WO2017005015A1 - 一种含多轴转动支架的五自由度混联机器人 - Google Patents

一种含多轴转动支架的五自由度混联机器人 Download PDF

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Publication number
WO2017005015A1
WO2017005015A1 PCT/CN2016/077464 CN2016077464W WO2017005015A1 WO 2017005015 A1 WO2017005015 A1 WO 2017005015A1 CN 2016077464 W CN2016077464 W CN 2016077464W WO 2017005015 A1 WO2017005015 A1 WO 2017005015A1
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WO
WIPO (PCT)
Prior art keywords
adjusting device
length adjusting
rotating bracket
hinge
axis
Prior art date
Application number
PCT/CN2016/077464
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English (en)
French (fr)
Inventor
黄田
董成林
刘海涛
秦旭达
梅江平
刘祺
汪满新
Original Assignee
天津大学
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Application filed by 天津大学 filed Critical 天津大学
Priority to EP16820669.6A priority Critical patent/EP3195988B1/en
Priority to US15/397,793 priority patent/US9943967B2/en
Publication of WO2017005015A1 publication Critical patent/WO2017005015A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0066—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-spherical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39423—5-DOF

Definitions

  • the invention relates to a hybrid robot.
  • it relates to a five-degree-of-freedom hybrid robot including a multi-axis rotating bracket.
  • a space-mixing robot with a positioning head disclosed in the patents GB 2173472 (or EP 0200369, US Pat. No. 4,790, 718), SE 8 502 327 (or US Pat. No. 4,732, 725), and EP 0 674 969 (or US Pat. No. 6,633, 375), including three active adjustment devices that can be axially elongated or shortened; One end of the adjusting device is fastened to the fixing frame by a hinge, and the other end is connected to the moving platform through a hinge; there is also a slave adjusting device in the structure, and one end of the driven adjusting device is fixedly connected with the positioning head The other end is connected to the fixed frame by a hinge to limit some degrees of freedom of the positioning head.
  • Such a robot has a three-degree-of-freedom hinge due to the hinge of the active length adjusting device connected to the positioning head, and each length adjusting device is respectively connected to the frame through a two-degree-of-freedom hinge, resulting in a large number of mechanism hinges and a large number of members, and the structure complex.
  • An over-constrained high-rigidity multi-coordinate hybrid robot disclosed in the patent CN102699899 A also includes three active adjustment devices that can be elongated or shortened in the axial direction and a slave adjustment device; wherein the two active adjustment devices are single free
  • the hinge is connected to the movable platform, symmetrically disposed on the left and right sides of the driven adjusting device, and the moving planes of the two active adjusting devices and the driven adjusting device are the same plane; the other active adjusting device passes through three degrees of freedom
  • the ball hinge is connected to the moving platform and is disposed below the driven adjustment device.
  • the robot reduces the number of hinge degrees of freedom in the mechanism, but it is a strict constraint mechanism that imposes strict requirements on the manufacture and installation of components.
  • each length adjusting device is respectively connected to the frame through a two-degree-of-freedom hinge, so that the structure is complicated, the number of moving members is large, and the manufacturing process of the frame is complicated.
  • Patent CN1212221 C discloses a four-degree-of-freedom hybrid robot comprising a parallel mechanism having two degrees of freedom and a two-degree-of-freedom turret in series therewith.
  • the parallel part of the robot can only achieve planar motion, and it is necessary to connect the mechanism in translation or rotational freedom to achieve spatial motion.
  • the technical problem to be solved by the present invention is to provide a five-degree-of-freedom hybrid robot including a multi-axis rotating bracket that effectively reduces the number of components, reduces the manufacturing cost, and facilitates real-time control.
  • a five-degree-of-freedom hybrid robot including a multi-axis rotating bracket, comprising a positioning platform and a movable platform in which the end is connected in series with the positioning head, and a first length adjusting device and a second length adjustment
  • the device, the third length adjusting device and the fourth length adjusting device are further provided with a first rotating bracket and a second rotating bracket, wherein the two sides of the first rotating bracket are respectively rotatably connected by a degree of freedom hinge a fixed shaft seat, wherein the two sides of the second rotating bracket are respectively rotatably connected to a second fixed shaft seat by a degree of freedom hinge, one end of the first length adjusting device runs through the first rotating bracket
  • the middle portion is fixedly connected to the movable platform, and one ends of the second length adjusting device and the third length adjusting device are respectively connected to the movable platform through the second hinge and the third hinge through the first rotating bracket, the second length
  • the adjusting device and the third length adjusting device are symmetrically disposed
  • the fourth hinge is a ball hinge having three rotational degrees of freedom, and the three axes of rotation are not collinear but intersect at one point.
  • An axis of rotation connecting the first fixed axle seat and the first rotating bracket perpendicularly intersects an axis of rotation connecting the first rotating bracket and the first length adjusting device; connecting the second fixed axle seat and the second rotating bracket The rotation axis intersects perpendicularly to the rotation axis connecting the second rotation bracket and the fourth length adjustment device; connecting the rotation axis of the first length adjustment device and the first rotation bracket, connecting the second length adjustment device, and the first
  • the rotation axis of the rotating bracket and the three axes connecting the third length adjusting device and the rotating axis of the first rotating bracket are parallel to each other, and the moving planes of the first length adjusting device, the second length adjusting device and the third length adjusting device For the same plane.
  • the first rotating bracket includes an integrally formed central hole in the middle portion that can penetrate the first length adjusting device and is configured to realize a rotational connection between the first length adjusting device and the first rotating bracket, and is respectively located on both sides of the central hole a second side hole and a third side hole extending through the second length adjusting device and the third length adjusting device for realizing the rotational connection of the second length adjusting device and the third length adjusting device with the first rotating bracket, and respectively located at the first rotation
  • Two side end holes of the two sides of the bracket for realizing the rotational connection of the first rotating bracket and the two first fixed shaft bases, wherein the two side end holes are coaxial, the axis is a vertical axis, and the center hole
  • the axes of the second side hole and the third side hole are respectively a first horizontal axis, a second horizontal axis, and a third horizontal axis, and the three axes are parallel to each other, and the first horizontal axis and the vertical axis intersect perpendicularly.
  • the first length adjusting device includes: a first telescopic rod and an inner ring sleeved on the first telescopic rod, and an outer circumferential surface of the inner ring is formed to be hinged with the first rotating bracket a first connecting pin shaft, wherein the first telescopic rod is fixedly disposed with a guide rail in an axial direction, and an inner peripheral surface of the inner ring is fixedly disposed corresponding to the guide rail and slidably embedded in the guide rail
  • the first telescopic rod and the inner ring constitute a slider of the moving pair.
  • the second length adjusting device, the third length adjusting device and the fourth length adjusting device are identical in structure, and each comprises: an outer tube, a servo motor and a second telescopic rod, the servo motor is connected at one end of the outer tube, the first One end of the two telescopic rods is inserted into the other end of the outer tube, wherein the outer peripheral surface of the outer tube is provided with a second connecting pin for articulating with the first rotating bracket or the second rotating bracket.
  • the second telescopic rod is axially disposed with a keyway, and an inner circumferential surface of the outer tube is fixedly coupled to be inserted into the key groove, and cooperates with the key groove to move the outer tube and the second telescopic rod a pair of guiding keys, the end of the second telescopic rod inserted into the outer tube is fixedly connected with a nut, the driving portion of the servo motor is connected with a screw, and the nut is screwed with the screw rod to form a spiral moving pair, thereby realizing
  • the second telescopic rod moves back and forth with respect to the outer tube, and the other end of the second telescopic rod is correspondingly connected with the second hinge or the third hinge or the fourth hinge.
  • the second hinge and the third hinge are both hinges having a rotational degree of freedom; the rotation axis connecting the second length adjusting device and the moving platform and the rotation axis connecting the third length adjusting device and the moving platform respectively And the rotation axis connecting the first length adjusting device and the first rotating bracket is parallel to each other.
  • the second hinge and the third hinge are both hinges having two rotational degrees of freedom, and the rotational axes of the two rotational degrees of freedom are not collinear but intersect at one point.
  • the second hinge and the third hinge are both ball hinges having three rotational degrees of freedom, and the axes of rotation of the three rotational degrees of freedom are not collinear but intersect at one point.
  • the second length adjusting device, the third length adjusting device and the fourth length adjusting device can also replace the servo motor with a hydraulic or pneumatic driving structure.
  • the first, second and third length adjusting devices share the same rotating bracket, and the number of hinge degrees of freedom in the mechanism is reduced by six compared with the robot disclosed in the patent SE8502327, compared with the robot disclosed in the patent CN102699899 A.
  • the number of hinge degrees of freedom in the mechanism is reduced by two, which effectively reduces the number of components and reduces the manufacturing cost;
  • the mounting holes on the first rotating bracket are in horizontal or vertical direction, and have good manufacturing and assembly processability
  • the motion planes of the first, second and third length adjusting devices are coplanar, so that the kinematics positive and negative solutions have analytical solutions, which are convenient for real-time control;
  • the second hinge and the third hinge have various implementations to facilitate trade-offs for different operating conditions.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • Figure 2 is a rear elevational view of Figure 1;
  • Figure 3a is a schematic structural view of a first rotating bracket of the present invention.
  • Figure 3b is a schematic cross-sectional view of the A-A of Figure 3a;
  • Figure 4 is a schematic structural view of a first length adjusting device of the present invention.
  • Figure 5 is a schematic structural view of the second, third, and fourth length adjusting devices of the present invention.
  • Figure 6 is a schematic cross-sectional view of the B-B of Figure 5;
  • FIG. 7 is a schematic structural view of Embodiment 1 of the present invention.
  • Figure 8 is a schematic structural view of Embodiment 2 of the present invention.
  • Figure 9 is a schematic structural view of Embodiment 3 of the present invention.
  • Figure 10 is a schematic view showing the structure of a fourth embodiment of the present invention.
  • first length adjusting device 23 second length adjusting device
  • Axis11 vertical axis axis13: first horizontal axis
  • Axis23 second horizontal axis axis33: third horizontal axis
  • a five-degree-of-freedom hybrid robot including a multi-axis rotating bracket includes a positioning head 6 and a movable platform 5 whose end is connected in series with the positioning head 6, and a first length adjusting device. 13.
  • Each of the two ends of the first rotating bracket 12 is rotatably connected to a first fixed axle seat 11 by a degree of freedom hinge, and the two ends of the second rotating bracket 42 are respectively rotated by a degree of freedom hinge
  • a second fixed axle seat 41 is connected, one end of the first length adjusting device 13 is fixedly connected to the movable platform 5 through the middle of the first rotating bracket 12, the second length adjusting device 23 and the third length adjusting
  • One end of the device 33 is connected to the movable platform 5 through the second hinge 24 and the third hinge 34 respectively through the first rotating bracket 12, and the second length adjusting device 23 and the third length adjusting device 33 are symmetrically disposed on
  • the central portions of the first length adjusting device 13, the second length adjusting device 23 and the third length adjusting device 33 are respectively connected to the first rotating bracket by a hinge having a rotational degree of freedom 12
  • one end of the fourth length adjusting device 43 is connected to the moving platform 5 through the fourth hinge 44 through the second rotating bracket 42 , and the fourth length adjusting
  • the fourth hinge 44 is a ball hinge with three degrees of rotational freedom, and the three axes of rotation are not collinear but intersect at one point.
  • the middle portion of the fourth length adjusting device 43 is rotatably coupled to the second rotating bracket 42 by a rotational degree of freedom.
  • the second hinge 24 and the third hinge 34 are both hinges having a rotational degree of freedom; connecting the second length adjusting device 23 with the rotation axis of the moving platform 5 and connecting the third length adjusting device 33 with the movement
  • the axis of rotation of the platform 5 is parallel to the axis of rotation of the first length adjusting device 13 and the first rotating bracket 12, respectively.
  • the second hinge 24 and the third hinge 34 are hinges having two rotational degrees of freedom, and the rotational axes of the two rotational degrees of freedom are not collinear but intersect at one point.
  • the second hinge 24 and the third hinge 34 are ball hinges having three rotational degrees of freedom, and the axes of rotation of the three rotational degrees of freedom are not collinear but intersect at one point.
  • An axis of rotation connecting the first fixed axle mount 11 and the first rotating bracket 12 perpendicularly intersects an axis of rotation connecting the first rotating bracket 12 and the first length adjusting device 13; connecting the second fixed axle seat 41 and The rotation axis of the second rotating bracket 42 is perpendicular to the rotation axis connecting the second rotating bracket 42 and the fourth length adjusting device 43; the rotation axis and the connection of the first length adjusting device 13 and the first rotating bracket 12 are connected
  • the second length adjusting device 23 and the The axis of rotation of a rotating bracket 12 and the three axes connecting the third length adjusting device 33 and the axis of rotation of the first rotating bracket 12 are parallel to each other, the first length adjusting device 13, the second length adjusting device 23 and the third The plane of motion of the length adjusting device 33 is the same plane.
  • the first rotating bracket 12 has four shafts, and five mounting holes are formed, including: an integrally formed central portion capable of penetrating the first length adjusting device 13 and used for implementing the first
  • a central hole 123 rotatably connected to the first rotating bracket 12 on the two sides of the central hole 123 can penetrate the second length adjusting device 23 and the third length adjusting device 33 and be used to implement the second length adjusting device
  • the second side hole 124 and the third side hole 125 which are rotatably connected to the first rotating bracket 12 and the third side adjusting device 33 are respectively located at two side ends of the first rotating bracket 12 for realizing the first rotating bracket 12 and two
  • the two fixed end seats 11 are rotatably connected to the two side end holes 122, 121, wherein the two side end holes 122, 121 are coaxial, the axis is the vertical axis axis11, the center hole 123, the second side
  • the axes of the holes 124 and the third side holes 125 are respectively a first horizontal
  • the first length adjusting device 13 includes a first telescopic rod 131 and an inner ring 132 sleeved on the first telescopic rod 131.
  • the outer circumference of the inner ring 132 is formed.
  • a rail 133 is fixedly disposed on the first telescopic rod 131 in the axial direction, and an inner circumferential surface of the inner ring 132 corresponds to the The guide rail 133 is fixedly provided with a slider 134 that is slidably fitted in the guide rail 133 such that the first telescopic rod 131 and the inner ring 132 constitute a moving pair.
  • the second length adjusting device 23, the third length adjusting device 33 and the fourth length adjusting device 43 have the same structure, and all include: an outer tube 232/332/432, a servo motor 231/ 331/431 and a second telescopic rod 233/333/433, the servo motor 231/31/431 is connected to one end of the outer tube 232/332/432, and one end of the second telescopic rod 233/333/433 is inserted at the end In the other end of the outer tube 232/332/432, wherein the outer peripheral surface of the outer tube 232/332/432 is provided with a second hinge for articulating with the first rotating bracket 12 or the second rotating bracket 42 Connecting pins 238/338/438, the second telescopic rods 233/333/433 are axially disposed with key grooves 237/337/437, and the inner peripheral surfaces of the outer tubes 232/332/432 are fixedly connected There is a guide key 234/ which can be
  • the second length adjusting device 23, the third length adjusting device 33, and the fourth length adjusting device 43 can also replace the servo motors 231/311/431 with a hydraulic or pneumatic driving structure.
  • the piston rod in the hydraulic or pneumatic driving structure is connected to the second telescopic rods 233/333/433, and the second telescopic rods 233/333/433 are moved back and forth relative to the outer tubes 232/332/432.
  • the two first fixed axle seats 11 and the two second fixed axle seats 41 are respectively fixed to the frame, and are equipped with a horizontal long-travel guide rail to construct a mobile workstation as shown in FIG.
  • the two first fixed axle seats 11 and the two second fixed axle seats 41 are fixed to the frame with long-travel guide rails in the vertical direction and the horizontal direction, and the manufacturing equipment shown in FIG. 8 can be built.
  • the five-degree-of-freedom hybrid robot module of the present invention is placed on a conventional gantry structure, and the manufacturing equipment and system as shown in FIG. 9 can be constructed.
  • the two first fixed axle seats 11 are fixed to the frame, and the two second fixed axle seats 41 are fixed to the two curved sliders.
  • the frame is mounted with an arc-shaped guide rail, and the driver drives The second fixed axle seat 41 moves along the curved guide rail, and the overall rotation of the five-degree-of-freedom hybrid robot module can be realized to obtain a manufacturing equipment having a larger working space of the rack.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

一种含多轴转动支架的五自由度混联机器人，在第一转动支架（12）的两侧端各通过一自由度铰链旋转地连接有第一固定轴座（11），第二转动支架（42）的两侧端各通过一自由度铰链旋转地连接有第二固定轴座（41），第一长度调节装置（13）的一端贯穿第一转动支架与动平台（5）固定连接，第二长度调节装置（23）和第三长度调节装置（33）设置于第一长度调节装置（13）的两侧，且一端分别贯穿第一转动支架（12）与动平台（5）连接，第一长度调节装置（13）、第二长度调节装置（23）和第三长度调节装置（33）的中部分别铰接在第一转动支架（12）上，第四长度调节装置（43）的一端贯穿第二转动支架（42）与动平台（5）连接，第四长度调节装置（43）的中部铰接在第二转动支架（42）上。该机器人减少了构件数目、降低了制造成本，具有良好的制造和装配工艺性。

Description

一种含多轴转动支架的五自由度混联机器人 技术领域
本发明涉及一种混联机器人。特别是涉及一种含多轴转动支架的五自由度混联机器人。
背景技术
专利GB2173472(或EP0200369、US4790718)、SE8502327(或US4732525)和EP0674969(或US6336375)所公开的一类带定位头的空间混联机器人，包括三个可沿轴向伸长或缩短的主动调节装置；所述调节装置的一端通过铰链紧固于固定架上，另一端通过铰链与动平台连接；该结构中还有一从动调节装置，所述的从动调节装置一端与所述的定位头固定连接，另端通过铰链与固定架连接，以限制定位头的某几个自由度。然而，此类机器人由于与连接定位头的主动长度调节装置的铰链为三自由度铰链，且各长度调节装置分别通过一个二自由度铰链与机架连接，导致机构铰链数目和构件数目居多，结构复杂。
专利CN102699899 A所公开的一种过约束高刚度多坐标混联机器人，同样包括三个可沿轴向伸长或缩短的主动调节装置和一条从动调节装置；其中两条主动调节装置通过单自由度铰链与动平台连接，对称地设置在从动调节装置的左右两侧，且所述两条主动调节装置和从动调节装置的运动平面为同一平面；另外一个主动调节装置通过三自由度的球铰链与动平台连接，设置在从动调节装置的下方。该机器人减少了机构中铰链自由度数目，但为过约束机构，对零部件的制造和安装有很严格的要求。此外，各长度调节装置分别通过一个二自由度铰链与机架连接，使得结构复杂、运动构件数量较多，而且机架制造工艺比较复杂。
专利CN1212221 C公开了一种四自由度混联机器人，由具有两自由度的并联机构和与之串联的二自由度转头组成。然而此机器人的并联部分仅能实现平面运动，需要串接在平动或转动自由度的机构上才能实现空间运动。
发明内容
本发明所要解决的技术问题是，提供一种有效地减少了构件数目、降低了制造成本，便于实时控制的含多轴转动支架的五自由度混联机器人。
本发明所采用的技术方案是：一种含多轴转动支架的五自由度混联机器人，包括有定位头和末端与定位头串接的动平台，以及第一长度调节装置、第二长度调节装置、第三长度调节装置和第四长度调节装置，还设置有第一转动支架和第二转动支架，所述第一转动支架的两侧端分别各通过一自由度铰链旋转地连接有一个第一固定轴座，所述第二转动支架的两侧端分别各通过一自由度铰链旋转地连接有一个第二固定轴座，所述第一长度调节装置的一端贯穿所述第一转动支架的中部与动平台固定连接，所述第二长度调节装置和第三长度调节装置的一端分别贯穿所述第一转动支架对应地通过第二铰链和第三铰链与动平台连接，所述第二长度调节装置和第三长度调节装置对称地设置于第一长度调节装置的两侧，所述第一长度调节装置、第二长度调节装置和第三长度调节装置的中部分别各通过具有一个转动自由度的铰链连接在第一转动支架上，所述第四长度调节装置的一端贯穿第二转动支架通过第四铰链 与动平台连接，所述第四长度调节装置的中部通过具有一个转动自由度铰链旋转地连接在第二转动支架上。
所述第四铰链为具有三个转动自由度的球铰链，且三个转动轴线不共线但相交于一点。
连接所述第一固定轴座和第一转动支架的转动轴线与连接所述第一转动支架和第一长度调节装置的转动轴线垂直相交；连接所述第二固定轴座和第二转动支架的转动轴线与连接所述第二转动支架和第四长度调节装置的转动轴线垂直相交；连接所述第一长度调节装置和第一转动支架的转动轴线、连接所述第二长度调节装置和第一转动支架的转动轴线以及连接所述第三长度调节装置与第一转动支架的转动轴线这三条轴线相互平行，所述第一长度调节装置、第二长度调节装置和第三长度调节装置的运动平面为同一平面。
所述第一转动支架包括有一体形成的位于中部的能够贯穿第一长度调节装置并用于实现第一长度调节装置与第一转动支架旋转连接的中心孔，位于所述中心孔的两侧分别能够贯穿第二长度调节装置和第三长度调节装置并用于实现第二长度调节装置和第三长度调节装置与第一转动支架旋转连接的第二侧孔和第三侧孔，以及分别位于第一转动支架两侧端的用于实现第一转动支架与两个第一固定轴座旋转连接的两个侧端孔，其中，所述的两个侧端孔同轴，轴线为纵轴，所述中心孔、第二侧孔和第三侧孔的轴线分别为第一横轴、第二横轴、第三横轴且三条轴线相互平行，所述第一横轴和纵轴垂直相交。
所述的第一长度调节装置包括有：第一伸缩杆和套在所述第一伸缩杆上的内圈，所述内圈的外周面上形成有用于与所述的第一转动支架铰接的第一连接销轴，所述的第一伸缩杆上沿轴向固定设置有导轨，所述内圈的内周面上对应所述导轨固定设置有能够滑动地嵌入在所述导轨内使所述第一伸缩杆与所述内圈构成移动副的滑块。
所述的第二长度调节装置、第三长度调节装置和第四长度调节装置结构相同，均包括：外管，伺服电机和第二伸缩杆，所述伺服电机连接在外管的一端，所述第二伸缩杆的一端插入在所述外管的另一端内，其中，所述外管的外周面上设置有用于与所述的第一转动支架或第二转动支架铰接的第二连接销轴，所述的第二伸缩杆上沿轴向设置有键槽，所述外管的内周面上固定连接有能够嵌入到所述键槽内，并与键槽配合，使外管和第二伸缩杆构成移动副的导向键，所述第二伸缩杆插入到外管内的这一端固定连接有螺母，所述伺服电机的驱动部连接丝杠，所述螺母与所述丝杆螺纹连接构成螺旋移动副，实现第二伸缩杆相对外管前后移动，所述第二伸缩杆的另一端对应连接第二铰链或第三铰链或第四铰链。
所述的第二铰链和第三铰链均为具有一个转动自由度的铰链；连接所述第二长度调节装置与动平台的转动轴线和连接所述第三长度调节装置与动平台的转动轴线分别与连接所述第一长度调节装置与第一转动支架的转动轴线相互平行。
所述的第二铰链和第三铰链均为具有两个转动自由度的铰链，且两个转动自由度的转动轴线不共线但相交于一点。
所述的第二铰链和第三铰链均为具有三个转动自由度的球铰链，且三个转动自由度的转动轴线不共线但相交于一点。
所述的第二长度调节装置、第三长度调节装置和第四长度调节装置还能够采用液压或气压驱动结构替换伺服电机。
本发明的一种含多轴转动支架的五自由度混联机器人，具有如下优点和积极效果：
1.第一、第二和第三长度调节装置共用同一个转动支架，与专利SE8502327所公开的机器人相比，机构中铰链自由度数目减少了6个，与专利CN102699899 A所公开机器人相比，机构中铰链自由度数目减少了2个，有效地减少了构件数目、降低了制造成本；
2.采用四个固定轴座代替静平台可大幅度减少整机质量，且可将其安装到不同的机架上，以便搭建不同的装备和制造系统；同时，这样的结构设计也使得在第一固定轴座和第一转动支架连接的转动副、第一转动支架和第一长度调节装置连接的转动副、第一长度调节装置内的移动副处很方便地安装角度编码器或者光栅尺，以便实现闭环控制；
3.第一转动支架上的安装孔均在水平或竖直方向，具有良好的制造和装配工艺性；
4.第一、第二、第三长度调节装置的运动平面共面，使得运动学正、逆解均具有解析解，便于实时控制；
5.第二铰链和第三铰链具有多种实现形式，便于针对不同工况权衡选择。
附图说明
图1是本发明的整体结构示意图；
图2是图1的后视图；
图3a是本发明第一转动支架的结构示意图；
图3b是图3a的A-A剖面结构示意图；
图4是本发明第一长度调节装置结构示意图；
图5是本发明第二、第三、第四长度调节装置结构示意图；
图6是图5的B-B截面结构示意图；
图7是本发明实施例1的结构示意图；
图8是本发明实施例2的结构示意图；
图9是本发明实施例3的结构示意图；
图10是本发明实施例4的结构示意图。
图中：
5：动平台                    6：定位头；
11：第一固定轴座             12：第一转动支架
13：第一长度调节装置         23：第二长度调节装置
24：第二铰链                 33：第三长度调节装置
34：第三铰链                 41：第二固定轴座
42：第二转动支架             43：第四长度调节装置
44：第四铰链                 131：第一伸缩杆
132：内圈                    133：导轨，
134：滑块                    135：第一连接销轴
231/331/431：伺服电机        232/332/432：外管
233/333/433：第二伸缩杆      234/334/434：导向键
235/335/435：丝杠            236/336/436：螺母
237/337/437：键槽            238/338/438：第二连接销轴
121、122：侧端孔             123：中心孔
124：第二侧孔                125：第三侧孔
axis11：纵轴                 axis13：第一横轴
axis23：第二横轴             axis33：第三横轴
具体实施方式
下面结合实施例和附图对本发明的一种含多轴转动支架的五自由度混联机器人做出详细说明。
如图1、图2所示，本发明的一种含多轴转动支架的五自由度混联机器人，包括有定位头6和末端与定位头6串接的动平台5，第一长度调节装置13、第二长度调节装置23、第三长度调节装置33和第四长度调节装置43，以及第一转动支架12和第二转动支架42，所述的串接在动平台5末端的定位头6为二自由度A/C摆头。所述第一转动支架12的两侧端分别各通过一自由度铰链旋转地连接有一个第一固定轴座11，所述第二转动支架42的两侧端分别各通过一自由度铰链旋转地连接有一个第二固定轴座41，所述第一长度调节装置13的一端贯穿所述第一转动支架12的中部与动平台5固定连接，所述第二长度调节装置23和第三长度调节装置33的一端分别贯穿所述第一转动支架12对应地通过第二铰链24和第三铰链34与动平台5连接，所述第二长度调节装置23和第三长度调节装置33对称地设置于第一长度调节装置13的两侧，所述第一长度调节装置13、第二长度调节装置23和第三长度调节装置33的中部分别各通过具有一个转动自由度的铰链连接在第一转动支架12上，所述第四长度调节装置43的一端贯穿第二转动支架42通过第四铰链44与动平台5连接，所述第四长度调节装置43设置在第一长度调节装置13的下方，所述第四铰链44为具有三个转动自由度的球铰链，且三个转动轴线不共线但相交于一点。所述第四长度调节装置43的中部通过具有一个转动自由度铰链旋转地连接在第二转动支架42上。
所述的第二铰链24和第三铰链34均为具有一个转动自由度的铰链；连接所述第二长度调节装置23与动平台5的转动轴线和连接所述第三长度调节装置33与动平台5的转动轴线分别与连接所述第一长度调节装置13与第一转动支架12的转动轴线相互平行。
或者是，所述的第二铰链24和第三铰链34均为具有两个转动自由度的铰链，且两个转动自由度的转动轴线不共线但相交于一点。
或者是，所述的第二铰链24和第三铰链34均为具有三个转动自由度的球铰链，且三个转动自由度的转动轴线不共线但相交于一点。
连接所述第一固定轴座11和第一转动支架12的转动轴线与连接所述第一转动支架12和第一长度调节装置13的转动轴线垂直相交；连接所述第二固定轴座41和第二转动支架42的转动轴线与连接所述第二转动支架42和第四长度调节装置43的转动轴线垂直相交；连接所述第一长度调节装置13和第一转动支架12的转动轴线、连接所述第二长度调节装置23和第 一转动支架12的转动轴线以及连接所述第三长度调节装置33与第一转动支架12的转动轴线这三条轴线相互平行，所述第一长度调节装置13、第二长度调节装置23和第三长度调节装置33的运动平面为同一平面。
如图3a、图3b所示，所述第一转动支架12上有四个轴，加工有五个安装孔，包括：一体形成的位于中部的能够贯穿第一长度调节装置13并用于实现第一长度调节装置13与第一转动支架12旋转连接的中心孔123，位于所述中心孔123的两侧分别能够贯穿第二长度调节装置23和第三长度调节装置33并用于实现第二长度调节装置23和第三长度调节装置33与第一转动支架12旋转连接的第二侧孔124和第三侧孔125，以及分别位于第一转动支架12两侧端的用于实现第一转动支架12与两个第一固定轴座11旋转连接的两个侧端孔122、121，其中，所述的两个侧端孔122、121同轴，轴线为纵轴axis11，所述中心孔123、第二侧孔124和第三侧孔125的轴线分别为第一横轴axis13、第二横轴axis23、第三横轴axis33且三条轴线相互平行，所述第一横轴axis13和纵轴axis11垂直相交。
如图4所示，所述的第一长度调节装置13包括有：第一伸缩杆131和套在所述第一伸缩杆131上的内圈132，所述内圈132的外周面上形成有用于与所述的第一转动支架12铰接的第一连接销轴135，所述的第一伸缩杆131上沿轴向固定设置有导轨133，所述内圈132的内周面上对应所述导轨133固定设置有能够滑动地嵌入在所述导轨133内使所述第一伸缩杆131与所述内圈132构成移动副的滑块134。
如图5、图6所示，所述的第二长度调节装置23、第三长度调节装置33和第四长度调节装置43结构相同，均包括：外管232/332/432，伺服电机231/331/431和第二伸缩杆233/333/433，所述伺服电机231/331/431连接在外管232/332/432的一端，所述第二伸缩杆233/333/433的一端插入在所述外管232/332/432的另一端内，其中，所述外管232/332/432的外周面上设置有用于与所述的第一转动支架12或第二转动支架42铰接的第二连接销轴238/338/438，所述的第二伸缩杆233/333/433上沿轴向设置有键槽237/337/437，所述外管232/332/432的内周面上固定连接有能够嵌入到所述键槽237/337/437内，并与键槽237/337/437配合，使外管232/332/432和第二伸缩杆233/333/433构成移动副的导向键234/334/434，所述第二伸缩杆233/333/433插入到外管232/332/432内的这一端固定连接有螺母236/336/436，所述伺服电机231/331/431的驱动部连接丝杠235/335/435，所述螺母236/336/436与所述丝杆235/335/435螺纹连接构成螺旋移动副，实现第二伸缩杆233/333/433相对外管232/332/432前后移动，所述第二伸缩杆233/333/433的另一端对应连接第二铰链24或第三铰链34或第四铰链44。
所述的第二长度调节装置23、第三长度调节装置33和第四长度调节装置43还能够采用液压或气压驱动结构替换伺服电机231/331/431。这时，所述的液压或气压驱动结构中的活塞杆连接所述第二伸缩杆233/333/433，实现第二伸缩杆233/333/433相对外管232/332/432前后移动。
下面给出本发明的一种含多轴转动支架的五自由度混联机器人实际应用的实施例。
实施例1：
将两个第一固定轴座11、两个第二固定轴座41分别固定到机架上，并配以水平方向的长行程导轨，可搭建如图7所示的移动工作站。
实施例2：
将两个第一固定轴座11、两个第二固定轴座41固定到机架上，配以竖直方向和水平方向的长行程导轨，可搭建如图8所示的制造装备。
实施例3：
将本发明的五自由度混联机器人模块，置于传统的龙门结构之上，可搭建如图9所示的制造装备与系统。
实施例4：
如图10所示，将两个第一固定轴座11固定到机架上，两个第二固定轴座41固定到两个弧形滑块上，机架上安装有弧形导轨，驱动器带动第二固定轴座41沿弧形导轨运动，可实现所述五自由度混联机器人模块的整体旋转，以得到具有更大工作空间机架占地比的制造装备。
尽管上面结合附图对本发明的优选实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，并不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可以作出很多形式，这些均属于本发明的保护范围之内。

Claims (10)

  1. 一种含多轴转动支架的五自由度混联机器人，包括有定位头(6)和末端与定位头(6)串接的动平台(5)，以及第一长度调节装置(13)、第二长度调节装置(23)、第三长度调节装置(33)和第四长度调节装置(43)，其特征在于，还设置有第一转动支架(12)和第二转动支架(42)，所述第一转动支架(12)的两侧端分别各通过一自由度铰链旋转地连接有一个第一固定轴座(11)，所述第二转动支架(42)的两侧端分别各通过一自由度铰链旋转地连接有一个第二固定轴座(41)，所述第一长度调节装置(13)的一端贯穿所述第一转动支架(12)的中部与动平台(5)固定连接，所述第二长度调节装置(23)和第三长度调节装置(33)的一端分别贯穿所述第一转动支架(12)对应地通过第二铰链(24)和第三铰链(34)与动平台(5)连接，所述第二长度调节装置(23)和第三长度调节装置(33)对称地设置于第一长度调节装置(13)的两侧，所述第一长度调节装置(13)、第二长度调节装置(23)和第三长度调节装置(33)的中部分别各通过具有一个转动自由度的铰链连接在第一转动支架(12)上，所述第四长度调节装置(43)的一端贯穿第二转动支架(42)通过第四铰链(44)与动平台(5)连接，所述第四长度调节装置(43)的中部通过具有一个转动自由度铰链旋转地连接在第二转动支架(42)上。
  2. 根据权利要求1所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，所述第四铰链(44)为具有三个转动自由度的球铰链，且三个转动轴线不共线但相交于一点。
  3. 根据权利要求1所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，连接所述第一固定轴座(11)和第一转动支架(12)的转动轴线与连接所述第一转动支架(12)和第一长度调节装置(13)的转动轴线垂直相交；连接所述第二固定轴座(41)和第二转动支架(42)的转动轴线与连接所述第二转动支架(42)和第四长度调节装置(43)的转动轴线垂直相交；连接所述第一长度调节装置(13)和第一转动支架(12)的转动轴线、连接所述第二长度调节装置(23)和第一转动支架(12)的转动轴线以及连接所述第三长度调节装置(33)与第一转动支架(12)的转动轴线这三条轴线相互平行，所述第一长度调节装置(13)、第二长度调节装置(23)和第三长度调节装置(33)的运动平面为同一平面。
  4. 根据权利要求1所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，所述第一转动支架(12)包括有一体形成的位于中部的能够贯穿第一长度调节装置(13)并用于实现第一长度调节装置(13)与第一转动支架(12)旋转连接的中心孔(123)，位于所述中心孔(123)的两侧分别能够贯穿第二长度调节装置(23)和第三长度调节装置(33)并用于实现第二长度调节装置(23)和第三长度调节装置(33)与第一转动支架(12)旋转连接的第二侧孔(124)和第三侧孔(125)，以及分别位于第一转动支架(12)两侧端的用于实现第一转动支架(12)与两个第一固定轴座(11)旋转连接的两个侧端孔(122、121)，其中，所述的两个侧端孔(122、121)同轴，轴线为纵轴(axis11)，所述中心孔(123)、第二侧孔(124)和第三侧孔(125)的轴线分别为第一横轴(axis13)、第二横轴(axis23)、第 三横轴(axis33)且三条轴线相互平行，所述第一横轴(axis13)和纵轴(axis11)垂直相交。
  5. 根据权利要求1所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，所述的第一长度调节装置(13)包括有：第一伸缩杆(131)和套在所述第一伸缩杆(131)上的内圈(132)，所述内圈(132)的外周面上形成有用于与所述的第一转动支架(12)铰接的第一连接销轴(135)，所述的第一伸缩杆(131)上沿轴向固定设置有导轨(133)，所述内圈(132)的内周面上对应所述导轨(133)固定设置有能够滑动地嵌入在所述导轨(133)内使所述第一伸缩杆(131)与所述内圈(132)构成移动副的滑块(134)。
  6. 根据权利要求1所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，所述的第二长度调节装置(23)、第三长度调节装置(33)和第四长度调节装置(43)结构相同，均包括：外管(232/332/432)，伺服电机(231/331/431)和第二伸缩杆(233/333/433)，所述伺服电机(231/331/431)连接在外管(232/332/432)的一端，所述第二伸缩杆(233/333/433)的一端插入在所述外管(232/332/432)的另一端内，其中，所述外管(232/332/432)的外周面上设置有用于与所述的第一转动支架(12)或第二转动支架(42)铰接的第二连接销轴(238/338/438)，所述的第二伸缩杆(233/333/433)上沿轴向设置有键槽(237/337/437)，所述外管(232/332/432)的内周面上固定连接有能够嵌入到所述键槽(237/337/437)内，并与键槽(237/337/437)配合，使外管(232/332/432)和第二伸缩杆(233/333/433)构成移动副的导向键(234/334/434)，所述第二伸缩杆(233/333/433)插入到外管(232/332/432)内的这一端固定连接有螺母(236/336/436)，所述伺服电机(231/331/431)的驱动部连接丝杠(235/335/435)，所述螺母(236/336/436)与所述丝杆(235/335/435)螺纹连接构成螺旋移动副，实现第二伸缩杆(233/333/433)相对外管(232/332/432)前后移动，所述第二伸缩杆(233/333/433)的另一端对应连接第二铰链(24)或第三铰链(34)或第四铰链(44)。
  7. 根据权利要求1所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，所述的第二铰链(24)和第三铰链(34)均为具有一个转动自由度的铰链；连接所述第二长度调节装置(23)与动平台(5)的转动轴线和连接所述第三长度调节装置(33)与动平台(5)的转动轴线分别与连接所述第一长度调节装置(13)与第一转动支架(12)的转动轴线相互平行。
  8. 根据权利要求1所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，所述的第二铰链(24)和第三铰链(34)均为具有两个转动自由度的铰链，且两个转动自由度的转动轴线不共线但相交于一点。
  9. 根据权利要求1所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，所述的第二铰链(24)和第三铰链(34)均为具有三个转动自由度的球铰链，且三个转动自由度的转动轴线不共线但相交于一点。
  10. 根据权利要求6所述的一种含多轴转动支架的五自由度混联机器人，其特征在于，所述的第二长度调节装置(23)、第三长度调节装置(33)和第四长度调节装置(43)还能够采用液压或气压驱动结构替换伺服电机(231/331/431)。
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