CN219685607U - Six-degree-of-freedom series-parallel assembly robot - Google Patents
Six-degree-of-freedom series-parallel assembly robot Download PDFInfo
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- CN219685607U CN219685607U CN202321242561.3U CN202321242561U CN219685607U CN 219685607 U CN219685607 U CN 219685607U CN 202321242561 U CN202321242561 U CN 202321242561U CN 219685607 U CN219685607 U CN 219685607U
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- 238000009434 installation Methods 0.000 abstract description 2
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Abstract
The utility model belongs to the technical field of assembly robots, and provides a six-degree-of-freedom series-parallel assembly robot which comprises a parallel driving assembly, a rotary driving device and a series driving assembly; the novel six-degree-of-freedom parallel-serial mechanism is adopted, the structure is simple and compact, the installation and maintenance are convenient, and the interchangeability degree is high; the three-degree-of-freedom parallel mechanism is adopted, so that the stability of the whole system is greatly improved, and the rigidity, the working precision and the response speed of the whole system are enhanced; the configuration of the tandem system increases the working space of the system, in particular the axial assembly working space. The assembly robot with the series-parallel structure can better meet the assembly and butt joint work of cabin components, so that the assembly robot is automatic, high in precision, stable and reliable.
Description
Technical Field
The utility model belongs to the technical field of assembly robots, and particularly relates to a six-degree-of-freedom series-parallel assembly robot.
Background
The assembly butt joint based on the cabin section is widely applied to the important fields of aerospace, national defense and the like. The assembly butt joint of the cabin structure mainly depends on manual hoisting butt joint, and has the problems of low assembly efficiency, long assembly period, low automation level, unfavorable mass production and the like. In order to solve the above problems, the assembly robot has the main advantages of large working space and flexible tail section, and is widely used in various fields of industrial production, but the type of structure has the problems of poor stability, weak bearing capacity and low precision due to the driving mode and mechanical structure. The parallel robot adopts a parallel driving mode, the fixed platform is connected with the movable platform through at least two mutually independent moving chains, the parallel mechanism has the advantages of high rigidity, small accumulated error and large bearing capacity, and the completely symmetrical parallel mechanism has better direction and property, but the parallel mechanism has smaller working range and poorer flexibility because of the compact structure.
The existing series-parallel robot applied to assembly and butt joint of cabin sections has few types, and in the existing series-parallel robot, the advantages of large working space of a series system and stable structure of a parallel system are difficult to realize; the serial robot structure of CN107494194A is not stable enough, the working space of the serial robot of CN111604884A is smaller, most serial robots only have five degrees of freedom, and assembly and butt joint work of cabin structures is difficult to realize;
therefore, a six-degree-of-freedom series-parallel assembly robot is proposed by those skilled in the art to solve the problems presented in the background art.
Disclosure of Invention
In order to solve the technical problems, the utility model provides a six-degree-of-freedom series-parallel assembly robot, which combines the advantages of a parallel structure and a series structure and can be applied to assembly butt joint of various cabin structures.
A six degree of freedom series-parallel assembly robot, comprising:
the parallel driving assembly comprises a lower platform, a connecting bolt, a supporting block, a driving motor, a telescopic sleeve, a telescopic shaft, an upper platform and a clamping ring bracket;
the rotary driving device comprises a rotary base, a bearing fixing frame, a rolling bearing, a motor fixing frame, a stepping motor, a first rotary gear, a second rotary gear, a rotary supporting ring, a fixed buckle nut and a rotary connecting platform;
the serial driving assembly comprises a fixed base, a first linear guide rail seat, a first linear guide rail, a first screw-nut pair, a first linear guide rail supporting block, a servo motor, a first sliding platform, a second linear guide rail seat, a second linear guide rail supporting block, a second screw-nut pair and a second sliding platform.
Preferably, the parallel driving assembly comprises a telescopic device, the supporting block is hinged with the lower platform through a connecting bolt, the telescopic sleeve is fixedly arranged at the top of the supporting block, the bottom end of the telescopic shaft is embedded into the circular sleeve of the telescopic sleeve, and as the three groups of telescopic devices are connected with the lower platform of the parallel driving assembly and the lower platform is fixed relative to the whole parallel driving assembly, when the three driving motors work, the telescopic shaft realizes telescopic linear motion through the driving motors, and further pushes the upper platform to do corresponding motion so as to realize motion with three degrees of freedom.
The driving motor is fixedly connected with one end of the supporting block, one end of the driving motor, which is close to the telescopic sleeve, is fixedly connected with one end of the upper platform, which is close to the telescopic shaft.
The telescopic device comprises: telescopic shaft, flexible cover, motor and supporting shoe, wherein: one end hinge of the supporting block is hinged and fixed with the lower platform, the other end of the supporting block is connected with the telescopic sleeve, the telescopic shaft can slide relatively along the telescopic sleeve, and the motor is responsible for driving.
Preferably, the snap ring bracket is fixedly arranged on the annular groove body of the upper platform through a fixing bolt, and the snap ring bracket is combined together through a connecting bolt by two semicircular structures.
Preferably, the telescopic shaft, the telescopic sleeve, the driving motor and the supporting block are provided with three groups, the adjacent positions are distributed at 120 degrees, and the three connecting bolts ensure the motion direction of the parallel driving assembly and the stability during motion.
Preferably, the rotary base is a bearing part of the whole rotary driving device and has stronger bearing capacity and higher rigidity and toughness for a connecting part of the rotary base and the serial driving assembly.
Preferably, the axle center of the rotary base is provided with a bearing for integrating the whole rotary driving device. The bearing fixing frames are circumferentially distributed on the rotary driving device, and the rolling bearings are arranged on the bearing fixing frames and used for supporting the rotation of the second rotary gear. The motor fixing frame is fixed on a second sliding platform of the serial driving assembly and is used for supporting and fixing the stepping motor so as to provide power for the whole rotary driving device; the first rotating gear and the second rotating gear are arranged in parallel and meshed with each other, the first rotating gear and the second rotating gear are spur gears, the first rotating gear drives the second rotating gear to do rotary motion under the driving of the stepping motor, power is further provided for the whole rotary driving device, and all the components of the rotary base, the bearing fixing frame, the rolling bearing, the motor fixing frame, the stepping motor, the first rotating gear and the second rotating gear are axially fixed through fixing buckle nuts.
Preferably, the through hole is arranged above the second rotary gear along the inner circumference, the rotary support ring is provided with a phase and a through hole, the phase and the through hole can be in fastening connection, so that rigidity and stability of the whole rotary driving device are improved, the rotary connection platform and the sample are provided with countersunk threaded holes, fastening connection with the rotary support ring can be realized, and the rotary connection platform is used for being fixedly connected with the parallel driving assembly.
Preferably, two pairs of first linear guide rail supporting blocks are symmetrically arranged at two ends of the fixed base along the X direction respectively, and the first linear guide rail supporting blocks and the first linear guide rail are arranged in a centering manner so as to be driven along the X direction further. The first linear guide rail is arranged on the fixed base, and the two first linear guide rails are placed in parallel along the X direction and embedded into the first linear guide rail seat for the first sliding platform to do linear motion along the X axis. The first screw-nut pair is placed above the first linear guide rail in pairs and placed in parallel, two ends of the first screw-nut pair are restrained by a pair of first linear guide rail supporting blocks placed in opposite directions, and the first sliding platform is driven by the servo motor to do linear motion along the X axis. Wherein the lower part of the first sliding platform structure is provided with a transmission thread matched with the first screw nut pair.
Preferably, the second linear guide rail is fixed at two ends of the first linear guide rail seat along the Y direction, two pairs of second linear guide rail supporting blocks are symmetrically and parallelly arranged at two ends of the first linear guide rail respectively, embedded into the second linear guide rail seat and used for fixing a second screw nut pair, the second screw nut pair is arranged at two ends of the second linear guide rail seat along the Y direction, two ends of the second screw nut pair are fixed by the second linear guide rail supporting blocks, a servo motor is arranged at one end of the second screw nut pair and used for driving the two second screw nut pairs to rotate, a transmission threaded hole matched with the second screw nut pair is formed in the lower part structure of the second sliding platform, the second sliding platform and the second screw nut pair are mutually matched, and the second sliding platform is driven to move along the Y direction under the driving of the servo motor. Further, the upper plane of the second guide rail seat is provided with a concave structure and is provided with a threaded hole for connecting and fixing the whole serial driving assembly and the rotary driving device and transmitting power.
Compared with the prior art, the utility model has the following beneficial effects:
the novel six-degree-of-freedom parallel-serial mechanism is adopted, the structure is simple and compact, the installation and maintenance are convenient, and the interchangeability degree is high; the three-degree-of-freedom parallel mechanism is adopted, so that the stability of the whole system is greatly improved, and the rigidity, the working precision and the response speed of the whole system are enhanced; the configuration of the tandem system increases the working space of the system, in particular the axial assembly working space. The assembly robot with the series-parallel structure can better meet the assembly and butt joint work of cabin components, so that the assembly robot is automatic, high in precision, stable and reliable.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a six-degree-of-freedom series-parallel assembly robot;
FIG. 2 is a schematic diagram of a parallel portion structure of the present utility model;
FIG. 3 is a schematic diagram of the serial portion structure of the present utility model;
FIG. 4 is a schematic view of a rotary mechanism according to the present utility model;
fig. 5 is an exploded view of the rotary mechanism of the present utility model.
In the figure:
1. a parallel drive assembly; 101. a lower platform; 102. a connecting bolt; 103. a support block; 104. a driving motor; 105. a telescopic sleeve; 106. a telescopic shaft; 107. a top platform; 108. a clasp bracket;
2. a rotation driving device; 201. a rotating base; 202. a bearing fixing frame; 203. a rolling bearing; 204. a motor fixing frame; 205. a stepping motor; 206. a first rotary gear; 207. a second rotary gear; 208. rotating the support ring; 209. fixing a buckle nut; 210. a rotary connection platform;
3. a serial drive assembly; 301. a fixed base; 302. a first linear guide rail mount; 303. a first linear guide rail; 304. the first screw-nut pair; 305. a first linear guide rail support block; 306. a servo motor; 307. a first sliding platform; 308. a second linear guide rail seat; 309. a second linear guide rail; 310. the second linear guide rail supporting block; 311. the second screw-nut pair; 312. and a second sliding platform.
Detailed Description
Embodiments of the present utility model are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the utility model but are not intended to limit the scope of the utility model.
As shown in fig. 1 to 5:
examples: the utility model provides a six-degree-of-freedom series-parallel assembly robot, which comprises:
the parallel driving assembly 1, wherein the parallel driving assembly 1 comprises a lower platform 101, a connecting bolt 102, a supporting block 103, a driving motor 104, a telescopic sleeve 105, a telescopic shaft 106, an upper platform 107 and a clamping ring bracket 108;
the rotary driving device 2, wherein the rotary driving device 2 comprises a rotary base 201, a bearing fixing frame 202, a rolling bearing 203, a motor fixing frame 204, a stepping motor 205, a first rotary gear 206, a second rotary gear 207, a rotary supporting ring 208, a fixed buckle nut 209 and a rotary connecting platform 210;
the tandem drive assembly 3, the tandem drive assembly 3 includes a fixed base 301, a first linear guide rail seat 302, a first linear guide rail 303, a first lead screw nut pair 304, a first linear guide rail support block 305, a servo motor 306, a first sliding platform 307, a second linear guide rail seat 308, a second linear guide rail 309, a second linear guide rail support block 310, a second lead screw nut pair 311, and a second sliding platform 312.
Specifically, the supporting block 103 is hinged to the lower platform 101 through the connecting bolt 102, the telescopic sleeve 105 is fixedly installed at the top of the supporting block 103, the bottom end of the telescopic shaft 106 is embedded into the circular sleeve of the telescopic sleeve 105, and as the three groups of telescopic devices are connected with the lower platform 101 of the parallel driving assembly 1 and the lower platform 101 is fixed relative to the whole parallel driving assembly 1, when the three driving motors 104 work, the telescopic shaft 106 realizes telescopic linear motion through the driving motors 104, and further pushes the upper platform 107 to do corresponding motion so as to realize motion with three degrees of freedom.
Specifically, the snap ring bracket 108 is fixedly mounted on the annular groove body of the upper platform 107 by a fixing bolt, and the snap ring bracket 108 is combined together by two semicircular structures by the connecting bolt 102.
In operation, after the lifting device places the deck-like components on the bracket structure of the upper platform 107, the upper half of the snap ring bracket 108 is then installed to achieve fastening.
Specifically, the telescopic shaft 106, the telescopic sleeve 105, the driving motor 104 and the supporting block 103 are provided with three groups, adjacent positions are distributed at 120 degrees, and the three connecting bolts 102 ensure the motion direction of the parallel driving assembly 1 and the stability during motion.
From the above, after the cabin part to be assembled is placed on the lower bracket fixed by the snap ring bracket 108, the upper half bracket of the snap ring bracket 108 is installed and fastened to constrain six degrees of freedom, at this time, the upper platform 107 may be obliquely placed in a certain direction, the parallel driving assembly 1 may perform fine adjustment and alignment on the cabin part to be assembled under the driving of the three groups of driving motors 104, so as to improve the operation effect of the robot, and the parallel driving assembly 1 provides three degrees of freedom for the six-degree-of-freedom hybrid assembling robot, when the three groups of driving motors 104 work at the same speed and time, the upper platform 107 of the parallel driving assembly 1 may move along the straight line of the Z axis, and when the three groups of driving motors 104 drive at specific speeds respectively, the upper platform 107 of the parallel driving assembly 1 may rotate along the X axis and rotate along the Y axis, so that the parallel driving assembly has good stability, and the cabin part may be perfectly assembled and abutted.
Specifically, the rotating base 201 is a bearing part of the whole rotating driving device 2 and has stronger bearing capacity and higher rigidity and toughness for the connecting part with the serial driving assembly 3.
Specifically, the axis of the rotating base 201 is provided with a bearing for integrating the entire rotation driving device 2. A plurality of bearing holders 202 are circumferentially distributed on the rotary drive device 2, and rolling bearings 203 are mounted on the bearing holders 202 for supporting the rotation of the second rotary gear 207. The motor mount 204 is fixed to a second sliding platform 312 of the tandem drive assembly 3 for supporting and fixing the stepper motor 205 to power the entire rotary drive 2. Further, the first rotating gear 206 and the second rotating gear 207 are disposed in parallel and meshed with each other, the first rotating gear 206 and the second rotating gear 207 are spur gears, the first rotating gear 206 drives the second rotating gear 207 to rotate under the driving of the stepping motor 205, and further provides power for the whole rotation driving device 2, and all the components of the rotating base 201, the bearing fixing frame 202, the rolling bearing 203, the motor fixing frame 204, the stepping motor 205, the first rotating gear 206 and the second rotating gear 207 are all axially fixed by the fixing buckle nuts 209.
Specifically, a through hole is formed above the second rotary gear 207 along the inner circumference, a phase and a through hole are formed on the rotary support ring 208, the two can be in fastening connection, so that rigidity and stability of the whole rotary driving device 2 are improved, a countersunk threaded hole is formed in the rotary connection platform 210 and the sample, fastening connection with the rotary support ring 208 can be achieved, and the rotary connection platform 210 is used for being fixedly connected with the parallel driving assembly 1.
As can be seen from the above, in the working process, the stepper motor 205 drives the first rotary gear 206 to drive the second rotary gear 207 to rotate, and the second rotary gear 207 and the rotary support ring 208 are axially constrained and fixed with the rotary connection platform 210, so that the power and the power are transmitted to the lower platform 101 of the parallel driving assembly 1 to drive the whole parallel driving assembly 1 to rotate along the Z axis, thereby realizing the degree of freedom of the rotation of the docking bay parts to be assembled along the Z axis.
Specifically, two pairs of first linear guide rail supporting blocks 305 are symmetrically placed at two ends of the fixed base 301 along the X direction, and the first linear guide rail supporting blocks 305 and the first linear guide rails 303 are placed in a centered manner so as to be driven further along the X direction. The first linear guide 303 is disposed on the fixed base 301, and two first linear guide 303 are disposed in parallel along the X direction and embedded in the first linear guide seat 302 for the first sliding platform 307 to move linearly along the X axis. The first screw-nut pairs 304 are placed above the first linear guide rails 303 in pairs, are placed in parallel, and the two ends of the first screw-nut pairs 304 are restrained by a pair of first linear guide rail supporting blocks 305 placed in pairs, so that the first sliding platform 307 is driven by the servo motor 306 to do linear motion along the X axis. Wherein the lower part of the first sliding platform 307 is provided with a driving thread which is matched with the first screw nut pair 304.
Specifically, the second linear guide rail 309 is fixed at two ends of the first linear guide rail seat 302 along the Y direction, two pairs of second linear guide rail supporting blocks 310 are respectively symmetrically placed at two ends of the second linear guide rail 309 in parallel, embedded in the second linear guide rail seat 308, and used for fixing a second screw nut pair 311, the second screw nut pair 311 is placed at two ends of the first linear guide rail seat 302 along the Y direction, two ends of the second screw nut pair 311 are fixed by the second linear guide rail supporting blocks 310, a servo motor 306 is installed at one end of the second screw nut pair 311 and used for driving the two second screw nut pairs 311 to rotate, a transmission threaded hole capable of being matched with the second screw nut pair 311 is formed in a lower part structure of the second sliding platform 312, the second sliding platform 312 and the second screw nut pair 311 are mutually matched, and the second sliding platform 312 is driven to move in the Y direction by the servo motor 306. Further, the second guide rail seat upper plane is provided with a concave structure and is provided with a threaded hole for connection fixation and power transmission of the whole serial driving assembly 3 and the rotary driving device 2.
From the above, in the working process, the two pairs of servo motors 306 respectively drive the two groups of second screw-nut pairs 311 to perform rotary motion, the transmission threaded holes of the first sliding platform 307 and the second sliding platform 312 are respectively driven by the two groups of second screw-nut pairs 311 to perform linear motion in the X direction and the Y direction, so as to provide X, Y direction motion for the whole six-degree-of-freedom series-parallel assembly robot, and the series-drive assembly 3 has the advantages of stable structure, high precision, large stroke and the like, is suitable for various complex working conditions, and can perfectly realize assembly butt joint of cabin structural components.
While embodiments of the present utility model have been shown and described above for purposes of illustration and description, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.
Claims (4)
1. Six-degree-of-freedom series-parallel assembly robot, which is characterized by comprising:
the parallel driving assembly (1), wherein the parallel driving assembly (1) comprises a lower platform (101), a connecting bolt (102), a supporting block (103), a driving motor (104), a telescopic sleeve (105), a telescopic shaft (106), an upper platform (107) and a clamping ring bracket (108);
the rotary driving device (2) comprises a rotary base (201), a bearing fixing frame (202), a rolling bearing (203), a motor fixing frame (204), a stepping motor (205), a first rotary gear (206), a second rotary gear (207), a rotary supporting ring (208), a fixed buckle nut (209) and a rotary connecting platform (210);
the serial driving assembly (3), serial driving assembly (3) include unable adjustment base (301), first straight line guide rail seat (302), first straight line guide rail (303), first screw nut pair (304), first straight line guide rail supporting shoe (305), servo motor (306), first sliding platform (307), second straight line guide rail seat (308), second straight line guide (309), second straight line guide rail supporting shoe (310), second screw nut pair (311) and second sliding platform (312).
2. The six degree of freedom series-parallel assembly robot of claim 1 wherein: the supporting block (103) is hinged with the lower platform (101) through a connecting bolt (102), the telescopic sleeve (105) is fixedly installed at the top of the supporting block (103), the bottom end of the telescopic shaft (106) is embedded into a circular sleeve of the telescopic sleeve (105), three groups of telescopic shafts (106), the telescopic sleeve (105), the driving motor (104) and the supporting block (103) are arranged, the two positions are distributed at 120 degrees, the clamping ring brackets (108) are fixedly installed on an annular groove body of the upper platform (107) through fixing bolts, and the clamping ring brackets (108) are combined together through the connecting bolts (102) through two semicircular structures.
3. The six degree of freedom series-parallel assembly robot of claim 1 wherein: the bearing is installed at rotating base (201) axle center, a plurality of bearing mount (202) are along circumference distribution on rotating base (201), antifriction bearing (203) are installed on bearing mount (202), motor mount (204) fixed mounting is on second sliding platform (312) of tandem drive assembly (3), first rotation gear (206) and second rotation gear (207) parallel placement and intermeshing, first rotation gear (206) and second rotation gear (207) are the spur gear, the top of second rotation gear (207) and rotation support circle (208) all is equipped with the through-hole along interior circumference, rotating base (201), bearing mount (202), antifriction bearing (203), motor mount (204), step motor (205), first rotation gear (206) and second rotation gear (207) are all fixed by fixed buckle nut (209) axial, the top of rotating connection platform (210) is equipped with countersunk screw hole.
4. The six degree of freedom series-parallel assembly robot of claim 1 wherein: two pairs of first linear guide rail supporting blocks (305) are symmetrically arranged at two ends of the fixed base (301) along the X direction, the first linear guide rail supporting blocks (305) and the first linear guide rail (303) are arranged in a centering manner, the first linear guide rail (303) is arranged on the fixed base (301), the two first linear guide rails (303) are arranged in parallel along the X direction and embedded into the first linear guide rail seat (302), the first lead screw nut pair (304) is arranged above the first linear guide rail (303) in pairs in parallel, two ends of the first lead screw nut pair (304) are restrained by a pair of first linear guide rail supporting blocks (305) which are arranged in a pair of opposite directions, the lower part of the structure of the first sliding platform (307) is provided with transmission threads matched with the first lead screw nut pair (304), the second linear guide rail (309) is fixedly arranged at two ends of the first linear guide rail seat (302) along the Y direction, the two pairs of second linear guide rail supporting blocks (310) are symmetrically arranged in parallel at two ends of the second linear guide rail seat (309), the second linear guide rail pair (311) is respectively arranged at two ends of the second linear guide rail seat (308) along the Y direction, the two ends of the first linear guide rail pair (311) are fixedly arranged at two ends of the first linear guide screw nut pair (306), the lower part structure of the second sliding platform (312) is provided with a transmission threaded hole which can be matched with the second screw nut pair (311).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321242561.3U CN219685607U (en) | 2023-05-22 | 2023-05-22 | Six-degree-of-freedom series-parallel assembly robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321242561.3U CN219685607U (en) | 2023-05-22 | 2023-05-22 | Six-degree-of-freedom series-parallel assembly robot |
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| Publication Number | Publication Date |
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| CN219685607U true CN219685607U (en) | 2023-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321242561.3U Active CN219685607U (en) | 2023-05-22 | 2023-05-22 | Six-degree-of-freedom series-parallel assembly robot |
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| Country | Link |
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| CN (1) | CN219685607U (en) |
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2023
- 2023-05-22 CN CN202321242561.3U patent/CN219685607U/en active Active
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