CN206123643U - Five redundant degree of freedom series -parallel connection robots move - Google Patents
Five redundant degree of freedom series -parallel connection robots move Download PDFInfo
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- CN206123643U CN206123643U CN201621108646.2U CN201621108646U CN206123643U CN 206123643 U CN206123643 U CN 206123643U CN 201621108646 U CN201621108646 U CN 201621108646U CN 206123643 U CN206123643 U CN 206123643U
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Abstract
The utility model relates to a five redundant degree of freedom series -parallel connection robots move, but fixed platform, movable platform rotary worktable, stand, connection crossbeam, four side chains, intermediate connecting rods mainly included, move platform and main tapping, and wherein the fixed platform top is equipped with movable platform but the last rotary worktable that is equipped with of movable platform the fixed platform top is equipped with the coexistence post, and coexistence post top is equipped with the connection crossbeam, is equipped with four side chains that length is the same between the coexistence post, article four, side chain one end is passed through the revolute pair and is connected with the slider, and the other end links to each other with the one end of moving platform and intermediate connecting rod respectively through the revolute pair, the slider all is connected with the stand through the removal is vice, the other end of intermediate connecting rod links to each other with the other end that moves the platform through the revolute pair, is equipped with the main tapping on moving the platform. The utility model discloses having the redundant characteristic of motion, having eliminated the inharmonious influence to the mechanism of redundant drive power, effectual reduction mechanism singular point has increased the working space of mechanism.
Description
Technical field
This utility model is related to a kind of robot, particularly a kind of series-parallel robot.
Background technology
In industrial robot application, robot with five degrees of freedom can be applicable to spraying, welding, carrying, assembling, engraving etc.
, especially in industries such as Aeronautics and Astronautics, military affairs, scientific research, precision instruments, high-precision armarium, there is very important impact in field
Power.The development of roboticses become modern industry manufacture mark, wherein based on plane parallel mechanism construct five from
By degree series-parallel robot, the advantage of plane parallel mechanism and serial manipulator, existing plane parallel mechanism bearing capacity are combined
Greatly, structure and the characteristics of simple kinematics model, the characteristics of have serial mechanism work space big and flexible again, it has also become robot
One of with the focus of field of mechanisms research.
A kind of series-parallel robot proposed based on space parallel mechanism of the patent disclosure of Publication No. CN104057442B,
Space-filling model is relative complex, manufacturing cost is high；A kind of new the two of the patent disclosure of Publication No. CN103101050B are certainly
Announce a kind of with new redundant drive side chain is authorized by degree redundant drive parallel mobile platform, patent CN103101049B
3-freedom parallel mechanism, because number of degrees of freedom, is few, the shortcomings of there is singular point so as to complex-curved processing cannot be completed；It is public
The number of opening for the patent disclosure of CN204935636U a kind of series-parallel robot based on plane parallel mechanism with redundant drive, though
So there is the characteristics of space structure is simple, the degree of modularity is high, but the hybrid mechanism part in series needs workbench larger
Pivot angle could meet the motility of robot, but this design of swingable workbench is not easy to carrying for the rigidity of structure
Rise, and the mechanism is actuation redundancy, and the coordination sex chromosome mosaicism of redundant drive power is a big difficult point of redundant drive research field, is needed
Additionally to add force transducer could preferably realize the control to such series-parallel robot so as to which application in the industry is subject to
Limit.
A kind of patent disclosure of Publication No. CN104626103A multiple freedom parallel mechanism formula controllable mobile stacking machine
Device people, a kind of face shovel spadework device with movement redundancy of the patent disclosure of Publication No. CN102720226B, it all refers to
Motion redundancy；Motion redundancy is similar to actuation redundancy, can improve the motility of robot, but above-mentioned containing motion redundancy machine
The forms of motion of device people is more single, and the degree of freedom of end-effector and motility are restricted, so design is a with fortune
The robot of the multiple degrees of freedom high flexibility of dynamic redundancy properties is favorably improved its range of application in industrial circle, but at present
Industrial series parallel robot in five degrees of freedom with motion redundancy characteristic fortune is there is not yet relevant report.
The content of the invention
The purpose of this utility model is to propose that big a kind of simple structure, rigidity, fast response time, work space are big, dynamic
The good motion redundancy series parallel robot in five degrees of freedom of state property energy.
This utility model mainly include fixed platform, moveable platform seat, moveable platform, rotatable table rest,
Rotatable workbench, column, connecting cross beam, four side chains, intermediate connecting rod, moving platform and main tappings and side chain drive component,
Moveable platform drive component and rotatable table assembly, wherein fixed platform are provided with moveable platform seat, may move flat
Platform is connected by moving sets with the moveable platform seat, and rotatable table rest is provided with the moveable platform, rotatable
Rotation pair of the workbench by axis for vertical is connected with the rotatable table rest, in fixed platform both sides difference
Relative column is provided with, two column upper ends are provided with the connecting cross beam for connecting the two columns, are provided with length between two columns identical
Four side chains, in four side chains one end of first and second side chains in left side respectively by rotate it is secondary be located on left side
Slide block connection on lower cylindrical guide, its other end is connected by the same pair that rotates with one end of moving platform, four side chains
One end of third and fourth side chain on middle right side is connected respectively by the slide block for rotating pair be located on the upper and lower cylindrical guide in right side,
Its other end be connected by the same pair that rotates with one end of intermediate connecting rod, the other end of the intermediate connecting rod pass through rotation it is secondary with it is described
The other end connection of moving platform, the length dimension of the intermediate connecting rod is the 1/3 of moving platform length dimension；In described moving platform
It is provided with main tapping.
Turns auxiliary shaft of the slide block on cylindrical guide in the input motion pair of vertical, four described side chains
Line is parallel to each other, and the mobile secondary axis constituted perpendicular to slide block and column, in the described side chain of left side first and second with
The turns auxiliary shaft line of moving platform connection overlaps, and the first side chain was located at the top of the coincidence turns auxiliary shaft line horizontal plane, second
Chain was located at the lower section of the coincidence turns auxiliary shaft line horizontal plane, with intermediate connecting rod in the described side chain of right side the 3rd and the 4th side chain
The turns auxiliary shaft line of connection overlaps, and the 4th side chain was located at the top of the coincidence turns auxiliary shaft line horizontal plane, and the 3rd side chain is located at
Cross the lower section of the coincidence turns auxiliary shaft line horizontal plane.
The side chain drive component includes straight line units base, servomotor, motor cabinet, shaft coupling, leading screw, leading screw spiral shell
Support base under mother, leading screw upper support seat, slide block, cylindrical guide and leading screw, two of which straight line units base is vertically fixed respectively
In relative stud wall, support base under a pair of leading screw upper support seats and leading screw is respectively equipped with up and down in straight line units base,
Motor cabinet is equipped with support base under the leading screw upper support seat and bottom leading screw on top, servomotor is separately fixed at power-on and power-off
On support, the outfan of servomotor is connected by shaft coupling with one end of leading screw, one end of upper lower leading screw and cylindrical guide
It is supported by leading screw upper support seat, its other end is supported by support base under leading screw, is justified in upper lower leading screw and up and down
Slide block is respectively equipped with post guide rail, the effective travel part of the leading screw is connected with feed screw nut, and the feed screw nut is fixed on
On slide block.
The moveable platform drive component include fixed platform, moveable platform seat, moveable platform servomotor, can
Mobile platform motor cabinet, moveable platform shaft coupling, moveable platform leading screw, moveable platform feed screw nut, moveable platform
Leading screw upper support seat, moveable platform slide block, moveable platform guide rail, moveable platform guide-track groove and moveable platform leading screw
Lower support base, wherein the one end for setting moveable platform seat on the stationary platform is provided with moveable platform motor cabinet, may move flat
Platform servomotor is fixed on moveable platform motor cabinet, the outfan of servomotor by moveable platform shaft coupling with it is removable
One end connection of moving platform leading screw, one end of the leading screw is by fixed moveable platform leading screw upper support seat on the stationary platform
It is supported, its other end is supported by support base under the moveable platform leading screw that is fixed in the fixed platform, can
Mobile platform leading screw is provided with moveable platform feed screw nut, and moveable platform feed screw nut is fixed on below moveable platform
On moveable platform feed screw nut seat, for controlling the effective travel of moveable platform, the moveable platform two bottom sides set
There are the moveable platform slide block two-by-two for a group, the slide block and the moveable platform guide rail for being fixed on moveable platform base both sides
Matching is combined into and is slidably connected.
The rotatable table assembly includes rotatable table rest, rotatable workbench servomotor, 90 degree of corners
Decelerator and rotatable workbench, wherein the rotatable table rest lower section being fixed on moveable platform is provided with groove, can return
Revolving worktable servomotor is fixed in rotatable table rest groove, the outfan and 90 of the rotatable workbench servomotor
The input connection of degree tortuous decelerating machine, the outfan of 90 degree of tortuous decelerating machines is connected with rotatable workbench, and this 90 degree turn
The outfan pivot center of angle decelerator is vertical.
The secondary lock of rotation when the intermediate connecting rod and parallel moving platform of plane parallel mechanism or between moving platform and intermediate connecting rod
Extremely, the motion redundancy series parallel robot in five degrees of freedom is converted to actuation redundancy series parallel robot in five degrees of freedom, in only need to controlling
Between attitude between connecting rod and moving platform can eliminating machine inside it is unusual.
The course of work of the present utility model approximately as：The servomotor being fixed on the motor cabinet on column drives
Leading screw and nut screw connection are moved, and then by four side chain transmitting movements, control the attitude of intermediate connecting rod and moving platform, are realized dynamic
Platform two moves the motion of one turn of Three Degree Of Freedom：Move up and down, move left and right, the rotation in perpendicular；Moveable platform leads to
Crossing its drive component can realize that platform is moved forward and backward；90 degree of tortuous decelerating machines are driven by rotatable workbench servomotor,
Drive the rotatable table revolving movement above moveable platform；With reference to three freedom of the moving platform of above-mentioned plane parallel mechanism
The revolution degree of freedom of degree, the one-movement-freedom-degree of moveable platform and rotatable workbench, it is possible to achieve space five-freedom is moved,
So as to realize robot in the spatial displacements completed needed for real work.
This utility model has the advantage that compared with prior art：
1st, with motion redundancy, the problem of singular point present in conventional parallel mechanism is overcome, while increase effectively
The work space of parallel robot, improves the integral rigidity of mechanism；
2nd, motor is fixed on column not with a chain movement, effectively reduces the rotary inertia of lathe；
3rd, sub-chain is short, fast response time, simple structure and compact, there is good manufacture and assembly process process；
4th, rotatable workbench is connected with the moveable platform in the fixed platform, and parallel connection part independence, effectively
Avoid the accumulation of error caused due to parts machining error and rigging error；
5th, rotatable work table rotation direction of principal axis is vertical, is conducive to increasing workbench rigidity and bearing capacity；
6th, motion redundancy eliminates the uncoordinated impact to mechanism of driving force, while using mechanism's self character, not only may be used
The motion redundancy control strategy of study movement redundancy series parallel robot in five degrees of freedom, can also study its actuation redundancy control strategy.
Description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present utility model.
Fig. 2 is the side chain of Fig. 1 and the simplified schematic diagram of side chain drive component.
Fig. 3 is the simplified schematic diagram of this utility model moveable platform drive component and rotatable table assembly.
In figure：1. fixed platform, 2. moveable platform seat, 3. moveable platform, 4. rotatable table rest, 5. rotatable
Workbench, 6. the second side chain, 7. intermediate connecting rod, 8. the first side chain, 9. column (left side), 10. connecting cross beam, 11. columns (right side),
12. the 4th side chains, 13. straight line units bases, 14. the 3rd side chains, 15. moving platforms, 16. main tappings, 17. top shoes, 18. leading screws
Upper support seat, 19. shaft couplings, 20. motor cabinets, 21. servomotors, 22. cylindrical guides, 23. feed screw nuts, 24. leading screws, 25.
Support base, 26. sliding blocks, 27. moveable platform servomotors, 28. moveable platform motor cabinets, 29. may move and put down under leading screw
The moveable platform leading screw upper support seat of platform shaft coupling 30., 31. moveable platform leading screws, 32. moveable platform feed screw nuts,
Support base under 33. moveable platform feed screw nut seats, 34. moveable platform leading screws, 35. rotatable workbench servomotors,
36.90 degree of tortuous decelerating machines, 37. moveable platform slide blocks, 38. moveable platform guide rails.
Specific embodiment
In the series parallel robot in five degrees of freedom schematic diagram shown in Fig. 1, fixed platform 1 is provided with moveable platform seat 2, can
Mobile platform 3 is connected by moving sets with the moveable platform seat, and rotatable table rest is provided with the moveable platform
4, rotation pair of the rotatable workbench 5 by axis for vertical is connected with the rotatable table rest, flat in the fixation
Platform is respectively provided on two sides with relative column 9,11, and two column upper ends are provided with the connecting cross beam 10 for connecting the two columns, two columns
Between be provided with four side chains, the branched structure of top two is identical, and the branched structure of lower section two is identical, the of left side in four articles of side chains
One end of one side chain 8 and the second side chain 6 respectively by rotate it is secondary be located at top shoe 17 of the left side up and down on cylindrical guide 22 and
Sliding block 26 connects, and its other end is connected by the same pair that rotates with one end of moving platform 15, right side in four side chains
One end of 3rd side chain 14 and the 4th side chain 12 passes through to rotate upper sliding block that is secondary and being located on the upper and lower cylindrical guide in right side respectively
Connection, its other end is connected by the same pair that rotates with one end of intermediate connecting rod 7, and the other end of the intermediate connecting rod is secondary by rotating
It is connected with the other end of the moving platform, the length dimension of the intermediate connecting rod is the 1/3 of moving platform length dimension, described
Moving platform is provided with main tapping 16.
Turns auxiliary shaft of the slide block on cylindrical guide in the input motion pair of vertical, four described side chains
Line is parallel to each other, and the mobile secondary axis constituted perpendicular to slide block and column, in the described side chain of left side first and second with
The turns auxiliary shaft line of moving platform connection overlaps, and the first side chain was located at the top of the coincidence turns auxiliary shaft line horizontal plane, second
Chain was located at the lower section of the coincidence turns auxiliary shaft line horizontal plane, with intermediate connecting rod in the described side chain of right side the 3rd and the 4th side chain
The turns auxiliary shaft line of connection overlaps, and the 4th side chain was located at the top of the coincidence turns auxiliary shaft line horizontal plane, and the 3rd side chain is located at
Cross the lower section of the coincidence turns auxiliary shaft line horizontal plane.
As shown in Fig. 2 two straight line units bases 13 in side chain drive component are vertically fixed on respectively relative column
On wall, support base 25 under a pair of leading screw upper support seats 18 and leading screw is respectively equipped with up and down in straight line units base, on top
Leading screw upper support seat is provided with motor cabinet 20, and servomotor 21 is fixed on motor cabinet, and the outfan of servomotor passes through shaft coupling
Device 19 is connected with one end of leading screw 24, and one end of upper lower leading screw and upper and lower cylindrical guide is supported by leading screw upper support seat,
Its other end is supported by support base under leading screw, and in upper lower leading screw and upper and lower cylindrical guide slide block is respectively equipped with, described
The effective travel part of leading screw is connected with feed screw nut 23, and the feed screw nut is fixed on slide block.
As shown in figure 3, be provided with can for one end that moveable platform seat on the stationary platform is set in moveable platform driving group
Mobile platform motor cabinet 28, moveable platform servomotor 27 is fixed on moveable platform motor cabinet, the output of servomotor
End is connected by moveable platform shaft coupling 29 with one end of moveable platform leading screw 31, and one end of the leading screw is by being fixed on
Moveable platform leading screw upper support seat 30 on fixed platform is supported, and its other end is by being fixed in the fixed platform
Support base 34 is supported under moveable platform leading screw, and moveable platform leading screw is provided with moveable platform feed screw nut 32, can
Mobile platform feed screw nut 32 is fixed on the moveable platform feed screw nut seat 33 below moveable platform, removable for controlling
The effective travel of moving platform, the moveable platform two bottom sides are provided with moveable platform slide block 37 two-by-two for a group, the cunning
Block matches to be combined into and is slidably connected with the moveable platform guide rail 38 for being fixed on moveable platform base both sides.Rotatable workbench
The rotatable table rest lower section being fixed on moveable platform in component is provided with groove, rotatable workbench servomotor 35
It is fixed in rotatable table rest groove, the outfan of the rotatable workbench servomotor and 90 degree of tortuous decelerating machines 36
Input connects, and the outfan of 90 degree of tortuous decelerating machines is connected with rotatable workbench, the output of 90 degree of tortuous decelerating machines
End pivot center is vertical.
Claims (2)
1. a kind of motion redundancy series parallel robot in five degrees of freedom, mainly includes fixed platform, moveable platform seat, may move and put down
Platform, rotatable table rest, rotatable workbench, column, connecting cross beam, four side chains, intermediate connecting rod, moving platform and main tappings
And side chain drive component, moveable platform drive component and rotatable table assembly, it is characterised in that：The fixed platform
Moveable platform seat is provided with, moveable platform is connected by moving sets with the moveable platform seat, in the moveable platform
Rotatable table rest is provided with, rotatable workbench passes through axis for the rotation pair and the rotatable table rest of vertical
Connection, in the fixed platform relative column is respectively provided on two sides with, and two column upper ends are provided with the connection for connecting the two columns
Crossbeam, is provided with four side chains between two columns, one end of first and second side chains in left side passes through respectively in four side chains
Rotate pair and be connected with the slide block being located on the upper and lower cylindrical guide in left side, its other end is by same one end for rotating pair and moving platform
Connection, one end of third and fourth side chain on right side is respectively by rotating pair and being located at right side cylinder up and down in four side chains
On guide rail slide block connection, its other end by it is same rotate pair be connected with one end of intermediate connecting rod, the intermediate connecting rod it is another
End is connected by rotating the secondary other end with the moving platform, and the length dimension of the intermediate connecting rod is moving platform length dimension
1/3, it is provided with main tapping on described moving platform；
Turns auxiliary shaft line phase of the slide block on cylindrical guide in the input motion pair of vertical, four described side chains
It is mutually parallel, and the mobile secondary axis constituted perpendicular to slide block and column, it is flat with dynamic in the described side chain of left side first and second
The turns auxiliary shaft line of platform connection overlaps, and the first side chain was located at the top of the coincidence turns auxiliary shaft line horizontal plane, the second side chain position
It is connected with intermediate connecting rod in the lower section for crossing the coincidence turns auxiliary shaft line horizontal plane, the described side chain of right side the 3rd and the 4th side chain
Turns auxiliary shaft line overlap, the 4th side chain was located at the top of the coincidence turns auxiliary shaft line horizontal plane, and the 3rd side chain was located at this
The lower section of coincidence turns auxiliary shaft line horizontal plane；
The side chain drive component includes straight line units base, servomotor, motor cabinet, shaft coupling, leading screw, feed screw nut, silk
Support base under thick stick upper support seat, slide block, cylindrical guide and leading screw, two of which straight line units base is vertically fixed on respectively relatively
Stud wall on, support base under a pair of leading screw upper support seats and leading screw is respectively equipped with up and down in straight line units base, on top
Leading screw upper support seat and bottom leading screw under be equipped with motor cabinet on support base, servomotor is separately fixed at upper and lower motor cabinet
On, the outfan of servomotor is connected by shaft coupling with one end of leading screw, and one end of upper lower leading screw and cylindrical guide passes through
Leading screw upper support seat is supported, and its other end is supported by support base under leading screw, leads in upper lower leading screw and upper and lower cylinder
Slide block is respectively equipped with rail, the effective travel part of the leading screw is connected with feed screw nut, and the feed screw nut is fixed on slide block
On；
The moveable platform drive component includes fixed platform, moveable platform seat, moveable platform servomotor, removable
Platform motor cabinet, moveable platform shaft coupling, moveable platform leading screw, moveable platform feed screw nut, moveable platform leading screw
Lower of upper support seat, moveable platform slide block, moveable platform guide rail, moveable platform guide-track groove and moveable platform leading screw
Support seat, wherein the one end for setting moveable platform seat on the stationary platform is provided with moveable platform motor cabinet, moveable platform is watched
Take motor to be fixed on moveable platform motor cabinet, the outfan of servomotor is flat with removable by moveable platform shaft coupling
One end connection of platform leading screw, one end of the leading screw is carried out by fixed moveable platform leading screw upper support seat on the stationary platform
Support, its other end is supported by support base under the moveable platform leading screw that is fixed in the fixed platform, may move
Platform leading screw is provided with moveable platform feed screw nut, and moveable platform feed screw nut is fixed on removable below moveable platform
On moving platform feed screw nut seat, the moveable platform two bottom sides are provided with moveable platform slide block two-by-two for a group, the cunning
Block matches to be combined into and is slidably connected with the moveable platform guide rail for being fixed on moveable platform base both sides；
The rotatable table assembly includes that rotatable table rest, rotatable workbench servomotor, 90 degree of corners slow down
Device and rotatable workbench, wherein the rotatable table rest lower section being fixed on moveable platform is provided with groove, rotatable work
Make platform servomotor to be fixed in rotatable table rest groove, the outfan of the rotatable workbench servomotor and 90 degree turn
The input connection of angle decelerator, the outfan of 90 degree of tortuous decelerating machines is connected with rotatable workbench, and 90 degree of corners subtract
The outfan pivot center of fast device is vertical.
2. a kind of motion redundancy series parallel robot in five degrees of freedom according to claim 1, it is characterised in that：Described four
The length dimension of chain is identical, and the length dimension of intermediate connecting rod is the 1/3 of moving platform length dimension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621108646.2U CN206123643U (en) | 2016-10-10 | 2016-10-10 | Five redundant degree of freedom series -parallel connection robots move |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621108646.2U CN206123643U (en) | 2016-10-10 | 2016-10-10 | Five redundant degree of freedom series -parallel connection robots move |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206123643U true CN206123643U (en) | 2017-04-26 |
Family
ID=58571060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621108646.2U Withdrawn - After Issue CN206123643U (en) | 2016-10-10 | 2016-10-10 | Five redundant degree of freedom series -parallel connection robots move |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206123643U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426092A (en) * | 2016-10-10 | 2017-02-22 | 燕山大学 | Movement redundancy five-freedom-degree parallel serial robot |
| CN108032281A (en) * | 2017-11-13 | 2018-05-15 | 歌尔股份有限公司 | 6-dof motion platform and electronic equipment |
| CN112621728A (en) * | 2020-12-28 | 2021-04-09 | 哈尔滨工业大学（深圳） | Seven-degree-of-freedom double-module parallel cooperative robot for 3C assembly |
-
2016
- 2016-10-10 CN CN201621108646.2U patent/CN206123643U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426092A (en) * | 2016-10-10 | 2017-02-22 | 燕山大学 | Movement redundancy five-freedom-degree parallel serial robot |
| CN106426092B (en) * | 2016-10-10 | 2019-03-22 | 燕山大学 | Motion redundancy series parallel robot in five degrees of freedom |
| CN108032281A (en) * | 2017-11-13 | 2018-05-15 | 歌尔股份有限公司 | 6-dof motion platform and electronic equipment |
| CN112621728A (en) * | 2020-12-28 | 2021-04-09 | 哈尔滨工业大学（深圳） | Seven-degree-of-freedom double-module parallel cooperative robot for 3C assembly |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20170426 Effective date of abandoning: 20190322 |
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| AV01 | Patent right actively abandoned |