CN1814416A - Six-degree-of-freedom steel band parallel robot mechanisw - Google Patents
Six-degree-of-freedom steel band parallel robot mechanisw Download PDFInfo
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Abstract
Description
(一)技术领域(1) Technical field
本发明涉及一种六自由度钢带并联机器人机构。The invention relates to a six-degree-of-freedom steel belt parallel robot mechanism.
(二)背景技术(2) Background technology
国内外现有的并联机器人按运动链的结构形式分为杆支撑并联机构和绳牵引并联机构两大类。According to the structure of the kinematic chain, the existing parallel robots at home and abroad are divided into two categories: the rod-supported parallel mechanism and the rope-pulled parallel mechanism.
杆支撑并联机构凭借其结构刚性好、承载能力强、累积误差小、运动反解模型简单、部件简单等优势，逐渐在国内外机床行业占领市场，并将成为21世纪高速轻型数控加工的主力装备。但其存在工作空间较小、奇异点上无法达到驱动的目的和正向运动学的计算非常复杂等问题，为工程应用带来了很多困难，控制起来非常复杂。With the advantages of good structural rigidity, strong bearing capacity, small cumulative error, simple motion inversion model, and simple components, the rod-supported parallel mechanism gradually occupies the market in the machine tool industry at home and abroad, and will become the main equipment for high-speed light CNC machining in the 21st century . However, there are problems such as a small working space, the inability to achieve the purpose of driving at the singular point, and the calculation of forward kinematics is very complicated, which brings many difficulties to engineering applications and is very complicated to control.
绳牵引并联机构具有结构简单、惯性小、平动工作空间大和运动速度快等特点。但由于绳只能承受拉力，不能承受压力，其机构必须采用冗余约束控制方案，其运动学正解分析和奇异性分析的难度比较大，其机构的控制系统是具有过约束牵引的高度耦合的非线性系统，必须对动力学模型进行线性化和解耦处理。绳牵引并联机构在工程应用中还必须解决绳的弹性变形、绳长的精确控制、绳必须保持直线等关键问题，控制起来也是非常复杂。The rope traction parallel mechanism has the characteristics of simple structure, small inertia, large translational working space and fast movement speed. However, since the rope can only bear tension and cannot bear pressure, its mechanism must adopt a redundant constraint control scheme. Its kinematics positive solution analysis and singularity analysis are relatively difficult, and its mechanism control system is highly coupled with over-constrained traction. For nonlinear systems, the dynamic model must be linearized and decoupled. In the engineering application of the rope traction parallel mechanism, key problems such as the elastic deformation of the rope, the precise control of the length of the rope, and the straightness of the rope must be solved, and the control is also very complicated.
并联机器人的以上特点限制了该机构在其他工业领域中更进一步的应用，如造船业中的起重机、需精确定位及主动调整位姿的集装箱吊装、复杂地形人员的主动搜救和太空望远镜等。这些应用领域均需要机构有较大的工作空间和较简单的结构形式与控制方式。The above characteristics of parallel robots limit the further application of this mechanism in other industrial fields, such as cranes in the shipbuilding industry, container hoisting that requires precise positioning and active posture adjustment, active search and rescue of personnel in complex terrain, and space telescopes. These application areas all require the organization to have a larger working space and a simpler structure and control method.
(三)发明内容(3) Contents of the invention
为了克服现有技术中并联机器人机构控制方式复杂的不足，本发明提供一种控制简单、工作空间大的六自由度钢带并联机器人机构。In order to overcome the shortcomings of the complicated control mode of the parallel robot mechanism in the prior art, the present invention provides a six-degree-of-freedom steel belt parallel robot mechanism with simple control and large working space.
本发明解决其技术问题的技术方案是：The technical scheme that the present invention solves its technical problem is:
一种六自由度钢带并联机器人机构，包括底座和动平台，所述的底座上铰接有三组伺服电机总成，三组伺服电机总成分别位于三条直线上，这三条直线相交构成一个三角形；每组伺服电机总成由两个伺服电机总成组成，每个伺服电机总成包括伺服电机和安装在伺服电机的机座上的卷轴，所述的卷轴与所述伺服电机的输出轴平行，该卷轴通过传动机构与所述伺服电机的输出轴连接，用于连接所述底座和伺服电机总成的铰轴与伺服电机的输出轴垂直；A six-degree-of-freedom steel-belt parallel robot mechanism, including a base and a moving platform. The base is hinged with three sets of servo motor assemblies, and the three sets of servo motor assemblies are respectively located on three straight lines. These three straight lines intersect to form a triangle; Each set of servo motor assemblies is composed of two servo motor assemblies, each servo motor assembly includes a servo motor and a reel installed on the base of the servo motor, the reel is parallel to the output shaft of the servo motor, The reel is connected to the output shaft of the servo motor through a transmission mechanism, and the hinge shaft used to connect the base and the servo motor assembly is perpendicular to the output shaft of the servo motor;
所述的动平台上还铰接有三个复合球铰，每个复合球铰与一组伺服电机总成相对应，每个复合球铰通过两条钢带与对应的一组伺服电机总成连接，所述钢带的首端与所述卷轴固接，所述钢带的末端与所述的复合球铰铰接；There are also three compound ball joints hinged on the moving platform, each compound ball joint corresponds to a group of servo motor assemblies, each compound ball joint is connected to a corresponding group of servo motor assemblies through two steel belts, The head end of the steel strip is fixedly connected to the reel, and the end of the steel strip is hinged to the composite spherical hinge;
所述的复合球铰包括第一铰座和位于所述第一铰座下方的第二铰座，所述的第一铰座上有第一铰轴，所述的第二铰座上有第二铰轴和第三铰轴，所述的第一铰轴、第二铰轴、第三铰轴两两垂直，所述钢带的末端横向铰接在所述的第一铰轴上，所述的第一铰座横向铰接在所述的第二铰轴上，所述的动平台纵向铰接在所述的第三铰轴上。The compound ball joint includes a first hinge base and a second hinge base located below the first hinge base, the first hinge base has a first hinge shaft, and the second hinge base has a second hinge base. Two hinge shafts and the third hinge shaft, the first hinge shaft, the second hinge shaft, and the third hinge shaft are perpendicular to each other, and the end of the steel strip is transversely hinged on the first hinge shaft, and the The first hinge base is horizontally hinged on the second hinge shaft, and the moving platform is vertically hinged on the third hinge shaft.
进一步，三组伺服电机所在的三条直线相交所组成的三角形为等边三角形。Further, the triangle formed by the intersection of the three straight lines where the three sets of servo motors are located is an equilateral triangle.
进一步，所述钢带的末端有铰块，所述的铰块铰接在所述的第一铰轴上。Further, there is a hinge block at the end of the steel strip, and the hinge block is hinged on the first hinge shaft.
进一步，所述钢带的末端呈圆弧状。Further, the end of the steel strip is arc-shaped.
进一步，所述的卷轴和所述伺服电机的输出轴通过传动带连接。Further, the reel is connected with the output shaft of the servo motor through a transmission belt.
本发明的工作原理是通过伺服电机的转动来控制钢带长度的变化，从而实现动平台的六自由度运动。整个机构在工作时，伺服电机总成绕其铰轴转动；钢带的一端绕卷轴卷动，另一端绕第一铰轴转动；第一铰座绕第二铰轴转动；动平台绕第三铰轴转动。The working principle of the invention is to control the change of the length of the steel belt through the rotation of the servo motor, thereby realizing the six-degree-of-freedom movement of the moving platform. When the whole mechanism is working, the servo motor assembly rotates around its hinge axis; one end of the steel belt rolls around the reel, and the other end rotates around the first hinge axis; the first hinge base rotates around the second hinge axis; the moving platform rotates around the third hinge axis. The hinge turns.
本发明的有益效果在于：1.本发明提供的六自由度钢带并联机构的工作空间大，工程应用简单，控制方式简单。The beneficial effects of the present invention are as follows: 1. The six-degree-of-freedom steel belt parallel mechanism provided by the present invention has a large working space, simple engineering application, and simple control mode.
2.本发明的各个运动副之间基本无间隙，提高了运动精度。2. There is basically no gap between the kinematic pairs of the present invention, which improves the kinematic precision.
3.本发明的各个运动副在运作时产生摩擦的摩擦较较小，保护易产生热变形，提高了运动精度。3. The friction of each kinematic pair in the present invention is relatively small during operation, and the protection is prone to thermal deformation, which improves the kinematic accuracy.
4.本发明的并联机构结构简单、布局合理。4. The parallel mechanism of the present invention has a simple structure and a reasonable layout.
(四)附图说明(4) Description of drawings
图1是本发明的结构示意图。Fig. 1 is a schematic structural view of the present invention.
图2是复合球铰的结构示意图。Fig. 2 is a structural schematic diagram of a composite spherical joint.
(五)具体实施方式(5) Specific implementation methods
下面结合附图和具体实施方式对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
参照图1、2，一种六自由度钢带并联机器人机构，包括底座1和动平台2，所述的底座1上铰接有三组伺服电机总成，三组伺服电机总成分别位于三条直线上，这三条直线相交构成一个等边三角形。每组伺服电机总成由两个伺服电机总成组成，每个伺服电机总成包括伺服电机3和安装在伺服电机的机座上的卷轴4，所述的卷轴4与所述伺服电机的输出轴平行，该卷轴4通过传动带5与所述伺服电机3的输出轴连接，用于连接所述底座1和伺服电机总成的铰轴与伺服电机3的输出轴垂直。Referring to Figures 1 and 2, a six-degree-of-freedom steel belt parallel robot mechanism includes a base 1 and a moving platform 2. There are three sets of servo motor assemblies hinged on the base 1, and the three sets of servo motor assemblies are respectively located on three straight lines. , these three lines intersect to form an equilateral triangle. Each set of servo motor assemblies is made up of two servo motor assemblies, and each servo motor assembly includes a servo motor 3 and a reel 4 installed on the base of the servo motor, and the output of the reel 4 and the servo motor Shafts are parallel, the reel 4 is connected to the output shaft of the servo motor 3 through a transmission belt 5, and the hinge shaft for connecting the base 1 and the servo motor assembly is perpendicular to the output shaft of the servo motor 3.
所述的动平台2上还铰接有三个复合球铰，每个复合球铰与一组伺服电机总成相对应，每个复合球铰通过两条钢带6与对应的一组伺服电机总成连接，所述钢带6的首端与所述卷轴4固接，所述钢带6的末端与所述的复合球铰铰接。The moving platform 2 is also hinged with three compound ball joints, each compound ball joint corresponds to a group of servo motor assemblies, and each compound ball joint is connected to a corresponding group of servo motor assemblies through two steel belts 6 Connected, the head end of the steel strip 6 is fixedly connected to the reel 4, and the end of the steel strip 6 is hinged to the composite ball hinge.
所述的复合球铰包括第一铰座7和位于所述第一铰座下方的第二铰座8，所述的第一铰座7上有第一铰轴9，所述的第二铰座8上有第二铰轴10和第三铰轴11，所述的第一铰轴9、第二铰轴10、第三铰轴11两两垂直，所述钢带6的末端呈圆弧状且有铰块12，所述的铰块12铰接在所述的第一铰轴9上，通过铰块将钢带连接到铰轴上对钢带运动的稳定性有益，圆弧状的末端使得钢带6在承受侧向力时具有一定的刚度。所述的第一铰座7横向铰接在所述的第二铰轴10上，所述的动平台2纵向铰接在所述的第三铰轴11上。Described compound spherical joint comprises first hinge seat 7 and the second hinge seat 8 that is positioned at described first hinge seat below, and first hinge axis 9 is arranged on described first hinge seat 7, and described second hinge seat There is a second hinge shaft 10 and a third hinge shaft 11 on the seat 8, the first hinge shaft 9, the second hinge shaft 10, and the third hinge shaft 11 are perpendicular to each other, and the ends of the steel strip 6 are arc-shaped Shaped and has a hinge block 12, the hinge block 12 is hinged on the first hinge shaft 9, the steel belt is connected to the hinge shaft through the hinge block, which is beneficial to the stability of the steel belt movement, and the arc-shaped end This makes the steel belt 6 have a certain rigidity when bearing lateral force. The first hinge base 7 is horizontally hinged on the second hinge shaft 10 , and the moving platform 2 is vertically hinged on the third hinge shaft 11 .
本发明的工作原理是通过伺服电机的转动来控制钢带长度的变化，从而实现动平台的六自由度运动。整个机构在工作时，伺服电机总成绕其铰轴转动；钢带的一端绕卷轴卷动，另一端绕第一铰轴转动；第一铰座绕第二铰轴转动；动平台绕第三铰轴转动。The working principle of the invention is to control the change of the length of the steel belt through the rotation of the servo motor, thereby realizing the six-degree-of-freedom movement of the moving platform. When the whole mechanism is working, the servo motor assembly rotates around its hinge axis; one end of the steel belt rolls around the reel, and the other end rotates around the first hinge axis; the first hinge base rotates around the second hinge axis; the moving platform rotates around the third hinge axis. The hinge turns.
当三组伺服电机总成所在的三条直线相交所组成的三角形为等边三角形时，整个机构的结构最为合理，实际上，只要三组伺服电机总成所在的三条直线相交组成三角形，本发明所述的并联机器人结构就可以实现运转。When the triangle formed by the intersection of the three straight lines where the three sets of servo motor assemblies are located is an equilateral triangle, the structure of the whole mechanism is the most reasonable. The above-mentioned parallel robot structure just can realize operation.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100432457C (en) * | 2007-04-10 | 2008-11-12 | 南京航空航天大学 | Three axis junction equivalent compound sphere joint |
| CN101852243A (en) * | 2010-04-28 | 2010-10-06 | 清华大学 | A CAC axis composite hinge |
| CN102152301A (en) * | 2011-03-03 | 2011-08-17 | 浙江工业大学 | Six-freedom-degree parallel steel belt robot mechanism with roller device |
| CN101262086B (en) * | 2008-04-21 | 2012-08-08 | 上海大学 | Parallel antenna structure system |
| CN105755680A (en) * | 2016-04-25 | 2016-07-13 | 天津工业大学 | Robot needling device |
| CN105773576A (en) * | 2016-01-27 | 2016-07-20 | 大族激光科技产业集团股份有限公司 | Parallel robot |
| CN106217351A (en) * | 2016-08-04 | 2016-12-14 | 珠海格力智能装备有限公司 | Fixing base, fixing base assembly and parallel robot |
| CN115489561A (en) * | 2022-09-26 | 2022-12-20 | 株洲时代新材料科技股份有限公司 | A method for installing and positioning a coupler ball hinge and a coupler ball hinge |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2576434Y (en) * | 2002-11-18 | 2003-10-01 | 哈尔滨工业大学博实精密测控有限责任公司 | Six-freedom precision paralleled robot |
| CN1256220C (en) * | 2003-11-10 | 2006-05-17 | 哈尔滨工业大学 | Six degrees of freedom—three-branch scale hybrid parallel robot |
| CN1297373C (en) * | 2004-03-17 | 2007-01-31 | 哈尔滨工业大学 | High precision flexible parallel robot with six degreed of freedom and large travel |
| CN1332785C (en) * | 2004-07-07 | 2007-08-22 | 哈尔滨工业大学 | Steel band decoupling complete translation parallel robot |
| CN2880407Y (en) * | 2006-02-28 | 2007-03-21 | 浙江工业大学 | A six-degree-of-freedom steel-belt parallel robot mechanism |
-
2006
- 2006-02-28 CN CNB2006100496430A patent/CN100360285C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100432457C (en) * | 2007-04-10 | 2008-11-12 | 南京航空航天大学 | Three axis junction equivalent compound sphere joint |
| CN101262086B (en) * | 2008-04-21 | 2012-08-08 | 上海大学 | Parallel antenna structure system |
| CN101852243A (en) * | 2010-04-28 | 2010-10-06 | 清华大学 | A CAC axis composite hinge |
| CN102152301A (en) * | 2011-03-03 | 2011-08-17 | 浙江工业大学 | Six-freedom-degree parallel steel belt robot mechanism with roller device |
| CN105773576A (en) * | 2016-01-27 | 2016-07-20 | 大族激光科技产业集团股份有限公司 | Parallel robot |
| CN105755680A (en) * | 2016-04-25 | 2016-07-13 | 天津工业大学 | Robot needling device |
| CN106217351A (en) * | 2016-08-04 | 2016-12-14 | 珠海格力智能装备有限公司 | Fixing base, fixing base assembly and parallel robot |
| CN115489561A (en) * | 2022-09-26 | 2022-12-20 | 株洲时代新材料科技股份有限公司 | A method for installing and positioning a coupler ball hinge and a coupler ball hinge |
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