CN114654451A - Linkage type heavy-load six-degree-of-freedom parallel robot for high-precision docking task - Google Patents
Linkage type heavy-load six-degree-of-freedom parallel robot for high-precision docking task Download PDFInfo
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- CN114654451A CN114654451A CN202210387651.5A CN202210387651A CN114654451A CN 114654451 A CN114654451 A CN 114654451A CN 202210387651 A CN202210387651 A CN 202210387651A CN 114654451 A CN114654451 A CN 114654451A
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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
- B25J18/00—Arms
Abstract
The invention provides a linkage type heavy-load six-degree-of-freedom parallel robot for a high-precision docking task, which comprises a six-degree-of-freedom parallel robot body and a Z-direction sliding rail mechanism, wherein the six-degree-of-freedom parallel robot body is provided with a Z-direction sliding rail mechanism; the six-degree-of-freedom parallel robot body comprises a static platform, a movable platform and six parallel static pressure support servo cylinders, and is mainly used for bearing X-direction and Y-direction displacements; thanks to the linkage design, the length of the linkage type heavy-load six-degree-of-freedom parallel robot in the Z direction is greatly reduced, extra bending moment and dynamic error are reduced, and meanwhile, tail end vibration caused by hydraulic flow pulsation is avoided. The Z-direction slide rail mechanism adopts a single static pressure support servo cylinder as a driving element and mainly bears Z-direction displacement in a butt joint assembly task. The invention effectively reduces the tail end dynamic tracking error, relieves the sensitivity of the strength of each structural member to the additional bending moment, avoids resonance shaking caused by overlong cantilever and greatly improves the dynamic response characteristic of the whole system.
Description
Technical Field
The invention belongs to the field of design of six-degree-of-freedom parallel robots, and particularly relates to a linkage type heavy-load six-degree-of-freedom parallel robot for a high-precision docking task.
Background
The heavy-load six-degree-of-freedom parallel robot mainly comprises a static platform, a movable platform and six servo cylinders. Six servo cylinders are arranged in parallel and are connected with the moving platform and the static platform in a spherical hinge, Hooke hinge or universal joint mode. The device has the advantages of high bearing capacity, high rigidity, stable structure, high tail end flexibility and the like, can completely and accurately control the position and the attitude of a rigid body in space, can perform performance test on a researched object in any pose state, and is widely applied to high-precision butt joint assembly tasks, such as the butt joint assembly process of large heavy-load components of carrier rocket fuel automatic filling, aerospace product cabin butt joint, large aircraft body wings and the like. In the actual operation process, a relative position relation between a target point and a robot moving platform is generally fed back in real time by a vision measurement system, and then a space motion curve of each servo cylinder is calculated by a motion planner. The single-cylinder expected displacement speed tracking is realized by establishing a high-precision electro-hydraulic servo control strategy, so that the electro-hydraulic servo six-degree-of-freedom parallel robot is ensured to complete the task of actively following a target or reappearing an expected spatial pose.
In the actual butt joint assembly process of large heavy-duty components, the conventional scheme is to carry the components onto a moving platform of a heavy-duty six-degree-of-freedom parallel robot, so that the real-time adjustment of the spatial pose of the components is realized. In the posture adjusting process of a large heavy-load component, the heavy-load six-degree-of-freedom parallel robot is required to have a large motion range, and all mechanical parts are required to have bending resistance and torsion resistance. However, the existing heavy-load six-degree-of-freedom parallel robot only depends on a hydraulic cylinder to realize a large-range working space, so that the overall size of the robot is larger. When the heavy-load six-degree-of-freedom parallel robot is large in Z-direction size, included angles between each hydraulic cylinder and the static platform base are large, dynamic errors at the tail end are easy to accumulate due to the fact that the branched chain is too long, inevitable vibration is introduced, and dynamic response precision of the robot is reduced. In addition, the extra bending moment is added at the tail end when the stroke of the single hydraulic cylinder is too long, higher requirements on the measuring range precision of the sensor are provided, and the overall research and development cost and difficulty are increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a linkage type heavy-load six-degree-of-freedom parallel robot for a high-precision butt joint task.
The invention firstly provides a linkage type heavy-load six-degree-of-freedom parallel robot for a high-precision docking task, which comprises a six-degree-of-freedom parallel robot body and a Z-direction slide rail mechanism;
the Z-direction sliding rail mechanism is used for realizing Z-direction displacement of the linkage type heavy-load six-degree-of-freedom parallel robot and comprises a linkage underframe, a sliding rail flat plate and a Z-direction static pressure support servo cylinder; the Z-direction static pressure support servo cylinder is connected with the linkage underframe at one end and is connected with the slide rail flat plate at the other end; the Z-direction static pressure support servo cylinder can drive the sliding rail flat plate to move along the Z direction;
the six-degree-of-freedom parallel robot body is mainly used for realizing X-direction and Y-direction displacement of a linkage type heavy-load six-degree-of-freedom parallel robot and comprises a static platform, a movable platform and six parallel static pressure support servo cylinders; the static platform is fixedly arranged on a sliding rail flat plate of the Z-direction sliding rail mechanism and is vertical to the Z-axis direction; one end of each of the six parallel static pressure support servo cylinders is connected with the static platform through a universal joint, and the other end of each of the six parallel static pressure support servo cylinders is connected with the movable platform through a universal joint. As a preferable scheme of the invention, the Z-direction slide rail mechanism further comprises a Z-direction left support frame, a Z-direction first universal joint, a Z-direction second universal joint and a Z-direction right support frame; one end of the Z-direction static pressure supporting servo cylinder is connected with the Z-direction right supporting frame through a Z-direction second universal joint, the other end of the Z-direction static pressure supporting servo cylinder is connected with the Z-direction left supporting frame through a Z-direction first universal joint, the Z-direction right supporting frame is fixed on the right side of the linkage underframe, and the Z-direction left supporting frame is fixed on the sliding rail flat plate.
As the preferred scheme of the invention, the six-degree-of-freedom parallel robot body also comprises a static platform flange, a static platform universal joint, a movable platform universal joint and a movable platform flange; the static platform flange is fixedly arranged on the static platform, one end of the parallel static pressure supporting servo cylinder is connected with the static platform flange through a static platform universal joint, the movable platform flange is fixedly arranged on the movable platform, and the other end of the parallel static pressure supporting servo cylinder is connected with the movable platform flange through a movable platform universal joint.
As the preferred scheme of the invention, the static platform comprises a first mounting plate, a second mounting plate, a left rib plate, a right rib plate and a large rib plate;
the first mounting plate and the second mounting plate are mutually perpendicular and fixedly connected into an L-shaped structure or integrally formed into the L-shaped structure, wherein the first mounting plate is fixedly connected with the sliding rail flat plate; the second mounting plate is provided with the static platform flange; the left rib plate, the right rib plate and the large rib plate are parallel to each other and are welded at the bending position of the L-shaped structure, and the L-shaped structure is stabilized.
Furthermore, the linkage type heavy-load six-degree-of-freedom parallel robot for the high-precision docking task further comprises a vision measurement system and a motion planner; the vision measuring system feeds back the relative pose deviation of the movable platform and the butt joint target in real time, the motion planner resolves according to the relative pose deviation fed back by the vision measuring system to respectively obtain the X-direction displacement, the Y-direction displacement and the Z-direction displacement which need to be adjusted by the movable platform, the motion planner feeds back the Z-direction displacement to the Z-direction slide rail mechanism, the Z-direction displacement is completed by the Z-direction static pressure support servo cylinder, the X-direction displacement and the Y-direction displacement are fed back to the six-freedom-degree parallel robot body of the Z-direction slide rail mechanism by the motion planner, and the X-direction displacement and the Y-direction displacement are completed by the six parallel static pressure support servo cylinders.
According to the invention, the six-degree-of-freedom parallel robot body is linked with the Z-direction slide rail, so that the sensitivity of the system to the resolution of the sensor is effectively reduced, the additional bending moment caused by a similar cantilever beam structure is reduced, and the possible resonance shaking and stress concentration conditions of the system are avoided. The rib plate is additionally arranged on the static platform of the six-degree-of-freedom parallel robot body, so that the influence of additional bending moment on the slide rail is balanced, and the stable, continuous and controllable Z-direction displacement is ensured. In addition, the posture adjustment of the spatial six-degree-of-freedom is carried by seven servo cylinders, the nonlinear characteristic of a single-cylinder servo system under a large stroke is greatly reduced, and the motion control precision of the system is effectively improved. In conclusion, the dynamic response characteristic of the linkage type heavy-load six-degree-of-freedom parallel robot is greatly improved, and great help is provided for efficient and safe high-precision butt joint assembly tasks.
Drawings
FIG. 1 is a schematic structural diagram of a linkage type heavy-load six-degree-of-freedom parallel robot for a high-precision docking task according to the invention;
FIG. 2 is a schematic structural diagram (back side) of a linkage type heavy-load six-degree-of-freedom parallel robot for a high-precision docking task according to the present invention;
FIG. 3 is a schematic structural view of a Z-direction slide rail mechanism;
FIG. 4 is a schematic structural diagram of a six-DOF parallel robot body;
in the figure, a 1-Z-direction sliding rail mechanism; 2-six-degree-of-freedom parallel robot body; 3-a left rib plate; 4-large rib plate; 5-right rib plate; 101-a linked chassis; 102-a slide rail plate; a 103-Z direction static pressure support servo cylinder; 104-Z left support shelf; a first gimbal in the 105-Z direction; a 106-Z second universal joint; 107-Z right scaffolding; 201-static platform; 202-a static platform flange; 203-static platform gimbal; 204-parallel static pressure support servo cylinder; 205-moving platform gimbal; 206-moving platform flange; 207-moving platform.
Detailed Description
The invention will be further illustrated and described with reference to specific embodiments. The described embodiments are merely exemplary of the disclosure and are not intended to limit the scope thereof. The technical features of the embodiments of the present invention can be combined correspondingly without mutual conflict.
As shown in fig. 1 and 2, the linkage type heavy-load six-degree-of-freedom parallel robot for high-precision docking task provided by the embodiment mainly comprises a Z-direction slide rail mechanism 1 and a six-degree-of-freedom parallel robot body 2. The Z-direction slide rail mechanism 1 is responsible for Z-direction displacement of the linkage type heavy-load six-freedom-degree parallel robot, and the six-freedom-degree parallel robot body 2 is mainly responsible for tracking X-direction displacement and Y-direction displacement.
For a traditional independently controlled heavy-load six-freedom-degree parallel robot, when the robot works, the position deviation of a butt joint surface is fed back in real time through a vision measuring system, then a motion planning solver obtains displacement speed curves needing to be tracked by six servo cylinders, and under the control of a set signal, the robot completes a high-precision automatic butt joint task. After the linkage heavy-load six-degree-of-freedom parallel robot provided by the invention obtains the relative position deviation, the motion planner decomposes the Z-direction displacement onto the Z-direction slide rail 1 and decomposes the X-direction and Y-direction displacements into the six-degree-of-freedom parallel robot body 2.
Referring to fig. 3, the Z-direction slide rail mechanism 1 of the present embodiment includes a linkage base frame 101, a slide rail plate 102, a Z-direction static pressure support servo cylinder 103, a Z-direction left support frame 104, a Z-direction first universal joint 105, a Z-direction second universal joint 106, and a Z-direction right support frame 107; the linkage underframe 101 is a bearing base of a linkage type heavy-load six-freedom-degree parallel robot, can be installed at different positions according to the requirements of actual high-precision butt joint tasks, and is relatively static with the ground. The slide rail plate 102 can slide on the link base frame 101 with high accuracy. The Z-shaped left support bracket 104 is mounted on the back of the sliding rail platform 102 through bolt connection. The Z right support bracket 107 is mounted on the link base frame 101 by bolting. The right end of the Z-direction static pressure support servo cylinder 103 is connected with a Z-direction right support frame 107 through a Z-direction second universal joint 106 and is static relative to the ground. And the left end of the Z-direction static pressure support servo cylinder 103 is connected with the Z-direction left support frame 104 through a Z-direction first universal joint 105, namely, the Z-direction static pressure support servo cylinder is relatively fixedly connected with the sliding rail flat plate 102. When the Z-direction static pressure support servo cylinder 103 moves, the slide rail platform 102 can be driven to slide on the linkage base frame 101.
Referring to fig. 4, the six-degree-of-freedom parallel robot body of the embodiment includes a static platform 201, a dynamic platform 207, six parallel static pressure support servo cylinders 204, a static platform flange 202, a static platform universal joint 203, a dynamic platform universal joint 205, and a dynamic platform flange 206;
the static platform flange 202 is fixedly connected with the static platform 201 through welding. The movable platform flange 206 is fixedly connected with the movable platform 207 through welding. The left end of the parallel static pressure support servo cylinder 204 is connected with the static platform flange 202 through a static platform universal joint 203. The right end of the parallel static pressure support servo cylinder 204 is connected with a movable platform flange 206 through a movable platform universal joint 205. The six-freedom-degree parallel robot body 2 has six pairs by a transmission chain from the static platform flange 202 to the movable platform flange 206, and the static platform 201 is connected with the movable platform 207. Under the combined action of the six pairs of parallel static pressure support servo cylinders, the movable platform 207 moves in the space at a desired pose.
The static platform 201 includes a first mounting plate, a second mounting plate, a left rib plate 3, a right rib plate 5, and a large rib plate 4. The six-degree-of-freedom parallel robot body 2 is assembled on the Z-direction slide rail 1 through bolt connection between the slide rail platform 102 and the first mounting plate of the static platform 201. The left rib plate 3, the large rib plate 4 and the right rib plate 5 are fixedly connected with the static platform 201 in a welding mode and are used for balancing additional bending moment introduced by a cantilever beam-like structure of the six-freedom-degree parallel robot body 2, and the overall structural strength is improved.
After the relative pose error of the butt joint target is obtained by the vision measurement system, the displacement of each direction of the space can be decomposed to a Z-direction slide rail 1 and a six-freedom-degree parallel robot body 2 by the motion planner. The Z-direction displacement is mainly borne by a Z-direction static pressure supporting servo cylinder, and the slide rail platform 102 and the six-degree-of-freedom parallel robot body 2 fixedly connected with the slide rail platform are driven to move along the Z direction. Under the drive of six pairs of parallel static pressure supporting servo cylinders, the X-direction displacement and the Y-direction displacement are completed by a six-freedom-degree parallel robot body 2.
The linkage type heavy-load six-degree-of-freedom parallel robot for the high-precision docking task just can solve the contradiction in the prior art. The invention can be understood as that the linkage type heavy-load six-degree-of-freedom parallel robot is born by a Z-direction slide rail mechanism arranged at the bottom in the Z-direction working range. Thanks to the linkage design, the linkage type heavy-load six-degree-of-freedom parallel robot greatly reduces the length in the Z direction, reduces extra bending moment and dynamic error, and simultaneously avoids the tail end vibration caused by hydraulic flow pulsation. A Z-direction slide rail adopts a single static pressure support servo cylinder as a driving element and mainly bears Z-direction displacement in a butt joint assembly task. In the assembly process of the linkage type heavy-load six-degree-of-freedom parallel robot, components such as a hydraulic pump station, a valve block and the like are uniformly distributed on a robot mounting base, so that the phenomenon that the dynamic response characteristic of a system is reduced due to extra load is avoided, and meanwhile, the reachable working space of the tail end of the robot can be effectively enlarged.
The linkage type heavy-load six-degree-of-freedom parallel robot for the high-precision butt joint task focuses on the dynamic response characteristic of a lifting system and is mainly realized in a mode that a six-degree-of-freedom parallel robot body is linked with a Z-direction sliding rail. The set of linkage designs brings the following basic advantages: the inclination angle between the servo cylinder and the base of the linkage type heavy-load six-freedom-degree parallel robot is increased, the dynamic tracking error of the tail end is effectively reduced, and the method is more suitable for a high-precision butt joint assembly task; the Z-direction effective length of the linkage type heavy-load six-degree-of-freedom parallel robot is shortened, so that the additional bending moment caused by the fact that the load is too far away from the base is reduced, and the resonance shaking caused by the hydraulic flow pulsation characteristic is avoided; thirdly, a ribbed plate is added at the static platform of the parallel robot to balance the influence of the additional bending moment on the sliding rail, so that the problem that the sliding rail is stressed unevenly or crushed due to overlarge load weight is solved; and fourthly, after a linkage type design is adopted, the displacement decomposed to each parallel static pressure support servo cylinder is greatly shortened, the dynamic response speed of the electro-hydraulic servo system is improved, and the large-span high-precision control difficulty is effectively reduced.
Aiming at the problems of poor dynamic characteristics and insufficient structural part strength of the existing linkage type heavy-load six-degree-of-freedom parallel robot, the large-range motion space is decomposed through the linkage design of the six-degree-of-freedom parallel robot body and the Z-direction slide rail, the dynamic tracking error of the tail end is effectively reduced, the sensitivity of the strength of each structural part to the additional bending moment is relieved, the resonance shaking caused by overlong cantilevers is avoided, and the dynamic response characteristic of the whole system is greatly improved. In conclusion, the linkage type heavy-load six-degree-of-freedom parallel robot has great application potential in the aspect of realizing a high-precision docking task.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (5)
1. A linkage type heavy-load six-degree-of-freedom parallel robot for a high-precision docking task is characterized by comprising a six-degree-of-freedom parallel robot body and a Z-direction sliding rail mechanism;
the Z-direction sliding rail mechanism is used for realizing Z-direction displacement of the linkage type heavy-load six-degree-of-freedom parallel robot and comprises a linkage underframe (101), a sliding rail flat plate (102) and a Z-direction static pressure support servo cylinder (103); the Z-direction static pressure supporting servo cylinder (103) is connected with the linkage underframe (101) at one end and connected with the sliding rail flat plate (102) at the other end; the Z-direction static pressure support servo cylinder (103) can drive the sliding rail flat plate (102) to move along the Z direction;
the six-degree-of-freedom parallel robot body is mainly used for realizing X-direction and Y-direction displacement of a linkage type heavy-load six-degree-of-freedom parallel robot and comprises a static platform (201), a movable platform (207) and six parallel static pressure support servo cylinders (204); the static platform (201) is fixedly arranged on a sliding rail flat plate (102) of the Z-direction sliding rail mechanism, and the static platform (201) is vertical to the Z-axis direction; one end of each of the six parallel static pressure support servo cylinders (204) is connected with the static platform (201) through a universal joint, and the other end of each of the six parallel static pressure support servo cylinders is connected with the movable platform (207) through the universal joint.
2. The linkage type heavy-load six-degree-of-freedom parallel robot for the high-precision docking task is characterized in that the six-degree-of-freedom parallel robot body further comprises a static platform flange (202), a static platform universal joint (203), a dynamic platform universal joint (205) and a dynamic platform flange (206); the static platform flange (202) is fixedly installed on a static platform (201), one end of the parallel static pressure supporting servo cylinder (204) is connected with the static platform flange (202) through a static platform universal joint (203), the movable platform flange (206) is fixedly installed on a movable platform (207), and the other end of the parallel static pressure supporting servo cylinder (204) is connected with the movable platform flange (206) through a movable platform universal joint (205).
3. The linkage type heavy-load six-degree-of-freedom parallel robot for the high-precision docking task is characterized in that the static platform (201) comprises a first mounting plate, a second mounting plate, a left rib plate (3), a right rib plate (5) and a large rib plate (4);
the first mounting plate and the second mounting plate are mutually perpendicular and fixedly connected into an L-shaped structure or integrally formed into the L-shaped structure, wherein the first mounting plate is fixedly connected with the sliding rail flat plate (102); the second mounting plate is provided with the static platform flange (202); the left rib plate (3), the right rib plate (5) and the large rib plate (4) are parallel to each other and welded at the bending part of the L-shaped structure, and are used for stabilizing the L-shaped structure.
4. The linkage type heavy-load six-degree-of-freedom parallel robot for the high-precision docking task is characterized in that the Z-direction slide rail mechanism further comprises a Z-direction left support frame (104), a Z-direction first universal joint (105), a Z-direction second universal joint (106) and a Z-direction right support frame (107); one end of the Z-direction static pressure supporting servo cylinder (103) is connected with a Z-direction right supporting frame (107) through a Z-direction second universal joint (106), the other end of the Z-direction static pressure supporting servo cylinder is connected with a Z-direction left supporting frame (104) through a Z-direction first universal joint (105), the Z-direction right supporting frame (107) is fixed on the right side of the linkage underframe (101), and the Z-direction left supporting frame (104) is fixed on the sliding rail flat plate (102).
5. The linkage type heavy-load six-degree-of-freedom parallel robot for the high-precision docking task is characterized by further comprising a vision measurement system and a motion planner; the vision measurement system feeds back the relative pose deviation of the movable platform and the butt joint target in real time, the motion planner resolves according to the relative pose deviation fed back by the vision measurement system to respectively obtain the X-direction displacement, the Y-direction displacement and the Z-direction displacement which are required to be adjusted by the movable platform, the motion planner feeds back the Z-direction displacement to the Z-direction sliding rail mechanism, the Z-direction displacement is completed by a Z-direction static pressure support servo cylinder (103), the X-direction displacement and the Y-direction displacement are fed back to a six-degree-of-freedom parallel robot body of the Z-direction sliding rail mechanism by the motion planner, and the X-direction displacement and the Y-direction displacement are completed by six parallel static pressure support servo cylinders (204).
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