CN114932535B - Six-degree-of-freedom parallel robot - Google Patents
Six-degree-of-freedom parallel robot Download PDFInfo
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- CN114932535B CN114932535B CN202210456636.1A CN202210456636A CN114932535B CN 114932535 B CN114932535 B CN 114932535B CN 202210456636 A CN202210456636 A CN 202210456636A CN 114932535 B CN114932535 B CN 114932535B
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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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 axes of the first cylindrical pair, the second cylindrical pair and 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, six degrees of freedom of movement can be realized, and the movement range of the branched chain is greatly increased; and the axes of the cylinders on the branched chains are mutually perpendicular, so that a calculation mechanism model is simpler, and the position calculation 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 the traditional six-degree-of-freedom parallel robot, six branched chains formed by linear motion pairs are generally arranged between a movable platform and a fixed platform, six-dimensional space motion of the movable platform is determined by common motion of the six linear motion pairs, a single branched chain has only one linear motion pair, and the movement range of the branched chain is limited; each linear motion pair is arranged in any direction, the six-degree-of-freedom parallel robot kinematic model is complex, and the dynamic platform cannot obtain accurate and unique kinematic positive solutions.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom parallel robot, which aims to solve the technical problems that the single-chain movement range of the existing six-degree-of-freedom parallel robot is limited and the position resolving of a movable platform is inaccurate.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides a six degrees of freedom parallel robot, includes movable platform, quiet platform and at least one branched chain, each the branched chain is located movable platform with between the quiet platform, the branched chain includes by quiet platform extremely the first cylinder pair, second cylinder pair and the third cylinder pair that movable platform direction connects gradually, same the axis of first cylinder pair the axis of second cylinder pair and the axis of third cylinder pair are orthogonal in proper order.
According to the six-degree-of-freedom parallel robot, each branched chain is provided with three cylindrical pairs, and each cylindrical pair comprises one linear motion pair and one revolute pair, so that each branched chain can independently realize six degrees of freedom motion, the motion range of the branched chain is greatly increased, the six degrees of freedom can be realized by driving the linear motion pair and/or the revolute pair in the cylindrical pair on the branched chain, and the mode that the robot forms the 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 perpendicular, and are respectively arranged along the directions shown by the X axis, the Y axis and the 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 model of the resolving mechanism is simpler, and the position resolving of the movable platform is more accurate.
Optionally, the axes of the first cylindrical pair of each branched chain are parallel or coincident with each other, and the axes of the third cylindrical pair of each branched chain are parallel to each other;
alternatively, the axes of the first cylindrical pair of each of the branched chains intersect or cross, and the axes of the third cylindrical pair of each of the branched chains intersect or cross.
Optionally, the axes of the second cylindrical pair of each of the branches are parallel to each other.
Optionally, at least three branches are provided, and two pairs of the first cylindrical pair, the second cylindrical pair and the third cylindrical pair of each branch are active pairs.
Optionally, the driving pair is a linear motion pair in the corresponding cylindrical pair.
Optionally, the driving pair is adapted to be driven by a linear motor.
Optionally, the branches are provided with three branches, which are a first branch, a second branch and a third branch, the second cylindrical pair and the third cylindrical pair of the first branch are active pairs, the second cylindrical pair and the third cylindrical pair of the second branch are active pairs, and the first cylindrical pair and the second cylindrical pair of the third branch are active pairs.
Optionally, the axes of the first cylindrical pair of two of the three branches coincide;
alternatively, the axes of the first cylindrical pairs of the three branched chains intersect in sequence, and the axes of the third cylindrical pairs of the three branched chains intersect at a point;
or, the axes of the first cylindrical pairs of the three branched chains are intersected in pairs, and the axes of the third cylindrical pairs of the three branched chains are intersected or arranged in an intersecting manner.
Optionally, the branched chain is provided with four branched chains, wherein the axes of the first cylindrical pair of two branched chains are coincident, and the axes of the third cylindrical pair of the other two branched chains are coincident;
alternatively, the axes of the first cylindrical pairs of the four branched chains intersect in sequence, and the axes of the third cylindrical pairs of the four branched chains intersect at a point.
Optionally, the first cylinder is vice including first cylinder pole and first sliding sleeve, the second cylinder is vice for flexible rotary rod, the third cylinder is vice including third cylinder pole and third sliding sleeve, flexible rotary rod's both ends respectively with first sliding sleeve with third sliding sleeve is connected, first cylinder pole pass first sliding sleeve and with quiet platform connection, third cylinder pole pass third sliding sleeve and with movable platform connection.
Drawings
FIG. 1 is a schematic diagram of a first configuration 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 schematic diagram of a second configuration of a six degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a third configuration of a six degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a fourth configuration of a six degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 6 is a schematic view of a fifth configuration of a six degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 7 is a schematic view of a sixth configuration of a six degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a seventh configuration of a six degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 9 is a schematic view of an eighth configuration of a six degree-of-freedom parallel robot according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a ninth configuration of a six-degree-of-freedom parallel robot according to an embodiment of the present invention.
Reference numerals illustrate:
1. a static platform; 2. a movable 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 that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "coupled," and "mated" are to be construed broadly, and may be, for example, fixedly coupled, detachably coupled, or integrally coupled; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
In addition, in the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", etc. in the embodiments indicate terms of orientation, and only for simplifying the positional relationship of the description based on the drawings of the specification, it does not represent that the elements and devices etc. referred to must be operated according to the operations and methods and configurations defined in the specific orientation and limitation of the present invention, and such orientation terms do not constitute limitations of the present invention.
Herein, a coordinate system XYZ is provided in which the forward direction of the X axis represents the left direction, the reverse direction of the X axis represents the right direction, the forward direction of the Y axis represents the forward direction, the reverse direction of the Y axis represents the rear direction, the forward direction of the Z axis represents the upper direction, and the reverse direction of the Z axis represents the lower direction.
As shown in fig. 1 and 3-10, the six-degree-of-freedom parallel robot according to the embodiment of the present invention includes a movable platform 2, a static platform 1, and at least one branched chain 3, where each branched chain 3 is disposed between the movable platform 2 and the static platform 1, and the branched chain 3 includes a first cylindrical pair 31, a second cylindrical pair 32, and a third cylindrical pair 33 sequentially connected from the static 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.
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 drawings. To realize six-dimensional motion of the movable platform 2 relative to the static platform 1, six driving mechanisms are generally required to be arranged, the static platform 1 can be used as a fixed platform of the driving mechanisms, the positions among the driving mechanisms are kept relatively fixed, each driving mechanism drives a corresponding cylinder pair on the branched chain 3 to move, and the six driving mechanisms act cooperatively to realize six-dimensional motion of the movable platform 2.
The cylindrical pair comprises a revolute 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 three-direction rotation and three-direction translation, that is, each branched chain can realize six-dimensional movement, and compared with the traditional branched chain formed by only one linear motion pair, the motion freedom degree of the branched chain 3 is greatly improved; the number of the combined modes of six degrees of freedom formed by the branched chains is greatly increased, for example, three branched chains are arranged, 9 cylindrical pairs are totally arranged, only part of the cylindrical pairs are required to be driven, six-dimensional movement is generated, and the combined modes are more various. In the prior art, six branched chains are arranged, each branched chain comprises a linear motion pair, the six-dimensional motion is generated in a single and fixed mode, and the movement of the branched chain is limited.
The axis of the first cylindrical pair is L1, the axis of the second cylindrical pair is L2, and the axis of the third cylindrical pair is L3, because the axes L1, L2 and L3 in each branched chain 3 are perpendicular to each other, the axis direction of the first cylindrical pair 31 is the direction shown by the X axis, the axis direction of the second cylindrical pair 32 is the direction shown by the Z axis, and the axis direction of the third cylindrical pair 33 is the direction shown by the Y axis, each branched chain 3 can independently realize translation along the X axis, the Y axis and the Z axis and rotation around the X axis, the Y axis and the Z axis, the kinematic calculation configuration is simpler, and the calculation is easier.
Alternatively, as shown in fig. 1 and 8, the axes of the first cylindrical pair 31 of each of the branched chains 3 are parallel or coincident with each other, and the axes of the third cylindrical pair 33 of each of the branched chains 3 are parallel to each other;
alternatively, as shown in fig. 3 to 5 and 9 to 10, the axes of the first cylindrical pair 31 of each of the branched chains 3 intersect or cross, and the axes of the third cylindrical pair 33 of each of the branched chains 3 intersect or cross;
alternatively, as shown in fig. 6 to 7, the axes of the first cylindrical pairs of the three branched chains intersect each other in pairs, and the axes of the third cylindrical pairs of the three branched chains intersect or are disposed in intersection.
In this 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-tail linear motion of each branched chain 3 can be realized, the coupling degree between the branched chains is reduced, and the movement range is larger.
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 situation that the axes of the head and tail cylindrical pairs are parallel, the relative constraint among the branched chains is increased, so that good coordination exists among the branched chains, the overall symmetry is better, and the reliability and stability of the six-degree-of-freedom parallel robot are improved.
As shown in fig. 3 and 9, the axes of the third cylindrical pair 33 of each branched chain 3 intersect at a point, and the axes of the second cylindrical pair 32 are parallel to each other, so that the stability is poor when the whole mechanism receives the force of the XY plane; in the scheme shown in fig. 4-7 and 10, the axes of the third cylindrical pair 33 of each branched chain are spatially intersected or crossed, and the axes of the second cylindrical pair 32 are not parallel, so that the stability of the whole mechanism to all-directional stress can be improved.
Alternatively, as shown in fig. 1, 3, 8, 9, the axes of the second cylindrical pairs 32 of each of the branches 3 are parallel to each other.
In this embodiment, the second cylindrical pair 32 disposed in parallel can reduce the coupling degree between the branches, fully exert the motion capability of a single branch, and increase the motion range of the movable platform 2.
Optionally, as shown in fig. 1 and 3-10, at least three branches are provided on the branched chain 3, 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, six-dimensional movement 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 pair of each cylindrical pair, respectively.
In order to increase the six-degree-of-freedom parallel robot to form a six-degree-of-freedom system, a plurality of branched chains may be provided, 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 may be selected as an active pair to be driven.
Optionally, the driving pair is a linear motion pair in the corresponding cylindrical pair.
In this embodiment, for convenience of the driving manner, only the linear motion pair of 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 more branched chains 3, so as to drive the linear motion pair of the six cylindrical pairs.
Optionally, the driving 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 degree of part of the branched chains 3 is redundancy freedom degree, and the redundancy driving can improve the motion safety of the robot.
The driving pair is driven by a linear motor, and the driving mode is simple; of course, in other embodiments, a driving mode such as ball screw driving, hydraulic oil cylinder, etc. may be adopted, and the description is not given here, mainly for realizing the linear driving mode.
Optionally, as shown in fig. 1 and 3-7, the branched chain 3 is provided with three branches, which are a first branched chain, a second branched chain and a third branched chain, the second cylindrical pair 32 and the third cylindrical pair 33 of the first branched chain are active pairs, the second cylindrical pair 32 and the third cylindrical pair 33 of the second branched chain are active pairs, and the first cylindrical pair 31 and the second cylindrical pair 32 of the third branched chain are active pairs.
In this embodiment, a specific six-degree-of-freedom configuration mode is provided, where the first branch and the second branch can independently implement linear motion along the Y-axis and the Z-axis directions, and the third branch can independently implement linear motion along the X-axis and the Z-axis directions. Because of the interaction among the first branched chain, the second branched chain and the third branched chain, the movement quantity of each linear driving mechanism driving the driving pair is controlled respectively, so that the rotation around the X, Y, Z axis and the linear movement along the X, Y, Z axis are realized.
For example, as shown in fig. 1, when the second cylindrical pair 32 of the first branched chain and the second branched chain are driven along the Z axis, the first cylindrical pair and the second cylindrical pair on the third branched chain are not moved, so that the moving platform 2 can be driven to rotate around the axis of the first cylindrical pair and the axis of the third cylindrical pair of the third branched chain, and the movement space range is large; when two driving pairs on the first branched chain and the second branched chain are not moved, the first cylindrical pair on the third branched chain is driven along the X axis, so that 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 move linearly along the Z axis.
Alternatively, the axes of the first cylindrical pairs 31 of two of the three branches 3 coincide;
alternatively, the axes of the first cylindrical pairs 31 of the three branches 3 intersect in sequence, and the axes of the third cylindrical pairs 33 of the three branches 3 intersect at a point.
In this embodiment, as shown in fig. 1, a specific structure of a six-degree-of-freedom parallel robot with three branches is provided, when the first cylindrical pair 31, the second cylindrical pair 32, and the third cylindrical pair 33 of the three branches 3 are parallel, the degree of coupling between the three branches can be minimized, the motion capability of a single branch 3 can be exerted more greatly, and the motion space range of the moving platform 2 can be increased.
As shown in fig. 3, another structure of a six-degree-of-freedom parallel robot is provided, the axes of the first cylindrical pair 31 and the third cylindrical pair 33 of each branched chain 3 are respectively intersected on the same plane, the coupling degree between the branched chains 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 better, but the motion range of the branched chains is reduced under the structure.
As shown in fig. 4-6, the axes of the third cylindrical pair 33 of the three-branched chains intersect in space, and as shown in fig. 7, the axes of the third cylindrical pair 33 of the three-branched chains 3 are disposed in space intersecting.
Alternatively, as shown in fig. 9 to 10, four branches 3 are provided, wherein the axes of the first cylindrical pair 31 of two branches 3 coincide, and the axes of the third cylindrical pair 33 of the other two branches 3 coincide;
alternatively, the axes of the first cylindrical pairs 31 of the four branched chains 3 intersect in order, and the axes of the third cylindrical pairs 33 of the four branched chains 3 intersect at a point.
In this embodiment, the motion analysis of the six-degree-of-freedom parallel robot in which four branches are connected in parallel is similar to that in the case of the above-described three branches being connected in parallel, and the description thereof will not be repeated here. In the case of four branches, redundant driving in two directions is realized, and the running stability of the mechanism is ensured.
Optionally, as shown in fig. 2, the first cylindrical pair 31 includes a first cylindrical rod 311 and a first sliding sleeve 312, the second cylindrical pair 32 is a telescopic rotating rod, the third cylindrical pair 33 includes a third cylindrical 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 cylindrical rod 311 passes through the first sliding sleeve 312 and is connected with the static platform 1, and the third cylindrical 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 direction and rotate around its own axis direction; the second cylinder pair 32 can refer to a structure of a telescopic rotating rod, and comprises a first cylinder body and a second cylinder body which are mutually sleeved, wherein the second cylinder body can move along a Z-axis direction relative to the first cylinder body, and the second cylinder body can rotate along the Z-axis direction relative to the first cylinder body; the third cylindrical pair 33 has the same structure as the first cylindrical pair 31.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. The utility model provides a six degrees of freedom parallel robot, its characterized in that, includes movable platform (2), quiet platform (1) and at least three branched chain (3), each branched chain (3) are located between movable platform (2) with quiet platform (1), branched chain (3) include by quiet platform (1) extremely first cylinder pair (31), second cylinder pair (32) and third cylinder pair (33) that movable platform (2) direction connects gradually, same the axis of first cylinder pair (31) of branched chain (3), the axis of second cylinder pair (32) and the axis of third cylinder pair (33) are orthogonal in proper order.
2. Six-degree-of-freedom parallel robot according to claim 1, characterized in that the axes of the first cylindrical pair (31) of each of the branches (3) are parallel or coincident with each other, the axes of the third cylindrical pair (33) of each of the branches (3) are parallel with each other;
alternatively, 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. Six-degree-of-freedom parallel robot according to claim 2, characterized in that the axes of the second cylindrical pairs (32) of each of the branches (3) are mutually parallel.
4. A six degree of freedom parallel robot according to any of claims 2-3, characterized in 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 of claim 4 wherein the active pair is a linear motion pair of the corresponding cylindrical pair.
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 of claim 4 wherein the branches (3) are three, first, second and third branches, respectively, the second (32) and third (33) cylindrical pairs of the first branch being active pairs, the second (32) and third (33) cylindrical pairs of the second branch being active pairs, the first (31) and second (32) cylindrical pairs of the third branch being active pairs.
8. 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 branches (3) coincide;
alternatively, 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 a point;
alternatively, the axes of the first cylindrical pairs (31) of the three branched chains (3) are intersected in pairs, and the axes of the third cylindrical pairs (33) of the three branched chains (3) are intersected or arranged in an intersecting manner.
9. Six degree of freedom parallel robot according to claim 4, characterized in that the branches (3) are provided with four, of which the axes of the first cylindrical pair (31) of two of the branches (3) coincide and the axes of the third cylindrical pair (33) of the other two branches (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 a point.
10. The six-degree-of-freedom parallel robot of claim 1 wherein the first cylindrical pair (31) includes a first cylindrical rod (311) and a first sliding sleeve (312), the second cylindrical pair (32) is a telescopic rotating rod, the third cylindrical pair (33) includes a third cylindrical 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 cylindrical rod (311) passes through the first sliding sleeve (312) and is connected with the stationary platform (1), and the third cylindrical rod (331) passes through the third sliding sleeve (332) and is connected with the movable platform (2).
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