CN1439492A - Four dimension mixed linking robot - Google Patents

Four dimension mixed linking robot Download PDF

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Publication number
CN1439492A
CN1439492A CN 03105161 CN03105161A CN1439492A CN 1439492 A CN1439492 A CN 1439492A CN 03105161 CN03105161 CN 03105161 CN 03105161 A CN03105161 A CN 03105161A CN 1439492 A CN1439492 A CN 1439492A
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mechanism
parallel
robot
rotation
freedoms
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CN 03105161
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Chinese (zh)
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CN1212221C (en )
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黄田
李曚
张大卫
赵学满
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天津大学
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Abstract

A 4-freedom robot with series-parallel connection is composed of the parallel mechanism for two translational freedoms, the rotation mechanism for two rotational freedoms, which is serially connectedto said parallel mechanism, and the executing mechanism installed to said rotation mechanism. Its advantages are modular design, effective generation of dominant feed direction, and wide job range.

Description

四自由度混联机器人 Hybrid four degrees of freedom robot

技术领域 FIELD

本发明涉及一种工业机器人,特别是涉及一种四自由度混联机器人。 The present invention relates to an industrial robot, particularly to a robot with four degrees of freedom mixed.

背景技术 Background technique

现有的少自由度混联机器人,就其并联部分而言,通常存在工作空间/机构体积比小、刚度低、不具有优势进给方向的缺点;就其串联部分而言,又通常存在末端执行器只绕自身轴线旋转的不足,至使其必须依靠并联部分的运动实现限定空间的位置和姿态。 Less conventional hybrid robot degrees of freedom, in terms of its parallel portion, typically present working space / volume means, is lower than the stiffness of the small, do not have the disadvantage the advantage feeding direction; portion in terms of its series, and is typically present terminus the actuator rotates about its own axis only insufficient, the position and posture so as to define a space must be implemented to rely on the motion of the parallel portion.

发明内容 SUMMARY

本发明的目的在于克服现有技术的不足,提供一种工作空间/机构体积比大、刚度高、且具有优势进给方向的模块化四自由度混联机器人。 Object of the present invention is to overcome the disadvantages of the prior art, to provide a working space / volume ratio mechanism, stiffness, and has the advantage of the modular feeding direction of the robot with four degrees of freedom mixed.

本发明的四自由度混联机器人,由两平动自由度并联机构、与之串联的两转动自由度转头结构、以及安装在所述转头结构上的末端执行器构成;所述的两平动自由度并联机构,包括带有法兰机构的机架、通过其外壁上的共轴销与所述的机架连接的套筒、通过套筒安装在所述机架上的导向杆、设置在导向杆下部的动平台、以及上端通过平面铰链与机架连接,下端通过球铰链与转头结构连接的两条可控伸缩杆;所述的转头结构通过所述的动平台与两平动自由度并联结构串接;所述的导向杆与动平台固连,且位于两条可控伸缩杆之间,其轴线与两条可控伸缩杆的轴线共面。 Four degrees of freedom according to the present invention hybrid robot, the two translational degrees of freedom parallel mechanism, two rotational degrees of freedom of the rotor structure in series therewith, and an end effector mounted on said rotor structure comprising; the two translational degrees of freedom parallel mechanism, comprising a frame having a flange means, through the outer wall of the pin and the coaxial sleeve connected to the frame by a guide sleeve is mounted on the rack bar, provided at the lower portion of the guide bar moving platform, and an upper end connected by a hinge to the frame plane, a lower end connected by a ball joint structure with two rotor controllably extendable rod; said rotor structure by said movable platform and two translational degrees of freedom parallel structure series; said guide rod is fixedly connected to the movable platform and between the lever axis of the telescopic rod two controllable two coplanar axes controlled stretching.

所述的可控伸缩杆由内杆和外杆构成;所述套筒的内径略大于所述导向杆的外径,且其内壁设置有键;所述导向杆的上半部轴向设置有键槽,与内壁设置有键的所述套筒构成滑移副;所述转头结构的驱动电机,其一设置在导向杆底端的内部,或者设置在导向杆顶端,其二设置在转头结构上;所述的可控伸缩杆顶端设置有伺服电机;所述的导向杆和套筒上设置有光栅线位移传感器;连接所述套筒和所述机架的共轴销上设置有角编码器。 The telescopic rod consists of a controllable inner rod and outer rod; an outer diameter slightly larger than the inner diameter of the sleeve of the guide rod and the inner wall is provided with a button; the upper half of the guide rod is provided with an axial keyway, and an inner wall of the sleeve is provided with a sub-key configuration slip; driving motor of the head structure, one disposed inside the bottom end of the guide rod or the guide rod is provided at the top, and the second rotor disposed on the structure on; top end of the telescopic rod is provided with a controllable servomotor; raster line is provided with a displacement sensor on said guide rod and sleeve; angle encoder is provided with a connecting sleeve and the coaxial pin rack device.

本发明的有益效果是:模块化结构设计,具有优势进给方向,可与各种平动自由度机构或转动自由度机构串接,并有效地产生优势进给方向或扩大作业范围。 Advantageous effects of the invention are: modular design, has the advantage of the feed direction, with a variety of translational degrees of freedom or rotational freedom mechanism means connected in series, and effectively generate or expand advantage feeding direction operating range.

附图说明 BRIEF DESCRIPTION

图1是本发明的四自由度混联机器人的结构示意图;图2是图1的AA截面放大视图;图3是实施例1的结构示意图;图4是实施例2的结构示意图; FIG 1 is a schematic view of the hybrid robot four degrees of freedom according to the invention; FIG. 2 is an AA cross-sectional enlarged view of FIG. 1; FIG. 3 is a schematic structural diagram of an embodiment; FIG. 4 is a schematic structural diagram of embodiment 2;

图5是实施例3的结构示意图。 FIG 5 is a schematic structural diagram of the third embodiment.

附图标记:机架1 可控伸缩杆2 导向杆3 动平台4 末端执行器5转头结构6 内杆7 外杆8 套筒9 伺服电机10 共轴销11 平面铰链12轴线13 球铰链14 轴线15 键16具体实施方式下面结合附图和实施例对本发明技术作以详细描述。 Reference numerals: 1 rack controllable telescopic rod 2 the guide rod 3 end effector movable platform 4 rotor 5 shaft 6 within the structure of the servo motor 7 8 9 outer sleeve 10 coaxial with pin 12 lever 13 ball joint axis hinge plane 11 14 15 key figures and examples below axis 16 in conjunction with specific embodiments of the present technology to be described in detail.

如图1所示,本发明的四自由度混联机器人,由带有法兰机构的机架1、两条可控伸缩杆2、导向杆3、套筒9、动平台4构成的两平动自由度并联机构,串联一个两自由度转头结构6,并在转头结构6上安装末端执行器5构成。 1, a robot with four degrees of freedom according to the present invention is mixed by means of a rack with flanges, controllable two telescopic rod 2, the guide rod 3, sleeve 9, two level configuration of the moving platform 4 degrees of freedom parallel mechanism, a two degree of freedom serial head structure 6 and the end effector 5 mounted at the rotor structure 6 configuration. 所述的转头结构6通过动平台4与两平动自由度并联机构串接;所述的套筒9通过其外壁上的共轴销11与所述的机架1连接;所述的导向杆3通过套筒9安装在所述的机架1上,且其下部与所述的动平台4固定连接,并位于两条可控伸缩杆2之间,其轴线13与两条可控伸缩杆2的轴线共面。 The structure of the rotor 6 by the moving platform 4 and the two translational degrees of freedom parallel mechanism connected in series; said sleeve outer wall 9 by a pin 11 coaxially connected to the frame 1; said guide rod 3 through the sleeve 9 is mounted on the frame 1, and a lower portion thereof with said movable platform 4 is fixedly connected, and located between the two controllable telescopic rod 2, its axis 13 and two telescopic controllable 2, the rod axis are coplanar.

所述套筒9的内径略大于所述导向杆3的外径,且其内壁设置有键16;所述导向杆3的上半部轴向设置有键槽,可使其与内壁设置有键16的所述套筒9构成滑移副;所述的可控伸缩杆2由内杆7和外杆8构成,并通过平面铰链12和球铰链14分别连接机架1和动平台4(在可控伸缩杆2与动平台4之间选用球铰链而非平面铰链的原因,是考虑到在机器人的零部件加工或装配过程中可能产生的误差积累),当设置在可控伸缩杆2顶端的伺服电机10驱动其内部传动机构时,可使内杆7相对于外杆8产生轴向滑移;而其与机架1和动平台4的铰接方式,又可使其相对于机架1和动平台4实现转动;所述导向杆3在机器人构型中的安装位置与安装方式(位于两条可控伸缩杆2之间,且其轴线13与两条可控伸缩杆2的轴线共面,并与通过共轴销11与机架1连接的套筒9构成移动副),使之既可相对于套筒9 The inner diameter of the sleeve 9 is slightly greater than the outer diameter of the guide rod 3, and its inner wall is provided with a key 16; the upper half of the guide bar 3 is provided with an axial keyway, may be reacted with an inner wall 16 provided with a key the sliding sleeve 9 constituting the sub; within said telescopic rod 2 controlled by the lever 7 and 8 constituting the outer rod, and the frame 1 and respectively connected to the movable platform 4 plane by a hinge 12 and the hinge ball 14 (available at control telescopic rod 2 and the selection reason instead of a flat ball joint 4 between the hinge movable platform, taking into account the error in processing or assembling parts of the robot may be generated during accumulation), when the top 2 is provided in a controlled telescopic rod when the internal gear drive servo motor 10, the rod 7 can produce an axial sliding relative to the outer lever 8; the frame 1 and which hingedly movable platform 4, it can be made with respect to the frame 1 and effect rotation of the movable platform 4; guide bar 3 in the configuration of the robot installation position and installation (two controllably positioned between the telescopic rod 2, and its axis 13 and two controlled axes coplanar telescopic bar 2 , and the sleeve is connected by a coaxial pin 11 and the sub-frame 1 constituting 9 is moved), so that both relative to the sleeve 9 轴向移动,又可随套筒9相对机架1转动;动平台4与导向杆3固连,两者不发生相对运动;转头结构6与动平台4串接,并由两台电机驱动绕两垂直轴线13或15旋转,其中一台电机可置于导向杆3顶端,通过导向杆3内部的传动机构驱动转头结构6绕轴线13作360°旋转,亦可置于导向杆3底端内部,直接带动转头结构6绕轴线13作360°旋转,另一台电机置于转头结构6的内部,带动末端执行器5绕轴线15旋转;所述的转头结构6分为上、下两部分,以使其上的末端执行器5在所述电机驱动下旋转时不与之发生干涉。 Axial movement, but also rotation of the sleeve 9 with respect to the frame 1; moving platform 4 and the guide rod 3 is secured, both without relative movement; head structure 6 and the moving platform 4 connected in series by two motor-driven about two perpendicular axes of rotation 13 or 15, wherein a motor can be placed in the top of the guide rod 3, the interior of the transmission mechanism 3 about the axis 6 driven rotor structure 13 rotated through 360 ° by a guide rod, the guide can also be placed in the bottom bar 3 the inner end, directly contributing to the structural rotor 6 about axis 13 rotated through 360 °, is placed inside another motor rotor structure 6, to drive the end effector 15 about the axis of rotation 5; 6 is turned into the structure , two parts to end when it on the motor 5 is rotated in the drive does not interfere therewith. 导向杆3与动平台4的固连方式,可使动平台4的空间位置与姿态变化通过导向杆3相对套筒9的轴向位移和导向杆3相对机架1的转角以极坐标形式加以描述。 The guide rod 3 and the movable platform is secured to Embodiment 4, the rod can move the platform 4 the spatial position and attitude change of the guide rod 3 and the axial displacement relative to the sleeve 9 relative to the housing 3 by the corner guide is to be a form of polar coordinates description. 为此,可以在导向杆3和套筒9上安装光栅线位移传感器以及在共轴销11上安装角编码器,并通过光栅线位移传感器和角编码器实现对机器人的全闭环反馈控制。 To this end, the rod displacement sensor mounted on the raster line 3 and the sleeve 9 and the pin is mounted coaxially on the encoders 11 in the guide, and to realize closed-loop feedback control of the robot by a grating and a linear scale encoders.

以下是本发明的四自由度混联机器人与平动自由度机构或转动自由度机构配合使用的情况概述:实施例1:如图3所示,将本发明的四自由度混联机器人作为一个模块,置于传统的龙门结构之上。 The following are four degrees of freedom according to the present invention with a hybrid robot mechanism or translational degrees of freedom in conjunction with the rotation of freedom mechanism Overview: Example 1: As shown, the four degrees of freedom according to the present invention as a hybrid robot 3 modules, placed over a conventional gantry. 该龙门结构可有多种形式,如:使工作台沿垂直方向移动、使龙门沿垂直方向移动,并可在龙门上设置安装机器人的横梁,设计为高度可调形式等。 The gantry structure may take many forms, such as: to move the table in the vertical direction, so that the gantry moves in the vertical direction, and the cross member is provided in the gantry mounted robot, designed to be height adjustable form or the like.

实施例2:如图4所示,借用传统摇臂钻床原理,将本发明的四自由度混联机器人固定于立柱上,使其可绕立柱轴线旋转。 Example 2: 4, the conventional radial drilling borrow principle, the four degrees of freedom according to the present invention hybrid robot fixed to the upright, so that it is rotatable around the column axis.

实施例3:如图5所示,借用传统卧式铣床原理,将本发明的四自由度混联机器人固定于滑枕上,使其可随滑枕沿轴向移动。 Example 3: 5, to borrow a conventional horizontal milling principle, the four degrees of freedom according to the present invention hybrid robot fixed to the ram, so that it can move axially with the ram.

本发明的模块化四自由度混联机器人,在与各种平动自由度机构或转动自由度机构串接时,能有效地产生优势进给方向或扩大作业范围,并克服一般并联或串联机器人工作空间小以及姿态受限的缺点。 Four degrees of freedom according to the invention a modular hybrid robot, when various translational degrees of freedom or rotational freedom mechanism means connected in series, effective to produce the advantages of the feed direction or expand the operation range, and generally parallel or in series to overcome robot a small work space and pose limited shortcomings.

以上对本发明的描述仅仅是示意性的,而不是限制性的,所以,本发明的实施方式并不局限于上述的具体实施方式。 The above description of the present invention is merely illustrative, and not restrictive, the embodiments of the present invention is not limited to the specific embodiments. 如果本领域的普通技术人员受其启示,在不脱离本发明宗旨和权利要求所保护范围的情况下,作出其他变化或变型,均属于本发明的保护范围。 If those of ordinary skill in the art by its inspiration, in the present invention without departing from the spirit and scope of the appended claims, make other changes or modifications are within the protection scope of the present invention.

Claims (9)

  1. 1.一种四自由度混联机器人,其特征在于,它由两平动自由度并联机构、与之串联的两转动自由度转头结构、以及安装在所述转头结构上的末端执行器构成;所述的两平动自由度并联机构,包括带有法兰机构的机架、通过其外壁上的共轴销与所述的机架连接的套筒、通过套筒安装在所述机架上的导向杆、设置在导向杆下部的动平台、以及上端通过平面铰链与机架连接,下端通过球铰链与转头结构连接的两条可控伸缩杆;所述的转头结构通过所述的动平台与两平动自由度并联结构串接;所述的导向杆与动平台固连,且位于两条可控伸缩杆之间,其轴线与两条可控伸缩杆的轴线共面。 A hybrid robot four degrees of freedom, characterized in that it consists of two degrees of freedom parallel mechanism flat, two rotational degrees of freedom of the rotor structure in series therewith, and an end effector mounted on the rotor structure configuration; the two translational degrees of freedom parallel mechanism, comprising a frame having a flange means by a coaxial outer wall of the pin and the sleeve of the frame is connected, via a sleeve mounted on the machine rack guide bar, the guide bar is provided at a lower portion of the moving platform, and an upper end connected by a hinge to the frame plane, a lower end connected by a ball joint structure with two rotor controllably extendable rod; by the structure of the rotor the movable platform and said two flat-DOF parallel concatenated movable structure; said guide rod is fixedly connected to the movable platform, controllable and located between two telescoping rod which two controlled axis coplanar with the axis of the telescopic rod .
  2. 2.根据权利要求1所述的四自由度混联机器人,其特征在于:所述的可控伸缩杆由内杆和外杆构成。 The four DOF hybrid robot according to claim 1, wherein: said controllable telescoping rod includes an inner rod and outer rod.
  3. 3.根据权利要求1所述的四自由度混联机器人,其特征在于:所述套筒的内径略大于所述导向杆的外径,且其内壁设置有键。 Four degrees of freedom according to claim 1 of the hybrid robot, wherein: an inner diameter slightly larger than the outer diameter of the sleeve of the guide rod and the inner wall is provided with a key.
  4. 4.根据权利要求1所述的四自由度混联机器人,其特征在于:所述导向杆的上半部轴向设置有键槽,与内壁设置有键的所述套筒构成滑移副。 The four DOF hybrid robot according to claim 1, wherein: said guide bar is provided with a key groove axially upper half, with the inner wall of the sleeve is provided with a sliding sub-key configuration.
  5. 5.根据权利要求1所述的四自由度混联机器人,其特征在于:所述转头结构的驱动电机,其一设置在导向杆底端的内部,其二设置在转头结构上。 The four DOF hybrid robot according to claim 1, wherein: said drive motor rotor structure, disposed inside the bottom end of one guide rod, the other is provided on the rotor structure.
  6. 6.根据权利要求1所述的四自由度混联机器人,其特征在于:所述转头结构的驱动电机,其一设置在导向杆顶端,其二设置在转头结构上。 The four DOF hybrid robot according to claim 1, wherein: said drive motor rotor structure, disposed one on top of the rod guide, and the second rotor disposed on the structure.
  7. 7.根据权利要求1所述的四自由度混联机器人,其特征在于:所述的可控伸缩杆顶端设置有伺服电机。 The four DOF hybrid robot according to claim 1, wherein: said controllable tip telescopic rod is provided with a servo motor.
  8. 8.根据权利要求1所述的四自由度混联机器人,其特征在于:所述的导向杆和套筒上设置有光栅线位移传感器。 The four DOF hybrid robot according to claim 1, wherein: the linear scale provided with a grating on the guide rod and the sleeve.
  9. 9.根据权利要求1所述的四自由度混联机器人,其特征在于:连接所述套筒和所述机架的共轴销上设置有角编码器。 9. The hybrid robot four degrees of freedom according to claim 1, wherein: the angle encoder is provided with a coaxial connection pin of the sleeve and the frame.
CN 03105161 2003-03-06 2003-03-06 Four diamension mixed linking robot CN1212221C (en)

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CN105127988A (en) * 2014-05-07 2015-12-09 马鞍山方宏自动化科技有限公司 Industrial robot of three-axis hybrid mechanism
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