CN1439492A - Four dimension mixed linking robot - Google Patents
Four dimension mixed linking robot Download PDFInfo
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- 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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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 connected to 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
Technical field
The present invention relates to a kind of industrial robot, particularly relate to a kind of four-freedom hybrid robot.
Background technology
Existing lower-mobility series-parallel robot with regard to its part in parallel, exists usually that working space/mechanism's volume ratio is little, rigidity is low, does not have the shortcoming of advantage direction of feed; With regard to its series connection part, exist end effector again usually only around the deficiency of self axis rotation, to making its motion that must rely on part in parallel realize the position and the attitude of restriceted envelope.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, the modularization four-freedom hybrid robot that a kind of working space/mechanism's volume ratio is big, rigidity is high and have the advantage direction of feed is provided.
Four-freedom hybrid of the present invention robot is by the double rotation freedom degrees rotary head structure of two translational freedom degree parallel connection mechanisms, series connection with it and be installed in the structural end effector of described rotary head and constitute; Described two translational freedom degree parallel connection mechanisms, the sleeve that comprises the frame that has flange mechanism, is connected with described frame by the coaxial pin on its outer wall, be installed in the guide post on the described frame, the moving platform that is arranged on the guide post bottom and upper end by sleeve and be connected two controlled expansion links that the lower end is connected with the rotary head structure by spherical hinge by plane hinge with frame; Described rotary head structure is connected in series with two translational degree of freedom parallel-connection structures by described moving platform; Described guide post and moving platform are connected, and between two controlled expansion links, the axis coplane of its axis and two controlled expansion links.
Described controlled expansion link is made of interior bar and outer bar; The internal diameter of described sleeve is slightly larger than the external diameter of described guide post, and its inwall is provided with key; The first half of described guide post axially is provided with keyway, and the described sleeve that is provided with key with inwall constitutes the slippage pair; The drive motors of described rotary head structure, one are arranged on the inside of guide post bottom, perhaps are arranged on the guide post top, and it two is arranged on the rotary head structure; Described controlled expansion link top is provided with servomotor; Described guide post and sleeve are provided with optical grid line displacement sensor; The coaxial pin that connects described sleeve and described frame is provided with angular encoder.
The invention has the beneficial effects as follows: the modular construction design, have the advantage direction of feed, can be connected in series with various translational degree of freedom mechanisms or rotational freedom mechanism, and produce the advantage direction of feed effectively or enlarge job area.
Description of drawings
Fig. 1 is a four-freedom hybrid robot construction schematic diagram of the present invention;
Fig. 2 is the A-A cross section zoomed-in view of Fig. 1;
Fig. 3 is the structural representation of embodiment 1;
Fig. 4 is the structural representation of embodiment 2;
Fig. 5 is the structural representation of embodiment 3.
Reference numeral: bar 7 outer bar 8 sleeves 9 servomotors 10 coaxial pin 11 plane hinges 12 axis 13 spherical hinges 14 axis 15 keys 16 in the frame 1 controlled expansion link 2 guide posts 3 moving platforms 4 end effectors 5 rotary head structures 6
The specific embodiment
Below in conjunction with drawings and Examples the technology of the present invention is done to describe in detail.
As shown in Figure 1, four-freedom hybrid of the present invention robot, by the frame 1 that has flange mechanism, two two translational freedom degree parallel connection mechanisms that controlled expansion link 2, guide post 3, sleeve 9, moving platform 4 constitute, the two-freedom rotary head structure 6 of connecting, and end effector 5 is installed on rotary head structure 6 is constituted.Described rotary head structure 6 is connected in series with two translational freedom degree parallel connection mechanisms by moving platform 4; Described sleeve 9 is connected with described frame 1 by the coaxial pin 11 on its outer wall; Described guide post 3 is installed on the described frame 1 by sleeve 9, and its underpart fixedlys connected with described moving platform 4, and between two controlled expansion links 2, the axis coplane of its axis 13 and two controlled expansion links 2.
The internal diameter of described sleeve 9 is slightly larger than the external diameter of described guide post 3, and its inwall is provided with key 16; The first half of described guide post 3 axially is provided with keyway, and the described sleeve 9 that can make itself and inwall be provided with key 16 constitutes the slippage pair; Described controlled expansion link 2 is made of interior bar 7 and outer bar 8, and connect frame 1 respectively and moving platform 4 (is selected spherical hinge for use but not the reason of plane hinge between controlled expansion link 2 and moving platform 4 by plane hinge 12 and spherical hinge 14, be to consider the issuable accumulation of error in processing of the parts of robot or assembling process), when the servomotor 10 that is arranged on controlled expansion link 2 tops drove its inner transmission mechanism, bar 7 produced axial slip with respect to outer bar 8 in can making; And the articulated manner of itself and frame 1 and moving platform 4 can make it realize rotating with respect to frame 1 and moving platform 4 again; Described guide post 3 in the robot configuration the installation site and mounting means (between two controlled expansion links 2, and the axis coplane of its axis 13 and two controlled expansion links 2, and constitute moving sets) with the sleeve that is connected with frame 1 by coaxial pin 11 9, make it both can move vertically, can rotate relative to frame 1 with sleeve 9 again with respect to sleeve 9; Moving platform 4 is connected with guide post 3, and relative motion does not take place for both; Rotary head structure 6 is connected in series with moving platform 4, and by two motor-driven around two vertical axis 13 or 15 the rotation, wherein a motor can place guide post 3 tops, transmission mechanism by guide post 3 inside drives rotary head structure 6 around 360 ° of rotations of axis 13 dos, also can place inside, guide post 3 bottom, directly drive rotary head structure 6 and do 360 ° of rotations around axis 13, another motor places the inside of rotary head structure 6, drives end effector 5 around axis 15 rotations; Described rotary head structure 6 is divided into upper and lower two parts, so that the end effector 5 on it does not interfere with it when rotating under described motor-driven.The mode that is connected of guide post 3 and moving platform 4 can make the locus of moving platform 4 be described with polar form by the axial displacement of guide post 3 relative sleeves 9 and the corner of guide post 3 relative frames 1 with the attitude variation.For this reason, can optical grid line displacement sensor is installed on guide post 3 and the sleeve 9 and on coaxial pin 11 the established angle encoder, and realize full cut-off ring FEEDBACK CONTROL to robot by optical grid line displacement sensor and angular encoder.
Below be the situation general introduction that four-freedom hybrid robot of the present invention and translational degree of freedom mechanism or rotational freedom mechanism are used:
Embodiment 1: as shown in Figure 3, four-freedom hybrid of the present invention robot as a module, is placed on traditional gantry structure.This gantry structure can have various ways, as: make workbench move in the vertical direction, make gantry to move in the vertical direction, and the crossbeam of mounting robot can be set on gantry, be designed to adjustable height form etc.
Embodiment 2: as shown in Figure 4, use conventional rocker drilling machine principle, four-freedom hybrid of the present invention robot is fixed on the column, it can be rotated around the column axis.
Embodiment 3: as shown in Figure 5, use traditional horizontal milling machine principle, four-freedom hybrid of the present invention robot is fixed on the ram, it can be moved vertically with ram.
Modularization four-freedom hybrid of the present invention robot, when being connected in series with various translational degree of freedom mechanisms or rotational freedom mechanism, can produce the advantage direction of feed effectively or enlarge job area, and overcome general parallel connection or the serial machine people shortcoming that the space is little and attitude is limited of working.
The above description of this invention only is schematically, rather than restrictive, so embodiments of the present invention are not limited to the above-mentioned specific embodiment.If those of ordinary skill in the art is enlightened by it, under the situation that does not break away from aim of the present invention and claim institute protection domain, make other variations or modification, all belong to protection scope of the present invention.
Claims (9)
1. a four-freedom hybrid robot is characterized in that, it is by the double rotation freedom degrees rotary head structure of two translational freedom degree parallel connection mechanisms, series connection with it and be installed in the structural end effector of described rotary head and constitute; Described two translational freedom degree parallel connection mechanisms, the sleeve that comprises the frame that has flange mechanism, is connected with described frame by the coaxial pin on its outer wall, be installed in the guide post on the described frame, the moving platform that is arranged on the guide post bottom and upper end by sleeve and be connected two controlled expansion links that the lower end is connected with the rotary head structure by spherical hinge by plane hinge with frame; Described rotary head structure is connected in series with two translational degree of freedom parallel-connection structures by described moving platform; Described guide post and moving platform are connected, and between two controlled expansion links, the axis coplane of its axis and two controlled expansion links.
2. four-freedom hybrid according to claim 1 robot is characterized in that: described controlled expansion link is made of interior bar and outer bar.
3. four-freedom hybrid according to claim 1 robot, it is characterized in that: the internal diameter of described sleeve is slightly larger than the external diameter of described guide post, and its inwall is provided with key.
4. four-freedom hybrid according to claim 1 robot, it is characterized in that: the first half of described guide post axially is provided with keyway, and the described sleeve that is provided with key with inwall constitutes the slippage pair.
5. four-freedom hybrid according to claim 1 robot, it is characterized in that: the drive motors of described rotary head structure, one are arranged on the inside of guide post bottom, and it two is arranged on the rotary head structure.
6. four-freedom hybrid according to claim 1 robot, it is characterized in that: the drive motors of described rotary head structure, one are arranged on the guide post top, and it two is arranged on the rotary head structure.
7. four-freedom hybrid according to claim 1 robot, it is characterized in that: described controlled expansion link top is provided with servomotor.
8. four-freedom hybrid according to claim 1 robot, it is characterized in that: described guide post and sleeve are provided with optical grid line displacement sensor.
9. four-freedom hybrid according to claim 1 robot, it is characterized in that: the coaxial pin that connects described sleeve and described frame is provided with angular encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03105161 CN1212221C (en) | 2003-03-06 | 2003-03-06 | Four dimension mixed linking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03105161 CN1212221C (en) | 2003-03-06 | 2003-03-06 | Four dimension mixed linking robot |
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| Publication Number | Publication Date |
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| CN1439492A true CN1439492A (en) | 2003-09-03 |
| CN1212221C CN1212221C (en) | 2005-07-27 |
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| CN 03105161 Expired - Fee Related CN1212221C (en) | 2003-03-06 | 2003-03-06 | Four dimension mixed linking robot |
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Cited By (30)
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| WO2005025816A1 (en) * | 2003-09-16 | 2005-03-24 | Tianjin University | A robot with five-freedom mix couple structure |
| CN100348386C (en) * | 2005-09-15 | 2007-11-14 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| CN100384599C (en) * | 2006-06-09 | 2008-04-30 | 燕山大学 | Four-freedom parallel mechanical arm |
| CN100410028C (en) * | 2006-08-03 | 2008-08-13 | 天津大学 | Robot mechanism able to achieve full circle rotation and four-freedom hybrid grasping/releasing |
| CN101966504A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Combined spraying robot based on planar three-freedom-degree parallel mechanism |
| CN101966503A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Parallel-series spraying robot based on three-freedom-degree and four-freedom-degree parallel mechanisms |
| CN101966505A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Three-degree-of-freedom plane parallel mechanism and spraying robot |
| CN102069496A (en) * | 2010-12-15 | 2011-05-25 | 天津大学 | Linearly-driven four-degree of freedom hybrid mechanical arm |
| CN102085660A (en) * | 2011-02-23 | 2011-06-08 | 常州大学 | Three-degree-of-freedom decoupling hybrid robot |
| CN102172913A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Four-degree-of-freedom decoupling hybrid robot |
| CN102172912A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Two-degree-of-freedom parallel manipulator |
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| CN104526684A (en) * | 2014-12-30 | 2015-04-22 | 天津大学 | High-rigidity hybrid robot capable of achieving gravity self balancing |
| CN104552279A (en) * | 2015-01-20 | 2015-04-29 | 江南大学 | 1T&(2R)&1R four-degrees of freedom decoupling hybrid mechanism |
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| CN104626126A (en) * | 2015-01-21 | 2015-05-20 | 江南大学 | (1T1R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism |
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| CN104647358A (en) * | 2015-01-20 | 2015-05-27 | 江南大学 | 3T and 1R four-degree-of-freedom complete decoupling hybrid mechanism |
| CN104690714A (en) * | 2015-01-20 | 2015-06-10 | 江南大学 | (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
| CN104690715A (en) * | 2015-01-20 | 2015-06-10 | 江南大学 | 1T&(2T)&1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
| CN104690716A (en) * | 2015-01-21 | 2015-06-10 | 江南大学 | (2T1R)& 1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
| 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 |
| CN105563461A (en) * | 2014-11-07 | 2016-05-11 | 江南大学 | (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism |
| CN105751206A (en) * | 2016-05-11 | 2016-07-13 | 江南大学 | Series-parallel-based material sorting robot mechanism |
| CN106426102A (en) * | 2016-11-09 | 2017-02-22 | 南京理工大学 | Five-degree-of-freedom robot mechanism with three traverse movement degrees of freedom and two rotating degrees of freedom |
| CN106426103A (en) * | 2016-11-09 | 2017-02-22 | 南京理工大学 | Four-freedom-degree robot mechanism capable of achieving two translation freedom degrees and two rotation freedom degrees |
| CN106426106A (en) * | 2016-11-09 | 2017-02-22 | 南京理工大学 | Plane symmetric four-degree of freedom robot mechanism |
| CN106625576A (en) * | 2016-11-09 | 2017-05-10 | 南京理工大学 | Five-degree-of-freedom robot mechanism |
| CN110076444A (en) * | 2019-04-30 | 2019-08-02 | 天津大学 | A kind of two-freedom parallel connection head for Friction Stir Welding |
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| WO2005025816A1 (en) * | 2003-09-16 | 2005-03-24 | Tianjin University | A robot with five-freedom mix couple structure |
| CN100348386C (en) * | 2005-09-15 | 2007-11-14 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| CN100384599C (en) * | 2006-06-09 | 2008-04-30 | 燕山大学 | Four-freedom parallel mechanical arm |
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| CN101966504B (en) * | 2010-10-15 | 2012-11-28 | 江苏长虹汽车装备集团有限公司 | Combined spraying robot based on planar three-freedom-degree parallel mechanism |
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