CN203831398U - 6-PTRT type parallel-connected robot with automatic calibrating function - Google Patents

6-PTRT type parallel-connected robot with automatic calibrating function Download PDF

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Publication number
CN203831398U
CN203831398U CN201420211830.4U CN201420211830U CN203831398U CN 203831398 U CN203831398 U CN 203831398U CN 201420211830 U CN201420211830 U CN 201420211830U CN 203831398 U CN203831398 U CN 203831398U
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China
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universal joint
ptrt
robot
stay wire
moving platform
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Withdrawn - After Issue
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CN201420211830.4U
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Chinese (zh)
Inventor
于凌涛
王文杰
王正雨
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Harbin Engineering University
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Harbin Engineering University
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Abstract

The utility model a 6-PTRT parallel-connected robot with an automatic calibrating function. The robot comprises a parallel-connected robot formed by a static platform, a moving platform, six connection rod mechanisms connected between the static platform and the moving platform and a driving device connected with the connection rod mechanisms. The robot further comprises a calibrating device. The calibrating device is formed by a truss structure, six stay wire sensors and six stay wire ropes, wherein the upper part and the lower part of the truss structure are both hexagonal. The parallel-connected robot is fastened on the bottom of the truss structure; the six stay wire sensors are respectively fastened on six angles of the hexagon of the upper part of the truss structure; one end of each stay wire rope is fastened on one stay wire sensor; and the other end of each stay wire rope is fastened on the moving platform. With a feature of six degrees of freedom, full space positioning and pose simulation can be achieved; the platform with the feature of six degrees of freedom, can be calibrated; the 6-PTRT parallel-connected robot with the automatic calibrating function is smartly structured with small size, light weight and low manufacturing cost; and the robot can be programmed via a computer.

Description

A kind of 6-PTRT type parallel robot with self calibrating function
Technical field
The utility model relates to a kind of parallel robot, a kind of specifically have a self calibrating function parallel robot.
Background technology
Parallel robot has that precision is high, rigidity is large, inertia is little, bearing capacity is high, motion inverse resolution model is simple, service speed is high, be easy to the advantages such as control, has become one of important branch of robot research, and has been widely applied in every field.Parallel institution has 2,3,4,5 or 6 frees degree, and wherein simultaneously completing place and attitude location can be used for the simulation of object pose thereby obtain more scholars' favor 6DOF parallel robot.Although but the research of 6DOF parallel institution is Shortcomings relatively comprehensively still, 6DOF parallel institution in the past connects upper and lower two platforms and form with 6 poles, these six poles are free-extension independently, they connect with upper lower platform with ball pivot and Hooke's hinge respectively, upper mounting plate and lower platform just can carry out 6 self-movements like this, and movement and the axis around any direction, position that at three dimensions, can make any direction rotate.But possesses the parallel institution of self calibrating function seldom.And these six poles are electric cylinder mostly, and volume is large, the bad processing of mechanism's relative complex and high cost.The design adopts linear stepping motor to drive.Linkage is fairly simple flexibly, compact conformation, and running precision improves greatly, is easy to computer control.
Summary of the invention
The purpose of this utility model is in order to provide a kind of mechanism ingenious, stable flexibly, cost is relatively cheap is easy to the computer-controlled 6-PTRT type parallel robot mechanism with self calibrating function.
The utility model is achieved in that and comprises by silent flatform, moving platform, the parallel robot that the drive unit that is connected in the cover linkage of six between silent flatform and moving platform and is connected with linkage forms, also comprise caliberating device, described caliberating device comprises that one is all orthohexagonal truss structures up and down, six stay wire sensors and six roots of sensation bracing wire rope, described parallel robot is fixedly mounted on the bottom of truss structure, six stay wire sensors are separately fixed on orthohexagonal six angles, truss structure top, one end of every bracing wire rope is fixed on a stay wire sensor, the other end is fixed on moving platform.
The utility model also comprises some architectural features like this:
1. the drive unit described in comprises motor mounting rack, six linear stepping motors, six limit switches, six linear stepping motors are arranged on respectively on motor mounting rack, motor output shaft upper end is connected with linkage, and motor output shaft lower end is corresponding one by one with the limit switch being arranged on base plate.
2. a kind of 6-PTRT type parallel robot with self calibrating function according to claim 1 and 2, it is characterized in that: described linkage comprises universal joint A, universal joint B, Universal joint connector, joint pin A, joint pin B, one end of joint pin A is connected with one end of universal joint A, the other end of joint pin A is connected with moving platform, the other end of universal joint A is connected with one end of universal joint B by Universal joint connector, one end another with universal joint B, one end of joint pin B is connected, the other end of joint pin B is connected with the slide block being arranged on silent flatform, described motor output shaft upper end is connected and refers to that motor output shaft upper end is connected with slide block with linkage.
3. the Universal joint connector described in comprises macro-axis, little axle and deep groove ball bearing, and one end of macro-axis is connected with universal joint B, and the other end of macro-axis is connected with one end of little axle by deep groove ball bearing, and the other end of little axle is connected with universal joint A.
A kind of 6-PTRT type parallel robot mechanism that the utility model provides has following characteristics: 1, the utility model six-freedom degree to realize mechanism simple, be convenient to processing and control.2, the utility model can detection platform actual motion state from bandgap calibration checkout gear, calculates the margin of error of some parameters by the input quantity of error mathematic model and attained pose and motor, completes the self-calibration to robot, and running precision improves greatly.3, the utility model compact conformation, flexibly, working space is large, can better meet the instructions for use of people to 6DOF parallel institution in motion.4, the utility model can be widely used in the space orientation of object and pose are being simulated.5, six-freedom degree of the present utility model, is driven and is had limit switch by 6 linear stepping motors, and sports safety is high.6, linkage of the present utility model avoids using ball pivot and electric cylinder to reduce the complexity of cost and mechanism.Motor is arranged on fixed platform, has greatly alleviated the quality of motion structure, and handling sensitiveer, reaction speed is fast.
Accompanying drawing explanation
Fig. 1 is integrated machine composition of the present utility model;
Fig. 2 is the structural scheme of mechanism of 6-dof motion platform of the present utility model;
Fig. 3 is the structural scheme of mechanism of drive unit of the present utility model;
Fig. 4 is the structural representation of caliberating device of the present utility model;
Fig. 5 is the structural representation of linkage;
Fig. 6 is the structural representation of Universal joint connector.
The specific embodiment
Provide the specific embodiment of the present utility model below, and be illustrated by reference to the accompanying drawings.
In conjunction with Fig. 1, a kind of 6-PTRT type of the utility model parallel robot mechanism is mainly comprised of 6-dof motion platform 1, drive unit 2, checkout gear 3,6-dof motion platform 1 six-freedom degree can spatially be located object completely, also can simulate the spatial attitude of object; Drive unit 2 is comprised of six linear stepping motors and zero testing, is mainly used in driving the motion of six degree of freedom platform; Caliberating device 3 obtains physical location and the attitude of moving platform by the stay wire sensor detecting on six angles of regular hexagon truss by kinematics.
In conjunction with Fig. 2,6-dof motion platform 1 mainly comprises moving platform 1-1, linkage 1-2, guide rail installation frame 1-3, guide rail 1-4, slide block 1-5, silent flatform 1-6, cushion block 1-7.Above silent flatform 1-6, be screwed 6 cushion block 1-7, each is vertically fixed wtih a guide rails assembling support 1-3 above cushion block 1-7,6 line slideway 1-4 are arranged on above line slideway support 1-3 by screw, slide block 1-5 and guide rail 1-4 support the use and form the moving sets P of moving linearly radially perpendicular to fixed platform 1-6, the lower end of each linkage 1-2 is arranged on above slide block 1-5 by screw, upper end is all connected with moving platform 1-1, two universal joints of each linkage tool and a revolute pair, thus 6-PTRT type parallel robot formed.
In conjunction with Fig. 2 and Fig. 3, drive unit 2 mainly comprises motor output shaft upper end 2-1, motor mounting rack 2-2, linear stepping motor 2-3, motor output shaft lower end 2-4, column A2-5, levelling bolt 2-6, limit switch 2-7, limit switch mounting bracket 2-8, base plate 2-9, column B2-10.Four angles at base plate 2-9 are reserved with screwed hole, by four column B2-10, base plate 2-9 and motor mounting rack 2-2 are coupled together, and by four column A2-5, motor mounting rack 2-2 and silent flatform 1-6 are coupled together.6 linear stepping motor 2-3 are fixed by screws in above motor mounting rack 2-2; motor output shaft upper end 2-1 is connected to above linkage 1-2; above base plate 2-9, be mounted with 6 limit switch 2-7 and motor output shaft lower end 2-4 corresponding; when touching lower bit switch 2-7, motor output shaft 2-4 lower end can produce the zero-bit that signal can be determined equipment; and equipment is played a protective role; four levelling bolt 2-6 are installed, levelness that can conditioning equipment by levelling bolt 2-6 in the bottom of base plate 2-9.
In conjunction with Fig. 2 and Fig. 4, caliberating device 3 mainly comprises stay wire sensor mounting bracket 3-1, column 3-2, stay wire sensor 3-3, bracing wire rope 3-4, aluminum pipe 3-5, L-type contiguous block 3-6, crossbeam 3-7.Column 3-2, aluminum pipe 3-5 and crossbeam 3-7 are that square opening aluminum pipe section bar processes that to be combined into one be all orthohexagonal truss structure up and down, and crossbeam 3-7 is connected by L-type contiguous block with aluminum pipe 3-5, and remainder is by being welded together.Six column 3-2 tops are provided with stay wire sensor 3-3 by stay wire sensor mounting bracket 3-1 separately.Six roots of sensation bracing wire 3-4 one end is fixed on above stay wire sensor, and one end is fixed on above moving platform 1-1.When moving platform 1-1 moves, the length of bracing wire 3-4 can change.The variable quantity of bracing wire 3-4 by stay wire sensor, can be detected, by kinematics, just can calculate physical location and the state of platform.The margin of error that calculates some parameters by the input quantity of error mathematic model and attained pose and motor, completes the self-calibration to robot.
In conjunction with Fig. 2, Fig. 3 and Fig. 5, linkage 1-2 mainly comprises joint pin A1-2-1, holding screw 1-2-2, universal joint A joint 1-2-3, universal joint A joint 1-2-4, Universal joint connector 1-2-5, universal joint B joint 1-2-6, joint pin B1-2-7, universal joint B joint 1-2-8.Slide block 1-5 is arranged on above joint pin B1-2-7 by four screws, joint pin B1-2-7 is connected with universal joint B joint b by holding screw again, Universal joint connector 1-2-5 one end is connected with universal joint B joint a1-2-6, the other end is connected with universal joint A joint b1-2-4, universal joint A joint a is connected with joint pin A1-2-1 by holding screw 1-2-2, has formed like this linkage 1-2 of six degree of freedom platform.Joint pin A1-2-1 is connected to again above moving platform 1-1, and joint pin B1-2-7 is connected with motor output shaft upper end 2-1, just can drive the motion of moving platform 1-1 like this when linear stepping motor 2-3 moves.
In conjunction with Fig. 5 and Fig. 6, Universal joint connector 1-2-5 mainly comprises little axle 1-2-5-1, bearing (ball) cover 1-2-5-2, deep groove ball bearing 1-2-5-3, macro-axis 1-2-5-4.Little axle 1-2-5-1 one end is connected with universal joint A joint b1-2-4 by holding screw, be equipped with in the groove of deep groove ball bearing 1-2-5-3 reeve macro-axis 1-2-5-4 one end in addition, groove mouth is installed bearing (ball) cover 1-2-5-2 and is fixed bearing, so little axle 1-2-5-1 just can rotate around the axis of macro-axis and form a revolute pair, macro-axis 1-2-5-4 is connected with universal joint B joint a by holding screw equally, such two universal joints have just linked together and have added that guide rail slide block has formed connecting rod one by one, 6 such upper and lower struts are connected and have just formed a 6-PTRT type parallel robot with parallel way.
In conjunction with Fig. 1-Fig. 6, a kind of function with the 6-PTRT type parallel robot of calibrating function of the utility model is carried out to general description, the utility model is mainly comprised of 6-dof motion platform 1, drive unit 2 and caliberating device 3.6-dof motion platform 1 can be widely used in is simulating the space orientation of object and pose, moving platform 1-1 is connected with parallel way by six identical branches (connecting rod 1-2) of version with silent flatform 1-6, connecting rod 1-2 is comprised of two universal joints and a Universal joint connector 1-2-5, this jockey can make to form between two universal joints a revolute pair, add the moving sets that two guide rail 1-4 and slide block 1-5 form, the link component that has just formed PTRT type, in the time of such six link motions, just can drive moving platform 1-1 to move, the mode that drive unit 2 adopts 6 linear stepping motor 2-3 to drive drives six connecting rod 1-2 motions, motor output shaft upper end 2-1Yu guide rail slide block mechanism is connected, motor just can move by drive link 1-2 like this, the arranged beneath of motor output shaft lower end 2-4 six limit switch 2-7, limit switch contributes to the initialization of mechanism, improve kinematic accuracy and the security of mechanism, the levelling bolt of base plate 2-9 bottom can make whole equipment in level, linear stepping motor 2-3 is arranged on the quality that can alleviate moving link on silent flatform, make handling sensitiveer, good rigidity.Checkout gear 3 can detect the length variations of several bracing wires, and then obtains the attained pose of six degree of freedom platform, by error model function, obtains the error amount of some parameters, completes the self-calibration to robot.

Claims (4)

1. a 6-PTRT type parallel robot with self calibrating function, comprise by silent flatform, moving platform, the parallel robot that the drive unit that is connected in the cover linkage of six between silent flatform and moving platform and is connected with linkage forms, it is characterized in that: also comprise caliberating device, described caliberating device comprises that one is all orthohexagonal truss structures up and down, six stay wire sensors and six roots of sensation bracing wire rope, described parallel robot is fixedly mounted on the bottom of truss structure, six stay wire sensors are separately fixed on orthohexagonal six angles, truss structure top, one end of every bracing wire rope is fixed on a stay wire sensor, the other end is fixed on moving platform.
2. a kind of 6-PTRT type parallel robot with self calibrating function according to claim 1, it is characterized in that: described drive unit comprises motor mounting rack, six linear stepping motors, six limit switches, six linear stepping motors are arranged on respectively on motor mounting rack, motor output shaft upper end is connected with linkage, and motor output shaft lower end is corresponding one by one with the limit switch being arranged on base plate.
3. a kind of 6-PTRT type parallel robot with self calibrating function according to claim 2, it is characterized in that: described linkage comprises universal joint A, universal joint B, Universal joint connector, joint pin A, joint pin B, one end of joint pin A is connected with one end of universal joint A, the other end of joint pin A is connected with moving platform, the other end of universal joint A is connected with one end of universal joint B by Universal joint connector, one end another with universal joint B, one end of joint pin B is connected, the other end of joint pin B is connected with the slide block being arranged on silent flatform, described motor output shaft upper end is connected and refers to that motor output shaft upper end is connected with slide block with linkage.
4. a kind of 6-PTRT type parallel robot with self calibrating function according to claim 3, it is characterized in that: described Universal joint connector comprises macro-axis, little axle and deep groove ball bearing, one end of macro-axis is connected with universal joint B, the other end of macro-axis is connected with one end of little axle by deep groove ball bearing, and the other end of little axle is connected with universal joint A.
CN201420211830.4U 2014-04-28 2014-04-28 6-PTRT type parallel-connected robot with automatic calibrating function Withdrawn - After Issue CN203831398U (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103934823A (en) * 2014-04-28 2014-07-23 哈尔滨工程大学 Six-PTRT type parallel robot with self-calibration function
CN104390113A (en) * 2014-11-16 2015-03-04 长春工业大学 Spatial sliding cable double-parallel cradle head with rough and fine position and attitude regulation function
CN107627299A (en) * 2017-09-12 2018-01-26 中国科学技术大学 A kind of kinematic parameter errors scaling method of rope driving parallel robot
CN108161660A (en) * 2018-01-24 2018-06-15 重庆华数机器人有限公司 A kind of generation method of polish work station and its machining locus
CN109176494A (en) * 2018-09-28 2019-01-11 哈尔滨工业大学(深圳) Rope drives Arm Flexible machine people self-calibrating method and system, storage medium
CN111660281A (en) * 2020-06-04 2020-09-15 中国科学院长春光学精密机械与物理研究所 Parallel robot assembling method and auxiliary tool thereof
CN112032521A (en) * 2020-08-26 2020-12-04 中国科学院西安光学精密机械研究所 Truss supporting structure
CN112172953A (en) * 2020-09-14 2021-01-05 华中科技大学 Wall-climbing robot adsorption cavity position and posture adjusting mechanism and control method
CN112247961A (en) * 2020-10-15 2021-01-22 中国科学院自动化研究所 Rope traction parallel mechanism experimental device
CN113374226A (en) * 2020-02-25 2021-09-10 广东博智林机器人有限公司 Leveling device and leveling robot

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103934823A (en) * 2014-04-28 2014-07-23 哈尔滨工程大学 Six-PTRT type parallel robot with self-calibration function
CN103934823B (en) * 2014-04-28 2015-09-30 哈尔滨工程大学 A kind of 6-PTRT type parallel robot with self calibrating function
CN104390113A (en) * 2014-11-16 2015-03-04 长春工业大学 Spatial sliding cable double-parallel cradle head with rough and fine position and attitude regulation function
CN107627299A (en) * 2017-09-12 2018-01-26 中国科学技术大学 A kind of kinematic parameter errors scaling method of rope driving parallel robot
CN107627299B (en) * 2017-09-12 2019-10-25 中国科学技术大学 A kind of kinematic parameter errors scaling method of rope driving parallel robot
CN108161660A (en) * 2018-01-24 2018-06-15 重庆华数机器人有限公司 A kind of generation method of polish work station and its machining locus
CN108161660B (en) * 2018-01-24 2020-05-01 重庆华数机器人有限公司 Grinding workstation and method for generating machining track of grinding workstation
CN109176494A (en) * 2018-09-28 2019-01-11 哈尔滨工业大学(深圳) Rope drives Arm Flexible machine people self-calibrating method and system, storage medium
CN109176494B (en) * 2018-09-28 2022-03-29 哈尔滨工业大学(深圳) Self-calibration method and system for rope-driven multi-joint flexible robot and storage medium
CN113374226A (en) * 2020-02-25 2021-09-10 广东博智林机器人有限公司 Leveling device and leveling robot
CN111660281B (en) * 2020-06-04 2022-03-22 中国科学院长春光学精密机械与物理研究所 Parallel robot assembling method and auxiliary tool thereof
CN111660281A (en) * 2020-06-04 2020-09-15 中国科学院长春光学精密机械与物理研究所 Parallel robot assembling method and auxiliary tool thereof
CN112032521A (en) * 2020-08-26 2020-12-04 中国科学院西安光学精密机械研究所 Truss supporting structure
CN112172953A (en) * 2020-09-14 2021-01-05 华中科技大学 Wall-climbing robot adsorption cavity position and posture adjusting mechanism and control method
CN112172953B (en) * 2020-09-14 2022-03-18 华中科技大学 Wall-climbing robot adsorption cavity position and posture adjusting mechanism and control method
CN112247961A (en) * 2020-10-15 2021-01-22 中国科学院自动化研究所 Rope traction parallel mechanism experimental device

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