CN114932535A - Six-degree-of-freedom parallel robot - Google Patents
Six-degree-of-freedom parallel robot Download PDFInfo
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- CN114932535A CN114932535A CN202210456636.1A CN202210456636A CN114932535A CN 114932535 A CN114932535 A CN 114932535A CN 202210456636 A CN202210456636 A CN 202210456636A CN 114932535 A CN114932535 A CN 114932535A
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- B25J9/00—Programme-controlled manipulators
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Abstract
The invention provides a six-degree-of-freedom parallel robot, which relates to the technical field of robots and comprises a movable platform, a static platform and at least one branched chain, wherein each branched chain is arranged between the movable platform and the static platform, each branched chain comprises a first cylindrical pair, a second cylindrical pair and a third cylindrical pair which are sequentially connected from the static platform to the movable platform, and the axis of the first cylindrical pair, the axis of the second cylindrical pair and the axis of the third cylindrical pair of the same branched chain are sequentially orthogonal. According to the six-degree-of-freedom parallel robot, each branched chain is provided with three cylindrical pairs, so that six-degree-of-freedom motion can be realized, and the motion range of the branched chain is greatly enlarged; and the axes of the cylindrical pairs on the branched chains are mutually vertical, so that a resolving mechanism model is simpler, and the position resolving of the movable platform is more accurate.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a six-degree-of-freedom parallel robot.
Background
In a traditional six-degree-of-freedom parallel robot, six branched chains formed by linear motion pairs are generally arranged between a moving platform and a static platform, the six-dimensional space motion of the moving platform is determined by the joint motion of the six linear motion pairs, a single branched chain only has one linear motion pair, and the motion range of the branched chain is limited; all the linear motion pairs are arranged in any direction, the six-degree-of-freedom parallel robot has a complex kinematic model, and a moving platform cannot obtain an accurate and unique kinematic positive solution generally.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom parallel robot to solve the technical problems that the single-chain motion range of the existing six-degree-of-freedom parallel robot is limited and the position calculation of a movable platform is inaccurate.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a six-degree-of-freedom parallel robot comprises a movable platform, a static platform and at least one branched chain, wherein each branched chain is arranged between the movable platform and the static platform, each branched chain comprises a first cylindrical pair, a second cylindrical pair and a third cylindrical pair which are sequentially connected in the direction from the static platform to the movable platform, and the axis of the first cylindrical pair, the axis of the second cylindrical pair and the axis of the third cylindrical pair which are the same as the branched chains are sequentially orthogonal.
According to the six-degree-of-freedom parallel robot, each branched chain is provided with three cylindrical pairs, each cylindrical pair comprises a linear motion pair and a rotating pair, so that each branched chain can independently realize six-degree-of-freedom motion, the motion range of the branched chain is greatly increased, six degrees of freedom can be realized by driving the linear motion pairs and/or the rotating pairs in the cylindrical pairs on the branched chains, and the mode that the robot forms six degrees of freedom is greatly increased compared with the traditional six-degree-of-freedom parallel robot; and the axes of the first cylinder pair, the second cylinder pair and the third cylinder pair on the branched chains are mutually vertical in pairs and are respectively arranged along the directions shown by an X axis, a Y axis and a Z axis, each branched chain can drive the movable platform to realize translation along the directions of the X axis, the Y axis and the Z axis and rotation around the directions of the X axis, the Y axis and the Z axis, the resolving mechanism model is simpler, and the position resolving of the movable platform is more accurate.
Optionally, axes of the first cylindrical pairs of the branched chains are parallel to each other or coincide with each other, and axes of the third cylindrical pairs of the branched chains are parallel to each other;
or the axes of the first cylindrical pairs of the branched chains are intersected or crossed, and the axes of the third cylindrical pairs of the branched chains are intersected or crossed.
Optionally, the axes of the second cylindrical pair of each branch are parallel to each other.
Optionally, at least three branched chains are provided, and two pairs of the first cylindrical pair, the second cylindrical pair, and the third cylindrical pair of each branched chain are active pairs.
Optionally, the driving pair is a linear motion pair in the corresponding cylindrical pair.
Optionally, the active pair is adapted to be driven by a linear motor.
Optionally, three branched chains are provided, which are respectively a first branched chain, a second branched chain and a third branched chain, the second cylindrical pair and the third cylindrical pair of the first branched chain are driving pairs, the second cylindrical pair and the third cylindrical pair of the second branched chain are driving pairs, and the first cylindrical pair and the second cylindrical pair of the third branched chain are driving pairs.
Optionally, the axes of the first cylindrical pairs of two of the three branched chains coincide;
or the axes of the first cylindrical pairs of the three branched chains are sequentially intersected, and the axes of the third cylindrical pairs of the three branched chains are intersected at one point;
or the axes of the first cylindrical pairs of the three branched chains are crossed pairwise, and the axes of the third cylindrical pairs of the three branched chains are crossed or arranged in a crossed manner.
Optionally, four branched chains are provided, wherein the axes of the first cylindrical pairs of two branched chains coincide, and the axes of the third cylindrical pairs of the other two branched chains coincide;
or the axes of the first cylindrical pairs of the four branched chains are intersected in sequence, and the axes of the third cylindrical pairs of the four branched chains are intersected at one point.
Optionally, the first cylinder pair includes a first cylinder rod and a first sliding sleeve, the second cylinder pair is a telescopic rotating rod, the third cylinder pair includes a third cylinder rod and a third sliding sleeve, two ends of the telescopic rotating rod are respectively connected with the first sliding sleeve and the third sliding sleeve, the first cylinder rod passes through the first sliding sleeve and is connected with the stationary platform, and the third cylinder rod passes through the third sliding sleeve and is connected with the movable platform.
Drawings
Fig. 1 is a first structural schematic diagram of a six-degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a branched chain according to an embodiment of the present invention;
FIG. 3 is a second structural diagram of a six-DOF parallel robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a third structure of a six-DOF parallel robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a fourth configuration of a six-DOF parallel robot in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a fifth configuration of a six-DOF parallel robot according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a sixth configuration of a six-DOF parallel robot in accordance with an embodiment of the present invention;
FIG. 8 is a diagram illustrating a seventh structure of a six-DOF parallel robot according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an eighth configuration of a six-DOF parallel robot in accordance with an embodiment of the present invention;
fig. 10 is a schematic diagram of a ninth structure of a six-degree-of-freedom parallel robot according to an embodiment of the present invention.
Description of reference numerals:
1. a static platform; 2. moving the platform; 3. a branched chain; 31. a first cylindrical pair; 311. a first cylindrical rod; 312. a first sliding sleeve; 32. a second cylindrical pair; 33. a third cylindrical pair; 331. a third cylindrical rod; 332. and a third sliding sleeve.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, in the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", and the like in the embodiments indicate orientation words, which are used for simplifying the description of the positional relationship based on the drawings of the specification, and do not represent that elements, devices, and the like which are referred to must operate according to the operation, method, and configuration which are specified and defined in the specification, and such orientation terms do not constitute a limitation of the present invention.
A coordinate system XYZ is provided herein, wherein a forward direction of the X-axis represents the left direction, a backward direction of the X-axis represents the right direction, a forward direction of the Y-axis represents the front direction, a backward direction of the Y-axis represents the rear direction, a forward direction of the Z-axis represents the upper direction, and a backward direction of the Z-axis represents the lower direction.
As shown in fig. 1 and 3-10, a six-degree-of-freedom parallel robot according to an embodiment of the present invention includes a movable platform 2, a stationary platform 1, and at least one branched chain 3, where each branched chain 3 is disposed between the movable platform 2 and the stationary platform 1, the branched chain 3 includes a first cylindrical pair 31, a second cylindrical pair 32, and a third cylindrical pair 33, which are sequentially connected in a direction from the stationary platform 1 to the movable platform 2, and an axis of the first cylindrical pair 31, an axis of the second cylindrical pair 32, and an axis of the third cylindrical pair 33 of the same branched chain 3 are sequentially orthogonal to each other.
In the present embodiment, the structures of the movable platform 2 and the stationary platform 1 are not limited to the structural forms shown in the figures. Six driving mechanisms are generally required to be arranged to realize the six-dimensional motion of the movable platform 2 relative to the static platform 1, the static platform 1 can be used as a fixed platform of the driving mechanisms to keep the relative fixation of the positions of the driving mechanisms, each driving mechanism drives the corresponding cylindrical pair on the branched chain 3 to move, and the six driving mechanisms act cooperatively to realize the six-dimensional motion of the movable platform 2.
The cylindrical pair comprises a rotating pair and a linear motion pair, and can realize rotation around the axis of the cylindrical pair and translation along the axis direction.
Each branched chain 3 comprises a first cylindrical pair 31, a second cylindrical pair 32 and a third cylindrical pair 33 which are sequentially connected, so that each branched chain 3 has rotation in three directions and translation in three directions, namely each branched chain can realize six-dimensional motion, and compared with the traditional branched chain consisting of only one linear motion pair, the motion freedom degree of the branched chain 3 is greatly improved; the combination mode of six degrees of freedom is greatly increased through each branched chain, for example, three branched chains are arranged, 9 cylindrical pairs are provided in total, only part of the cylindrical pairs need to be driven, six-dimensional motion is generated, and the combination mode is more diversified. However, the existing method is provided with six branched chains, each branched chain comprises a linear motion pair, the six-dimensional motion is generated in a single and fixed mode, and the motion of the branched chains is limited.
The axial line of the first cylinder pair is recorded as L1, the axial line of the second cylinder pair is recorded as L2, the axial line of the third cylinder pair is recorded as L3, and since L1, L2 and L3 in each branched chain 3 are perpendicular to each other in pairs, the axial line direction of the first cylinder pair 31 is recorded as the direction shown by an X axis, the axial line direction of the second cylinder pair 32 is recorded as the direction shown by a Z axis, and the axial line direction of the third cylinder pair 33 is recorded as the direction shown by a Y axis, each branched chain 3 can independently realize translation along the directions of the X axis, the Y axis and the Z axis and rotation around the directions of the X axis, the Y axis and the Z axis, the kinematics calculation configuration is simpler and the calculation is easier.
Alternatively, as shown in fig. 1 and 8, the axes of the first cylindrical pairs 31 of the branched chains 3 are parallel or coincide with each other, and the axes of the third cylindrical pairs 33 of the branched chains 3 are parallel with each other;
alternatively, as shown in fig. 3-5 and 9-10, the axes of the first cylindrical pairs 31 of the branched chains 3 intersect or cross, and the axes of the third cylindrical pairs 33 of the branched chains 3 intersect or cross;
or, as shown in fig. 6 to 7, the axes of the first cylindrical pairs of the three branched chains are intersected with each other two by two, and the axes of the third cylindrical pairs of the three branched chains are intersected or arranged crosswise.
In the present embodiment, as shown in fig. 1 and 8, the first cylindrical pair 31 and the third cylindrical pair 33 of each branched chain 3 are respectively parallel, so that the relative parallelism of the head-to-tail linear motion of each branched chain 3 can be realized, the coupling degree between the branched chains is reduced, and the motion range is wider.
As shown in fig. 3-7 and 9-10, the axes of the head and tail cylindrical pairs of each branched chain 3 are respectively intersected or crossed, and compared with the condition that the axes of the head and tail cylindrical pairs are parallel, the relative constraint among the branched chains is increased, so that the branched chains have good coordination, the integral symmetry is better, and the reliability and the stability of the six-degree-of-freedom parallel robot are improved.
As shown in fig. 3 and 9, the axial planes of the third cylindrical pairs 33 of each branched chain 3 intersect at a point, the axes of the second cylindrical pairs 32 are parallel to each other, and when the whole mechanism is acted by the acting force of the XY plane, the stability is poor; in the scheme shown in fig. 4-7 and 10, the axes of the third cylindrical pairs 33 of the branched chains are intersected or crossed in space, and the axes of the second cylindrical pairs 32 are not parallel.
Alternatively, as shown in fig. 1, 3, 8 and 9, the axes of the second cylindrical pairs 32 of each branch 3 are parallel to each other.
In the present embodiment, the second cylindrical pairs 32 arranged in parallel can reduce the coupling degree between the branched chains, fully utilize the motion capability of a single branched chain, and improve the motion range of the movable platform 2.
Optionally, as shown in fig. 1 and 3-10, at least three branched chains 3 are provided, and two pairs of the first cylindrical pair 31, the second cylindrical pair 32, and the third cylindrical pair 33 of each branched chain 3 are active pairs.
In this embodiment, the six-dimensional motion of the movable platform 2 can be realized by at least one branched chain, and in this case, a linear driving mechanism and a rotary driving mechanism are required to drive the linear motion pair and the rotary motion pair of each cylindrical pair respectively.
In order to increase the six-degree-of-freedom parallel robot to form a six-degree-of-freedom mode, a plurality of branched chains can be arranged, and one or two of the first cylindrical pair 31, the second cylindrical pair 32 and the third cylindrical pair 33 of each branched chain 3 are selected to be used as driving pairs for driving.
Optionally, the driving pair is a linear motion pair in the corresponding cylindrical pair.
In this embodiment, for convenience of a driving manner, only the linear motion pair in the cylindrical pairs may be driven, and at this time, six cylindrical pairs may be selected from the first cylindrical pair 31, the second cylindrical pair 32, and the third cylindrical pair 33 of all the branched chains 3 by providing two, three, or even more branched chains 3, so as to drive the linear motion pair in the six cylindrical pairs.
Optionally, the active pair is adapted to be driven by a linear motor.
In the embodiment, six-degree-of-freedom motion of the movable platform is realized by driving the linear motion pairs of the six cylindrical pairs on the three branched chains, so that the positioning precision of the robot is improved, each cylindrical pair can realize rotation and linear motion, and can bear larger external load and rigidity. When four, five or more branched chains 3 are connected in parallel between the static platform 1 and the movable platform 2, the motion freedom degrees of partial branched chains 3 are redundant freedom degrees, and the motion safety of the robot can be improved by redundant driving.
The driving pair is driven by a linear motor, so that the driving mode is simple; of course, in other embodiments, a ball screw transmission, a hydraulic oil cylinder, or other driving methods may be adopted, which are not illustrated herein, but mainly achieve a linear driving manner.
Optionally, as shown in fig. 1 and 3-7, three branched chains 3 are provided, which are respectively a first branched chain 3, a second branched chain 3 and a third branched chain 3, the second cylindrical pair 32 and the third cylindrical pair 33 of the first branched chain 3 are driving pairs, the second cylindrical pair 32 and the third cylindrical pair 33 of the second branched chain 3 are driving pairs, and the first cylindrical pair 31 and the second cylindrical pair 32 of the third branched chain 3 are driving pairs.
In this embodiment, a specific six-degree-of-freedom formation manner is provided, where the first branched chain and the second branched chain can independently realize linear motions along the Y-axis and Z-axis directions, and the third branched chain can independently realize linear motions along the X-axis and Z-axis directions. Due to the interaction among the first branched chain, the second branched chain and the third branched chain, the motion amount of each linear driving mechanism driving the driving pair is respectively controlled so as to realize the rotation around the X, Y, Z axis and the linear motion along the X, Y, Z axis.
For example, as shown in fig. 1, when the second cylindrical pairs 32 of the first branched chain and the second branched chain are both driven along the Z axis, and the first cylindrical pair and the second cylindrical pair on the third branched chain are stationary, it is possible to drive the movable platform 2 to rotate around the axis of the first cylindrical pair of the third branched chain and the axis of the third cylindrical pair, and the range of the motion space is large; when the two driving pairs on the first branched chain and the second branched chain are not moved and the first cylindrical pair on the third branched chain is driven along the X axis, the movable platform 2 can be driven to linearly move along the X axis; when the second cylindrical pairs of the three branched chains are all driven along the Z axis, the movable platform 2 can linearly move along the Z axis.
Optionally, the axes of the first cylindrical pairs 31 of two of the three branched chains 3 coincide;
or the axes of the first cylindrical pairs 31 of the three branched chains 3 intersect in sequence, and the axes of the third cylindrical pairs 33 of the three branched chains 3 intersect at one point.
In this embodiment, as shown in fig. 1, a specific structure of a six-degree-of-freedom parallel robot with three parallel branched chains is provided, when a first cylindrical pair 31, a second cylindrical pair 32, and a third cylindrical pair 33 of three branched chains 3 are respectively parallel, the coupling degree between the three branched chains can be reduced to the maximum extent, the motion capability of a single branched chain 3 can be exerted more, and the motion space range of the movable platform 2 is improved.
As shown in fig. 3, another structure of a six-degree-of-freedom parallel robot with three parallel branched chains is provided, the axes of the first cylindrical pair 31 and the third cylindrical pair 33 of each branched chain 3 are respectively crossed on the same plane, the coupling degree between each branched chain 3 is greatly improved, the mutual coordination between the branched chains is improved, the mechanism symmetry is better, and the overall motion stability of the robot is improved.
As shown in fig. 4-6, the axes of the third cylindrical pairs 33 of the three branched chains intersect in space, and as shown in fig. 7, the axes of the third cylindrical pairs 33 of the three branched chains 3 intersect in space.
Alternatively, as shown in fig. 9-10, there are four branched chains 3, where the axes of the first cylindrical pairs 31 of two branched chains 3 coincide, and the axes of the third cylindrical pairs 33 of the other two branched chains 3 coincide;
alternatively, the axes of the first cylindrical pairs 31 of the four branched chains 3 intersect in sequence, and the axes of the third cylindrical pairs 33 of the four branched chains 3 intersect at one point.
In the present embodiment, the motion analysis of the six-degree-of-freedom parallel robot with four parallel branches is similar to that of the three parallel branches, and the description thereof is not repeated. And redundant driving in two directions can be realized under the condition of four branched chains, and the running stability of the mechanism is further ensured.
Alternatively, as shown in fig. 2, the first cylinder pair 31 includes a first cylinder rod 311 and a first sliding sleeve 312, the second cylinder pair 32 is a telescopic rotating rod, the third cylinder pair 33 includes a third cylinder rod 331 and a third sliding sleeve 332, two ends of the telescopic rotating rod are respectively connected with the first sliding sleeve 312 and the third sliding sleeve 332, the first cylinder rod 311 passes through the first sliding sleeve 312 and is connected with the stationary platform 1, and the third cylinder rod 331 passes through the third sliding sleeve 332 and is connected with the movable platform 2.
In this embodiment, the first cylindrical rod 311 is adapted to the shape of the first sliding sleeve 312, and the first cylindrical rod 311 is inserted into the first sliding sleeve 312 and can move along its own axis and rotate around its own axis; the second cylinder pair 32 can refer to the structure of a telescopic rotating rod and comprises a first cylinder body and a second cylinder body which are mutually sleeved, the second cylinder body can move along the direction shown by the Z axis relative to the first cylinder body, and the second cylinder body can rotate around the direction shown by the Z axis relative to the first cylinder body; the third pair 33 is identical in structure to the first pair 31.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. The six-degree-of-freedom parallel robot is characterized by comprising a movable platform (2), a static platform (1) and at least one branched chain (3), wherein each branched chain (3) is arranged between the movable platform (2) and the static platform (1), each branched chain (3) comprises a first cylindrical pair (31), a second cylindrical pair (32) and a third cylindrical pair (33) which are sequentially connected from the static platform (1) to the movable platform (2), and the axis of the first cylindrical pair (31), the axis of the second cylindrical pair (32) and the axis of the third cylindrical pair (33) of each branched chain (3) are sequentially orthogonal.
2. The six-degree-of-freedom parallel robot according to claim 1, characterized in that the axes of the first cylindrical pairs (31) of each branch (3) are parallel or coincide with each other and the axes of the third cylindrical pairs (33) of each branch (3) are parallel with each other;
or the axes of the first cylindrical pairs (31) of the branched chains (3) intersect or cross, and the axes of the third cylindrical pairs (33) of the branched chains (3) intersect or cross.
3. The six-degree-of-freedom parallel robot according to claim 2, characterized in that the axes of the second cylindrical pairs (32) of each branch (3) are parallel to each other.
4. A six degree-of-freedom parallel robot according to any of claims 2-3, characterised in that there are at least three branches (3), and that two of the first (31), second (32) and third (33) cylindrical pairs of each branch (3) are active pairs.
5. The six-degree-of-freedom parallel robot according to claim 4, wherein the active pair is a linear motion pair of the respective cylindrical pairs.
6. The six degree-of-freedom parallel robot of claim 4, wherein the active pair is adapted to be driven by a linear motor.
7. The six-degree-of-freedom parallel robot according to claim 4, wherein the number of the branched chains (3) is three, namely a first branched chain (3), a second branched chain (3) and a third branched chain (3), the second cylindrical pair (32) and the third cylindrical pair (33) of the first branched chain (3) are active pairs, the second cylindrical pair (32) and the third cylindrical pair (33) of the second branched chain (3) are active pairs, and the first cylindrical pair (31) and the second cylindrical pair (32) of the third branched chain (3) are active pairs.
8. The six-degree-of-freedom parallel robot according to claim 7, characterized in that the axes of the first cylindrical pairs (31) of two of the three branched chains (3) coincide;
or the axes of the first cylindrical pairs (31) of the three branched chains (3) are intersected in sequence, and the axes of the third cylindrical pairs (33) of the three branched chains (3) are intersected at one point;
or the axes of the first cylindrical pairs (31) of the three branched chains (3) are crossed pairwise, and the axes of the third cylindrical pairs (33) of the three branched chains (3) are crossed or arranged crosswise.
9. The six-degree-of-freedom parallel robot according to claim 4, characterized in that the branched chains (3) are provided with four, wherein the axes of the first cylindrical pairs (31) of two of the branched chains (3) coincide and the axes of the third cylindrical pairs (33) of the other two branched chains (3) coincide;
or the axes of the first cylindrical pairs (31) of the four branched chains (3) are intersected in sequence, and the axes of the third cylindrical pairs (33) of the four branched chains (3) are intersected at one point.
10. The six-degree-of-freedom parallel robot according to claim 1, wherein the first cylinder pair (31) comprises a first cylinder rod (311) and a first sliding sleeve (312), the second cylinder pair (32) is a telescopic rotating rod, the third cylinder pair (33) comprises a third cylinder rod (331) and a third sliding sleeve (332), both ends of the telescopic rotating rod are respectively connected with the first sliding sleeve (312) and the third sliding sleeve (332), the first cylinder rod (311) passes through the first sliding sleeve (312) and is connected with the static platform (1), and the third cylinder rod (331) passes through the third sliding sleeve (332) and is connected with the movable platform (2).
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