CN210757713U - Six-degree-of-freedom parallel robot based on double gyroscope components - Google Patents
Six-degree-of-freedom parallel robot based on double gyroscope components Download PDFInfo
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- CN210757713U CN210757713U CN201921488905.2U CN201921488905U CN210757713U CN 210757713 U CN210757713 U CN 210757713U CN 201921488905 U CN201921488905 U CN 201921488905U CN 210757713 U CN210757713 U CN 210757713U
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Abstract
A six-degree-of-freedom parallel robot based on double gyroscope components is characterized in that: the six-degree-of-freedom parallel robot comprises: the device comprises a fixed platform (1), a movable platform (2) and two groups of three-degree-of-freedom translation robot parts (3); the two groups of three-degree-of-freedom translation robot components (3) are connected between the movable platform (2) and the fixed platform (1). The utility model provides a six degree of freedom parallel robot based on two gyroscope parts has that dynamic property is excellent, compact structure, six degree of freedom motions are nimble not have singularity, rigidity is big, the precision is high, stability is good, rotate characteristics such as workspace is big, has wide scientific research and application prospect.
Description
Technical Field
The utility model belongs to the technical field of the robot engineering technique and specifically relates to a six degree of freedom parallel robot based on two gyroscope parts in light robot device is related to.
Background
In the early stage of the packaging and sorting processes of goods on a light production line, the realization of complex process operations such as complex curved surface coating, spraying and glue dispensing mostly depends on a series mechanism. The series mechanism is formed by connecting the kinematic pairs in sequence, is an open-loop structure, has large working space and high flexibility, but also has the obvious defects of low tail end precision, low rigidity, large inertia and poor dynamic performance caused by the accumulation of errors of the kinematic pairs. The parallel mechanism is a closed loop structure, and a movable platform part of the parallel mechanism is connected with a fixed platform through at least two independent kinematic chains. Compared with a series mechanism, the parallel mechanism has the advantages of high rigidity, high precision, good dynamic performance, compact structure and the like.
Based on the advantages of the parallel mechanism, the patent document US4976582 proposes a Delta parallel mechanism which is composed of three symmetrical branched chains and can realize three-dimensional translation, and the Delta parallel mechanism has high-speed movement characteristics, on the basis of the structure, in patent applications US20090019960 and EP1084802 submitted by ABB company, a 'Flexppicker' parallel robot is proposed and applied to a food packaging production line to replace manual work to finish the quick sorting operation of food and the like, in order to further increase the flexibility and efficiency of the picking action. Adept was then successfully commercialized, typically represented by the "Adept Quattrro" parallel robot.
The existing parallel mechanism has the following defects:
the Delta mechanism only has three degrees of freedom of spatial translation and cannot realize rotation of a pickup angle;
2, a plurality of parts of the movable platform part of the H4 mechanism are positioned in the same plane, so that the movable platform part is large in size and not compact enough, and two adjacent branched chains drive one part of the movable platform part, so that the force transmission effect is not good, and the efficiency of the mechanism is not improved;
3. the movable platform part is large in size, and the amplifying mechanism arranged on the movable platform part increases the weight of the movable platform part; the driven parts of the movable platform part are a group of opposite sides equivalent to a parallelogram, so that the structure is not compact, the movement is not flexible, the stress is not uniform, and the mechanism efficiency is not improved;
4. the number of the driven parts of the movable platform part is only two, and the two parts are equivalent to a group of opposite sides of the parallelogram, so that the driving mode is inflexible, the stress condition is uneven, and the smooth operation of the mechanism is not facilitated.
Therefore, in order to overcome the above disadvantages in the prior art, it is desirable to provide a parallel robot, which has the advantages of excellent dynamic performance, compact structure, flexible and non-singular six-degree-of-freedom motion, high rigidity, high precision, good stability, and large rotation working space.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least, the utility model provides a parallel robot has that dynamic property is excellent, compact structure, the flexible singularity that does not have of six degree of freedom motions, rigidity are big, the precision is high, stability is good, the big advantage of rotation working space.
Therefore, the utility model discloses a solve above-mentioned technical problem, the technical scheme who adopts includes:
a six-degree-of-freedom parallel robot based on double gyroscope components is characterized in that: the six-degree-of-freedom parallel robot comprises: the device comprises a fixed platform 1, a movable platform 2 and two groups of three-degree-of-freedom translation robot parts 3; wherein, two groups of three-degree-of-freedom translation robot parts 3 are connected between the movable platform 2 and the fixed platform 1.
Further, the movable platform 2 is composed of double-gyroscope components, and the double-gyroscope components comprise an upper movable platform gyroscope sub-component 2-1, a lower movable platform gyroscope sub-component 2-2 and a lead screw nut sub-component 2-3.
Further, the upper moving platform gyroscope subcomponent 2-1 comprises an upper platform inner ring, an upper platform middle ring and an upper platform outer ring; the upper platform outer ring surrounds the upper platform inner ring and the middle ring, and the upper platform middle ring surrounds the upper platform inner ring; wherein, a pair of first parts 2-21 of a first rotating pair is symmetrically arranged on one diameter direction of the outer circumferential surface of the inner ring of the upper platform, and a second part of the first rotating pair is arranged on the inner circumferential surface of the upper platform middle ring of the upper movable platform gyroscope subassembly 2-1 at the position corresponding to the first part 2-21 of the inner ring of the upper platform with the first rotating pair, and the first part and the second part of the first rotating pair can realize the rotation around the X-axis direction after being matched and combined; the outer circumferential surface of the upper platform middle ring of the upper movable platform gyroscope subcomponent 2-1 is further symmetrically provided with a first part 2-23 of a second rotating pair in the diameter direction vertical to the X axis, a second part 2-24 of the second rotating pair is arranged at the position of the inner circumferential surface of the upper platform outer ring corresponding to the first part 2-23 of the upper platform middle ring provided with the second rotating pair, and after the first part and the second part of the second rotating pair are matched and combined, relative rotation can be realized, and the rotation of the upper platform middle ring in the Y axis direction vertical to the X axis can be ensured.
Further, the lower moving platform gyroscope subcomponent 2-2 comprises a lower platform inner ring, a lower platform middle ring and a lower platform outer ring; the lower platform outer ring surrounds the lower platform inner ring and the middle ring, and the lower platform middle ring surrounds the lower platform inner ring; wherein, a pair of first parts 2-41 of a third rotating pair is symmetrically arranged on one diameter direction of the outer circumferential surface of the lower platform inner ring, and the second part 2-42 of the third rotating pair is arranged on the inner circumferential surface of the lower platform middle ring of the lower movable platform gyroscope subassembly 2-2 at the position corresponding to the first part 2-41 of the lower platform inner ring provided with the third rotating pair, and the first part and the second part of the third rotating pair can realize the rotation around the X' axis direction after being matched and combined; the outer circumferential surface of the lower platform middle ring of the lower movable platform gyroscope subcomponent 2-2 is further symmetrically provided with a first part 2-43 of a fourth rotating pair in the diameter direction vertical to the X 'axis, a second part 2-44 of the fourth rotating pair is arranged at the position of the inner circumferential surface of the lower platform outer ring corresponding to the first part 2-43 of the lower platform middle ring provided with the fourth rotating pair, and after the first part and the second part of the fourth rotating pair are matched and combined, relative rotation can be realized, and the rotation of the lower platform middle ring around the Y' axis direction vertical to the X axis can be ensured.
Further, the screw nut sub-component 2-3 is arranged between the upper moving platform and the lower moving platform; the lead screw nut sub-component 2-3 comprises a ball lead screw nut combination and a handle sleeve with a flange.
Further, the concrete structure of the lead screw nut sub-component 2-3 is as follows: the nut of the screw rod is fixedly connected with the inner ring of the upper moving platform gyroscope of the double gyroscopes, and the lower end of the screw rod is connected with the inner ring of the lower moving platform gyroscope of the double gyroscopes through a revolute pair.
Further, the concrete structure of the lead screw nut sub-component 2-3 is as follows: the upper end of the screw rod is fixedly connected with the inner ring of the upper movable platform gyroscope of the double-gyroscope, and the screw rod nut is connected with the inner ring of the lower platform gyroscope through a sleeve with a flange handle through a revolute pair.
Further, the two groups of three-degree-of-freedom translation robot components respectively comprise three driving motors 4 and three groups of branch chain arms.
Furthermore, each branched arm comprises a mechanical large arm 6 with a spherical hinge pair branched chain and two carbon fiber small arms 7 with spherical hinge pairs which are installed in pairs; one end of the large mechanical arm 6 is connected with the output end of the corresponding driving motor 4 through a flange plate so as to be driven to rotate, and the other end of the large mechanical arm 6 is provided with a spherical hinge pair so as to realize pivotable connection with the two small carbon fiber arms 7; the two ends of the carbon fiber small arm 7 are provided with spherical hinge pairs and are respectively connected with the other end of the mechanical large arm 6 and the lower platform outer ring of the lower moving platform in a pivoting way through the spherical hinge pairs; the mechanical large arm 6 extends along the radial direction of the fixed platform, the inner end of the mechanical large arm 6 is connected with the output end of the driving motor 4 so as to be driven by the driving motor 4 to pivot relative to the fixed platform, and the outer end of the mechanical large arm 6 is connected with the upper end of the corresponding carbon fiber small arm 7 in a pivoting manner.
Furthermore, at least one anti-torsion elastic piece 8 is arranged between the two small carbon fiber arms 7, the anti-torsion elastic pieces 8 are arranged at two ends of each group of two small carbon fiber arms 7, and are arranged in parallel with the end face of the large mechanical arm 6 connected with the small carbon fiber arms 7; the torsion-resistant elastic piece 8 is in an extension state, and two ends of the torsion-resistant elastic piece are pivotally connected with the two carbon fiber small arms 7.
The utility model provides a six degree of freedom parallel robot based on two gyroscope parts has that dynamic property is excellent, compact structure, six degree of freedom motions are nimble not have singularity, rigidity is big, the precision is high, stability is good, the big advantage of rotation working space.
Drawings
FIG. 1 is a structural view of a six-degree-of-freedom parallel robot based on a double gyroscope component;
fig. 2 is a side view of the six-degree-of-freedom parallel robot shaft based on the dual gyroscope components of the present invention;
fig. 3 is an exploded view of the dual gyroscope components in the six-degree-of-freedom parallel robot based on the dual gyroscope components of the present invention.
Fig. 4 is a view of the dual gyroscope components in the six-degree-of-freedom parallel robot based on the dual gyroscope components of the present invention;
FIG. 5 is an isometric view of an alternative embodiment of a six degree-of-freedom parallel robot based on dual gyroscope components of the present invention;
fig. 6 is a view of an alternative embodiment of the dual gyroscope components of the six-degree-of-freedom parallel robot based on the dual gyroscope components of the present invention;
Detailed Description
The invention will be further described with reference to the following drawings and specific embodiments: examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
A six-degree-of-freedom parallel robot based on dual gyroscope components according to an embodiment of the present invention is described below with reference to fig. 1-6, including: the robot comprises a fixed platform 1, a movable platform 2 and two groups of three-degree-of-freedom translation robot parts 3.
The fixed platform 1 is a rigid plate, and the shape of the whole outer edge of the plate can be circular or polygonal. Preferably, a central mounting through hole is formed in the central position of the rigid plate for subsequent mounting. A plurality of slots are arranged at the outer edge of the fixed platform 1, and the number of the slots can be 6. The slotting is used for avoiding collision between the mechanical arm and the fixed platform. In addition, the fixed platform 1 is also provided with a plurality of mounting bolt holes for fixing and mounting other components. Preferably, at least a part of the fixing and mounting holes are arranged near the slot for fixing and mounting the driving motor 4 and the mounting seat of the driving motor 4.
The movable platform 2 is composed of double-gyroscope components, and the double-gyroscope components comprise an upper movable platform gyroscope sub-component 2-1, a lower movable platform gyroscope sub-component 2-2 and a screw nut sub-component 2-3. The upper moving platform gyroscope subcomponent 2-1 is positioned below the fixed platform 1 and above the lower moving platform gyroscope subcomponent 2-2; the lower moving platform gyroscope sub-assembly 2-2 is located below the upper moving platform gyroscope sub-assembly 2-1.
Specifically, the upper moving platform gyroscope subcomponent 2-1 comprises an upper platform inner ring 2-11, an upper platform middle ring 2-12 and an upper platform outer ring 2-13. The upper platform outer ring 2-13 surrounds the upper platform inner ring 2-11 and the middle ring 2-12, and the upper platform middle ring 2-12 surrounds the upper platform inner ring 2-11. The first parts 2-21 of a pair of first rotating pairs are symmetrically arranged on one diameter direction of the outer side circumferential surface of the inner ring 2-11 of the upper platform, the second parts 2-22 of the first rotating pairs are arranged on the inner side circumferential surface of the upper platform middle ring of the upper movable platform gyroscope subcomponent 2-1 at the positions corresponding to the first parts 2-21 of the upper platform inner ring provided with the first rotating pairs, and after the first parts and the second parts of the first rotating pairs are matched and combined, relative rotation can be realized, so that the upper platform inner ring can be ensured to freely and flexibly rotate around the axis of the diameter direction, and the axis of the diameter direction is set as an X axis.
The outer circumferential surface of the upper platform middle ring of the upper movable platform gyroscope subcomponent 2-1 is further symmetrically provided with first parts 2-23 of second rotating pairs in the diameter direction vertical to the X axis, the positions of the inner circumferential surface of the upper platform outer ring corresponding to the first parts 2-23 of the upper platform middle ring provided with the second rotating pairs are provided with second parts 2-24 of the second rotating pairs, and after the first parts and the second parts of the second rotating pairs are matched and combined, the relative rotation can be realized, the upper platform middle ring can be ensured to freely and flexibly rotate around the axis vertical to the X axis, and the axis vertical to the X axis is set as the Y axis in the invention.
The lower moving platform gyroscope subcomponent 2-2 comprises a lower platform inner ring 2-31, a lower platform middle ring 2-32 and a lower platform outer ring 2-33. The lower platform outer ring 2-33 surrounds the lower platform inner ring 2-32 and the middle ring 2-31, and the lower platform middle ring 2-32 surrounds the lower platform inner ring 2-31. The first parts 2-41 of a pair of third rotating pairs are symmetrically arranged in one diameter direction of the outer circumferential surface of the lower platform inner ring 2-31, the second parts 2-42 of the third rotating pairs are arranged at the positions, corresponding to the first parts 2-41 of the third rotating pairs arranged in the lower platform inner ring, of the inner circumferential surface of the lower platform middle ring of the upper moving platform gyroscope sub-component 2-1, and the first parts and the second parts of the third rotating pairs are matched and combined to realize relative rotation, so that the lower platform inner ring can be ensured to freely and flexibly rotate around the axis in the diameter direction.
The outer circumferential surface of the lower platform middle ring of the lower movable platform gyroscope subcomponent 2-2 is further symmetrically provided with a first part 2-43 of a fourth rotating pair in the diameter direction vertical to the X axis, a second part 2-44 of the fourth rotating pair is arranged at the position of the inner circumferential surface of the lower platform outer ring corresponding to the first part 2-43 of the lower platform middle ring provided with the fourth rotating pair, and after the first part and the second part of the fourth rotating pair are matched and combined, the relative rotation can be realized, the free and flexible rotation of the lower platform middle ring around the axis vertical to the X axis can be ensured, and the axis vertical to the X 'axis is set as the Y' axis in the invention.
Specifically, the X axis and the Y axis of the upper moving platform in the double gyroscopes are perpendicular to each other, the X 'axis and the Y' axis of the lower moving platform in the double gyroscopes are perpendicular to each other, the X axis and the X 'axis are parallel, and the Y axis and the Y' axis are parallel. Through the differential motion of the upper movable platform and the lower movable platform, the double-gyroscope component can realize three rotational degrees of freedom of the robot end effector around X, Y and a Z axis, wherein the differential motion of the upper movable platform and the lower movable platform along a vertical axis, namely the Z axis, is converted into the rotation of the robot end effector around the Z axis through a ball screw nut motion conversion mechanism in the double-gyroscope component.
A screw nut sub-component 2-3 is arranged between an upper moving platform and a lower moving platform of the double gyroscope, and the screw nut sub-component 2-3 is connected between the upper moving platform and the lower moving platform and enables the upper moving platform and the lower moving platform to realize relative vertical movement, namely movement in a Z direction. The lead screw nut sub-component 2-3 comprises a ball lead screw nut combination and a handle sleeve with a flange.
Specifically, as shown in fig. 2 to 4, the ball screw nut assembly and the flanged sleeve have a combined structural form of: the nut 2-3-1 is arranged above the upper moving platform of the double-gyroscope, the nut 2-3-1 is fixedly connected with the inner ring of the upper moving platform of the double-gyroscope, and the lower end of the screw rod 2-3-2 is connected with the inner ring of the lower moving platform of the double-gyroscope through the first part of the third revolute pair.
Alternatively, as shown in fig. 5-6, the combined structure of the ball screw nut combination and the flanged sleeve can be replaced by: the nut 2-3-1 is arranged between the upper movable platform and the lower movable platform of the double gyroscopes, the upper end of the screw rod 2-3-2 is fixedly connected with the inner ring of the upper movable platform of the double gyroscopes, the screw rod nut is fixedly connected on the flange handle sleeve, and the flange handle sleeve is connected with the inner ring of the lower platform through the first part of the third revolute pair.
The six-degree-of-freedom parallel robot based on the double-gyroscope components is characterized in that two combined structural forms of the lead screw nut components 2-3 are connected with an upper movable platform and a lower movable platform of the double-gyroscope components, and are converted into rotation of the robot end effector around a Z axis through a ball screw nut motion conversion mechanism in the double-gyroscope components through differential motion of the upper movable platform and the lower movable platform along the Z axis direction.
The two groups of three-degree-of-freedom translation robot parts respectively comprise three driving motors 4 and three groups of branch chain arms, namely the total number. Six of which drive motors 4 and six sets of branched chain arms. Wherein each branched arm comprises a mechanical big arm 6 with a spherical hinge branched chain and two carbon fiber small arms 7 with spherical hinges arranged in pairs. One end of the mechanical large arm 6 is connected with the output end of the corresponding driving motor 4 through a flange plate so as to be driven to rotate, and the other end of the mechanical large arm 6 is provided with a spherical hinge pair so as to realize pivotable connection with the two carbon fiber small arms 7. The two ends of the carbon fiber small arm 7 are provided with spherical hinge pairs, and the carbon fiber small arm is respectively connected with the other end of the mechanical large arm 6 and the lower platform outer ring of the lower moving platform in a pivoting manner through the spherical hinge pairs. The mechanical large arm 6 extends along the radial direction of the fixed platform, the inner end of the mechanical large arm 6 is connected with the output end of the driving motor 4 so as to be driven by the driving motor 4 to pivot relative to the fixed platform, and the outer end of the mechanical large arm 6 is connected with the upper end of the corresponding carbon fiber small arm 7 in a pivoting manner.
A mechanical large arm 6, which is set as a first rod, and two carbon fiber small arms 7, which are set as second rods. The first rod body positioned above is connected with the driving motor 4, the two second rod bodies positioned below are arranged in parallel, and the tail ends of the second rod bodies are connected with the movable platform gyroscope components. The two second rod bodies are respectively connected with one first rod body to form a sub-component, the length of each second rod body is greater than that of each first rod body, and two ends of each first rod body are respectively matched with the two second rod bodies through the spherical surfaces of the spherical hinge pairs.
At least one anti-torsion elastic piece 8 is arranged between the two second rod bodies, and the anti-torsion elastic pieces 8 are arranged at two ends of each group of the two second rod bodies and are arranged in parallel with the end surface of the first rod body connected with the second rod bodies. The torsional elastic member 8 is preferably arranged adjacent to one end of the first rod. The torsion-resistant elastic piece 8 is in an extended state and two ends of the torsion-resistant elastic piece are pivotally connected with the two second rod bodies.
Specifically, the anti-torsion elastic member 8 can be two springs, hooks are arranged at two ends of each of the two springs, sleeve hooks are correspondingly arranged at positions where the anti-torsion elastic member 8 is required to be installed at the end portion of the second rod body, and the hooks of the springs are embedded in the sleeve hooks to be fixed. The two springs are respectively arranged on the second rod body in the direction facing to and facing away from the central axis of the equipment.
The six groups of branched chain arms are divided into two groups, each group comprises three branched chain arms, and the first group of branched chain arms are respectively connected between the fixed platform and the upper movable platform; the second group of branch chain arms are respectively connected between the fixed platform and the lower movable platform. Six driving motors 4 are arranged on the fixed platform through driving motor brackets 5. Preferably, the three driving motors 4 corresponding to the first set of branched arms are respectively mounted on the upper surface of the fixed platform through the driving motor supports 5, and the three driving motors 4 corresponding to the second set of branched arms are respectively mounted on the lower surface of the fixed platform through the driving motor supports 5. Six driving motor support 5 are followed the circumference interval of deciding the platform is seted up the periphery of platform main part is arranged along upper and lower two sides 120 degrees partition, every driving motor support 5 is to keeping away from the direction of platform main part is extended the secondary, driving motor 4 and branch chain arm are established respectively driving motor support 5's edge the both ends of the circumference of platform main part, driving motor 4's output shaft passes the mounting panel with the actuating arm links to each other.
Specifically, the three-degree-of-freedom translation robot in the utility model includes but is not limited to: any spatial translation series mechanism, such as a mechanism formed by three serially connected moving pairs; or any spatial translation parallel mechanism; such as the Delta organization, the GantryRobot organization, the Cartesian Robot organization, the Orthoglide organization, or the Tsai's organization.
According to the utility model discloses six degree of freedom parallel robot based on two gyroscope parts can come two translational motion along X, Y and Z direction of moving platform of two sets of three degree of freedom translation robots through controlling six independent drives. The double-gyroscope component can realize three rotational degrees of freedom of the robot end effector around X, Y and a Z axis through the differential motion of the upper moving platform and the lower moving platform, wherein the differential motion of the upper moving platform and the lower moving platform along the Z axis is converted into the rotation of the robot end effector around the Z axis through a ball screw nut motion conversion mechanism in the double-gyroscope component. Three freedom degrees of movement of the robot end effector along X, Y and Z axes are realized through synchronous motion of the upper movable platform and the lower movable platform, and flexible operation with six degrees of freedom is finally realized, for example, actions such as complex curved surface coating, polishing and grinding can be completed. The utility model has the characteristics of dynamic performance is excellent, compact structure, the flexible nothing singularity of six degrees of freedom motion, rigidity is big, the precision is high, stability is good, rotation working space is big etc, has wide scientific research and application prospect.
In the above description, the X, Y axis can be understood as two directions in the horizontal plane and the directions are perpendicular to each other, and the Z direction or the direction of the Z axis can be understood as the normal direction of the plane in which the X, Y axis is located.
Other configurations and operations of a six-degree-of-freedom parallel robot based on dual gyroscope components according to embodiments of the present invention will be apparent to those of ordinary skill in the art and will not be described in detail herein
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "fixed," and the like are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrated, that they may be mechanically connected, electrically connected, or communicating, that they may be directly connected, indirectly connected through an intermediary, that they may be interconnected between two elements, or that they may be in an interactive relationship between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.
Claims (1)
1. A six-degree-of-freedom parallel robot based on double gyroscope components is characterized in that: the six-degree-of-freedom parallel robot comprises: the device comprises a fixed platform (1), a movable platform (2) and two groups of three-degree-of-freedom translation robot parts (3); the two groups of three-degree-of-freedom translation robot components (3) are connected between the movable platform (2) and the fixed platform (1); the movable platform (2) is composed of double gyroscope components, and the double gyroscope components comprise an upper movable platform gyroscope subcomponent (2-1), a lower movable platform gyroscope subcomponent (2-2) and a screw nut subcomponent (2-3); the upper moving platform gyroscope subcomponent (2-1) comprises an upper platform inner ring, an upper platform middle ring and an upper platform outer ring; the upper platform outer ring surrounds the upper platform inner ring and the middle ring, and the upper platform middle ring surrounds the upper platform inner ring; wherein, a pair of first parts (2-21) of a first rotating pair is symmetrically arranged on one diameter direction of the outer circumferential surface of the inner ring of the upper platform, and a second part of the first rotating pair is arranged on the inner circumferential surface of the inner ring of the upper platform of the upper movable platform gyroscope subassembly (2-1) at the position corresponding to the first part (2-21) of the inner ring of the upper platform provided with the first rotating pair, and the first part and the second part of the first rotating pair can realize the rotation around the X-axis direction after being matched and combined; the outer circumferential surface of the upper platform middle ring of the upper movable platform gyroscope subcomponent (2-1) is further symmetrically provided with a first part (2-23) of a second rotating pair in the diameter direction vertical to the X axis, a second part (2-24) of the second rotating pair is arranged at the position of the inner circumferential surface of the upper platform outer ring corresponding to the first part (2-23) of the upper platform middle ring provided with the second rotating pair, and after the first part and the second part of the second rotating pair are matched and combined, relative rotation can be realized, and the rotation of the upper platform middle ring around the Y axis direction vertical to the X axis can be ensured; the lower moving platform gyroscope subcomponent (2-2) comprises a lower platform inner ring, a lower platform middle ring and a lower platform outer ring; the lower platform outer ring surrounds the lower platform inner ring and the middle ring, and the lower platform middle ring surrounds the lower platform inner ring; wherein, a pair of first parts (2-41) of a third rotating pair is symmetrically arranged in one diameter direction of the outer circumferential surface of the lower platform inner ring, and a second part (2-42) of the third rotating pair is arranged at the position of the inner circumferential surface of the lower platform middle ring of the lower movable platform gyroscope subcomponent (2-2) corresponding to the first part (2-41) of the lower platform inner ring provided with the third rotating pair, and after the first part and the second part of the third rotating pair are matched and combined, the rotation around the X' axis direction can be realized; the outer circumferential surface of the lower platform middle ring of the lower movable platform gyroscope sub-component (2-2) is further symmetrically provided with a first part (2-43) of a fourth rotating pair in the diameter direction vertical to the X ' axis, a second part (2-44) of the fourth rotating pair is arranged at the position, corresponding to the first part (2-43) of the lower platform middle ring, of the inner circumferential surface of the lower platform outer ring, and the first part and the second part of the fourth rotating pair are matched and combined to realize relative rotation, so that the rotation of the lower platform middle ring in the Y ' axis direction vertical to the X ' axis can be ensured; the screw rod nut sub-component (2-3) is arranged between the upper moving platform and the lower moving platform; the lead screw nut sub-component (2-3) comprises a ball lead screw nut combination and a handle sleeve with a flange; the two groups of three-degree-of-freedom translation robot parts respectively comprise three driving motors (4) and three groups of branch chain arms; the concrete structure of the screw nut sub-component (2-3) is as follows: the nut (2-3-1) of the screw rod is fixedly connected with the inner ring of the upper movable platform gyroscope of the double gyroscopes, and the lower end of the screw rod (2-3-2) is connected with the inner ring of the lower movable platform gyroscope of the double gyroscopes through a revolute pair; the concrete structure of the screw nut sub-component (2-3) is as follows: the upper end of the screw rod (2-3-2) is fixedly connected with the inner ring of the upper movable platform gyroscope of the double gyroscopes, and the screw rod nut (2-3-1) is connected with the inner ring of the lower platform gyroscope through a sleeve with a flange handle through a revolute pair; each branched chain arm comprises a branched chain mechanical large arm (6) with a spherical hinge pair and two carbon fiber small arms (7) with spherical hinge pairs which are installed in pairs; one end of the mechanical large arm (6) is connected with the output end of the corresponding driving motor (4) through a flange plate so as to be driven to rotate, and the other end of the mechanical large arm (6) is provided with a spherical hinge pair so as to realize pivotable connection with the two carbon fiber small arms (7); two ends of the carbon fiber small arm (7) are provided with spherical hinge pairs, and the two ends are respectively connected with the other end of the mechanical large arm (6) and the outer ring of the lower platform of the lower moving platform in a pivoting manner through the spherical hinge pairs; the mechanical large arm (6) extends along the radial direction of the fixed platform, the inner end of the mechanical large arm (6) is connected with the output end of the driving motor (4) so as to be driven by the driving motor (4) to pivot relative to the fixed platform, and the outer end of the mechanical large arm (6) is connected with the upper end of the corresponding carbon fiber small arm (7) in a pivoting manner; at least one anti-torsion elastic piece (8) is arranged between the two carbon fiber small arms (7), the anti-torsion elastic pieces (8) are arranged at two ends of each group of the two carbon fiber small arms (7) and are arranged in parallel with the end face, connected with the carbon fiber small arms (7), of the mechanical large arm (6); the torsion-resistant elastic piece (8) is in an extension state, and two ends of the torsion-resistant elastic piece are pivotally connected with the two carbon fiber small arms (7).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
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