, in Q 3 The point is used as a circle center, the length l of the rope is used as a radius, and a third movement boundary III of the movable platform 2 at the limit position can be obtained by drawing an arc; when the rope mount 304 of the other of the two ball screw pair driving assemblies moves to the lowest end position of the screw 302, the center point P of the moving platform 2 makes a straight line parallel to the rope connected to the rope mount 304, and the straight line intersects with the rope mount 304 at Q 4 Point, in Q 4 The point is used as a circle center, the length l of the rope is used as a radius, and a circular arc is drawn, so that a fourth movement boundary IV of the movable platform 2 at the limit position can be obtained; the area surrounded by the first motion boundary I, the second motion boundary II, the third motion boundary III and the fourth motion boundary IV is the working space which can be reached by the center point P of the robot moving platform 2, so that the length l of the rope, the stroke of the screw nut 303 and the distance between the screws 302 can be changedThe working space of the movable platform 2 is adjusted by the installation angle α.
In some embodiments, the axis of the auxiliary tensioning assembly 5 is located in the movement plane of the moving platform 2, the auxiliary tensioning assembly 5 is telescopic along the axis direction of the auxiliary tensioning assembly 5, one end of the auxiliary tensioning assembly 5 is connected with the frame 1 through the first revolute pair 6, the other end of the auxiliary tensioning assembly is connected with the moving platform 2 through the second revolute pair 7, and the rotation axis of the first revolute pair 6 and the rotation axis of the second revolute pair 7 are parallel and perpendicular to the movement plane of the moving platform 2. That is, the auxiliary tensioning component 5 can perform telescopic motion along the axis of the auxiliary tensioning component in the motion plane of the moving platform 2 and/or rotate around the rotation axis of the first rotating pair 6 and the rotation axis of the second rotating pair 7 in the motion plane of the moving platform 2, so that the auxiliary tensioning component is mutually matched with the motion of the moving platform 2, and the capability of the robot resisting external force in other directions is enhanced by matching the motion of two degrees of freedom in the plane of the moving platform 2, so that the moving platform 2 is not easy to move in a non-motion plane, and the operation is more stable.
In some embodiments, the auxiliary tensioning assembly 5 applies a pushing force to the moving platform 2 by a fixed fluid pressure or compression spring, which opposes the rope tension of the two sets of parallel ropes 4, ensuring that all ropes within the two sets of parallel ropes 4 are always in tension. It can be understood that the thrust is applied to the movable platform 2 through the fixed fluid pressure or the thrust is applied to the movable platform 2 through the compression spring, which is a passive force application mode, that is, the auxiliary tensioning assembly 5 generates corresponding movement deformation along with the movement of the movable platform 2 so as to keep all ropes in the parallel ropes 4 in a tensioning state all the time, and no additional driving assembly 3 is required. All ropes in the two groups of parallel ropes 4 are always in a tensioning state, so that the ropes in the parallel ropes 4 are always parallel, and the driving and restraining capacity of the parallel ropes 4 to the movable platform 2 is ensured.
In some embodiments, the auxiliary tensioning assembly 5 is a pneumatic or hydraulic cylinder when the auxiliary tensioning assembly 5 is tensioned with a fixed fluid pressure. Specifically, as shown in fig. 2, the auxiliary tensioning assembly 5 comprises a valve core 501, a valve body 502 and a connecting port 503, wherein the valve body 502 is filled with fluid, the fluid can be gas or liquid, one end of the valve body 502 is connected with the frame 1 through a first revolute pair 6, one end of the valve core 501 is slidably inserted into the valve body 502 from the other end of the valve body 502 and is used for squeezing the fluid in the valve body 502, the bottom end of the valve core 501 is connected to the center of the movable platform 2 through the first revolute pair 6, the connecting port 503 is arranged on the valve body 502 and is close to one end of the valve body 502, the connecting port 503 is connected with a fluid conveying pipeline and a pressure valve, the fluid conveying pipeline is used for inputting fluid with fixed pressure into the valve body 502, the pressure value of the pressure valve is a fixed value, the pressure valve is used for ensuring that the fluid flows into the valve body 502 when the pressure in the valve body 502 is lower than the fixed value, when the pressure in the valve body 502 is higher than the fixed value, the fluid in the valve body 502 flows outwards, the pressure in the valve body 502 is reduced to the fixed value, so that when the auxiliary tensioning assembly 5 is an air cylinder/hydraulic cylinder, the pressure in the valve body 502 is always kept constant in the telescopic process, the pressure of the fluid in the valve body 502 acts on the section of the valve core 501 to generate constant thrust, the thrust acts on the movable platform 2 through the valve core 501 and the second revolute pair 7, the thrust and the rope pulling force form countermeasures, a tensioning integral structure is formed, the rope tensioning is ensured, the ropes in the parallel ropes 4 are always parallel, the driving and constraint capacity of the parallel ropes 4 on the movable platform 2 is ensured, meanwhile, the telescopic motion of the air cylinder/hydraulic cylinder is driven without a driving element, the structure is simple, the robot structure is simplified, and redundant driving is avoided.
In some embodiments, when the auxiliary tensioning assembly 5 is tensioned using a compression spring, the auxiliary tensioning assembly 5 includes a loop bar 504, a guide bar 505, and a spring 506; wherein, one end of the sleeve rod 504 is connected with the first revolute pair 6, one end of the guide rod 505 is slidably inserted into the sleeve rod 504 from the other end of the sleeve rod 504, the other end of the guide rod 505 is connected with the second revolute pair 7, the spring 506 is sleeved on the guide rod 505, and two ends of the spring 506 are respectively pressed at the other end of the sleeve rod 504 and the second revolute pair 7, or the spring 506 is arranged in the sleeve rod 504, two ends of the spring 506 are respectively pressed at the inner wall of one end of the sleeve rod 504 and the one end of the guide rod 505, or the spring 506 is sleeved on the sleeve rod 504 and the guide rod 505, and two ends of the spring 506 are respectively pressed at the first revolute pair 6 and the second revolute pair 7. Specifically, when the auxiliary tensioning assembly 5 adopts a compression spring to realize tensioning, as shown in fig. 8, the first embodiment of the auxiliary tensioning assembly 5 is that the auxiliary tensioning assembly 5 comprises a sleeve rod 504, a guide rod 505 and a spring 506, one end of the sleeve rod 504 is connected with the first revolute pair 6, one end of the guide rod 505 is slidably inserted into the sleeve rod 504 from the other end of the sleeve rod 504, the other end of the guide rod 505 is connected with the second revolute pair 7, the spring 506 is sleeved on the guide rod 505, and two ends of the spring 506 respectively press against the other end of the sleeve rod 504 and the second revolute pair 7; a second embodiment of the auxiliary tightening unit 5 is, as shown in fig. 9, that the auxiliary tightening unit 5 includes a rod 504, a guide rod 505, and a spring 506, one end of the rod 504 is connected to the first revolute pair 6, one end of the guide rod 505 is slidably inserted into the rod 504 from the other end of the rod 504, the other end of the guide rod 505 is connected to the second revolute pair 7, the spring 506 is disposed in the rod 504, and both ends of the spring 506 are respectively pressed against an inner wall of one end of the rod 504 and one end of the guide rod 505; in a third embodiment of the auxiliary tensioning assembly 5, as shown in fig. 10, the auxiliary tensioning assembly 5 includes a sleeve rod 504, a guide rod 505 and a spring 506, one end of the sleeve rod 504 is connected with the first revolute pair 6, one end of the guide rod 505 is slidably inserted into the sleeve rod 504 from the other end of the sleeve rod 504, the other end of the guide rod 505 is connected with the second revolute pair 7, the spring 506 is sleeved on the sleeve rod 504 and the guide rod 505, and two ends of the spring 506 respectively press against the first revolute pair 6 and the second revolute pair 7. Wherein the spring 506 of the first and second embodiments of the auxiliary tensioning assembly 5 has a small extension and retraction range, which is suitable for small working space situations; the spring 506 of the third embodiment has a wide range of expansion and contraction, and is suitable for larger working space situations. Meanwhile, no matter the movable platform 2 is in motion or is static, the springs 506 of the auxiliary tensioning assembly 5 in the three embodiments are always in a compressed state, when the distance between the movable platform 2 and the frame 1 is changed, the auxiliary tensioning assembly 5 will perform telescopic motion under the pressure change, that is, the auxiliary tensioning assembly 5 applies thrust to the movable platform 2 passively, no active driving element is needed to control the auxiliary tensioning assembly 5, the driving redundancy is avoided, the structure is simple, and the control is simple and convenient.
In some embodiments, the auxiliary tensioning assembly 5 further comprises a sliding bearing 507 and a lock nut 508, the sliding bearing 507 being provided at the other end of the sleeve rod 504 and being fixed to the sleeve rod 504 by the lock nut 508, the guide rod 505 passing through the sliding bearing 507. Sliding bearings 507 are provided between the guide bar 505 and the sleeve bar 504 so that the guide bar 505 slides against the sleeve bar 504 more smoothly, with less resistance, and less wear or tear.
In some embodiments, the number of ropes per set of parallel ropes 4 is three. As shown in fig. 1 and 2, three ropes are connected to the movable platform 2 at intervals, and the three ropes are arranged, so that the structure of the robot is simpler while the use requirement and the use purpose are met.
In some embodiments, the frame 1 is an inverted trapezoidal beam structure, the top of the frame 1 being provided with mounting flanges for mounting the frame 1 on an external support.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A rope-driven, high precision, two degree-of-freedom parallel robot comprising:
the machine frame is provided with a machine frame,
the movable platform is arranged opposite to the rack at intervals;
the two groups of driving assemblies are ball screw pair driving assemblies and are symmetrically arranged on the left side and the right side of the frame;
the two groups of parallel ropes are symmetrically arranged left and right and are positioned in the same installation plane with the two groups of driving components; one ends of the two groups of parallel ropes are respectively connected to the two groups of driving assemblies in a one-to-one correspondence manner, and the other ends of the two groups of parallel ropes are respectively connected to the movable platform; the number of ropes of each group of parallel ropes is not less than three, the lengths of the ropes are all equal, the connection points of the ropes in each group of parallel ropes and the corresponding driving assembly form a first polygon, the connection points of the ropes in each group of parallel ropes and the movable platform form a second polygon, and the first polygons and the second polygons in the same group of parallel ropes are congruent and always parallel;
the two ends of the auxiliary tensioning assembly are respectively connected with the center of the frame and the center of the movable platform and are used for tensioning all ropes in each group of parallel ropes all the time;
when the parallel cable system is in work, the two groups of driving assemblies respectively control the two groups of parallel cable systems to move so as to realize that the movable platform can only perform plane two-degree-of-freedom movement.
2. The rope-driven high-precision two-degree-of-freedom parallel robot of claim 1, wherein each set of the ball screw pair driving assembly comprises a screw mounting seat, a screw nut, a rope mounting seat and a motor, wherein the screw mounting seat is fixed on the frame, two ends of the screw are rotatably arranged on the screw mounting seat, the screw nut is arranged on the screw, the rope mounting seat is fixed with the screw nut, the rope mounting seat is used for being fixed with one end of the parallel cable system, and the motor is used for driving the screw to rotate so as to drive the screw nut and the rope mounting seat to synchronously move along the length direction of the screw through rotation of the screw, thereby realizing two-degree-of-freedom movement of the movable platform through driving the parallel cable system.
3. The rope-driven two-degree-of-freedom parallel robot of claim 2 wherein the ball screw assembly drive assembly further comprises a rail and a slider, the rail being disposed on the screw mount and extending in a direction parallel to the extending direction of the screw, the slider being secured to the rope mount and slidably disposed on the rail.
4. The rope-driven high precision two degree-of-freedom parallel robot of claim 2 wherein the working space of the mobile platform is determined by the length of the parallel ropes, the travel of the lead screw nut and the mounting angle between the lead screws of two sets of the drive assemblies.
5. The rope-driven high-precision two-degree-of-freedom parallel robot according to claim 1, wherein the axis of the auxiliary tensioning assembly is located in the motion plane of the moving platform, the auxiliary tensioning assembly is telescopic along the axis direction of the auxiliary tensioning assembly, one end of the auxiliary tensioning assembly is connected with the frame through a first rotating pair, the other end of the auxiliary tensioning assembly is connected with the moving platform through a second rotating pair, and the rotating axis of the first rotating pair and the rotating axis of the second rotating pair are parallel and perpendicular to the motion plane of the moving platform.
6. The rope-driven high-precision two-degree-of-freedom parallel robot of claim 5, wherein the auxiliary tensioning assembly applies a pushing force to the movable platform by a fixed fluid pressure or a compression spring, and the auxiliary tensioning assembly opposes rope pulling forces of two groups of parallel ropes to ensure that all ropes in the two groups of parallel ropes are always in a tensioned state.
7. The rope-driven high precision two degree of freedom parallel robot of claim 6 wherein the auxiliary tensioning assembly is a pneumatic or hydraulic cylinder when the auxiliary tensioning assembly is tensioned with a fixed fluid pressure.
8. The rope-driven two degree of freedom parallel robot of claim 6 wherein when the auxiliary tensioning assembly is tensioned with a compression spring, the auxiliary tensioning assembly comprises: a loop bar, a guide bar and a spring; one end of the loop bar is connected with the first revolute pair, one end of the guide bar is slidably inserted into the loop bar from the other end of the loop bar, the other end of the guide bar is connected with the second revolute pair, the spring is sleeved on the guide bar, two ends of the spring are respectively propped against the other end part of the loop bar and the second revolute pair, or the spring is arranged in the loop bar, two ends of the spring are respectively propped against the inner wall part of one end of the loop bar and the one end part of the guide bar, or the spring is sleeved on the loop bar and the guide bar, and two ends of the spring are respectively propped against the first revolute pair and the second revolute pair.
9. The rope-driven two degree-of-freedom parallel robot of claim 8 wherein the auxiliary tensioning assembly further comprises a slide bearing and a lock nut, the slide bearing being disposed at the other end of the loop bar and being secured to the loop bar by the lock nut, the guide bar passing through the slide bearing.
10. A rope-driven high precision two degree of freedom parallel robot according to any one of claims 1-6, wherein the number of ropes per set of said parallel ropes is three.
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| CN105856191A (en) * | 2016-04-25 | 2016-08-17 | 清华大学 | Rope parallel-driving type high-speed multi-body mechanism |
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| CN109397262A (en) * | 2018-11-02 | 2019-03-01 | 湖南大学 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
| CN110315511A (en) * | 2019-07-23 | 2019-10-11 | 清华大学 | A kind of rope driving sorting machine people in parallel using passive tensioned |
| WO2021144685A1 (en) * | 2020-01-13 | 2021-07-22 | Alma Mater Studiorum - Universita' Di Bologna | Robotic arrangement with parallel architecture |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111659566B (en) * | 2020-06-16 | 2021-07-23 | 合肥工业大学 | Rope traction type polishing, cleaning and coating integrated operation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856191A (en) * | 2016-04-25 | 2016-08-17 | 清华大学 | Rope parallel-driving type high-speed multi-body mechanism |
| CN105945915A (en) * | 2016-05-31 | 2016-09-21 | 清华大学 | Rope parallel device based on translation constraint structure |
| CN109397262A (en) * | 2018-11-02 | 2019-03-01 | 湖南大学 | A kind of space multiple degrees of freedom redundancy actuating mechanism of rope parallel robot |
| CN110315511A (en) * | 2019-07-23 | 2019-10-11 | 清华大学 | A kind of rope driving sorting machine people in parallel using passive tensioned |
| WO2021144685A1 (en) * | 2020-01-13 | 2021-07-22 | Alma Mater Studiorum - Universita' Di Bologna | Robotic arrangement with parallel architecture |
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