WO2020125043A1 - 具有空间支链结构的两自由度并联机器人 - Google Patents

具有空间支链结构的两自由度并联机器人 Download PDF

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Publication number
WO2020125043A1
WO2020125043A1 PCT/CN2019/101544 CN2019101544W WO2020125043A1 WO 2020125043 A1 WO2020125043 A1 WO 2020125043A1 CN 2019101544 W CN2019101544 W CN 2019101544W WO 2020125043 A1 WO2020125043 A1 WO 2020125043A1
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sub
end bracket
shafts
degree
driving
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PCT/CN2019/101544
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English (en)
French (fr)
Inventor
孟齐志
刘辛军
谢福贵
汪劲松
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清华大学
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Priority to US16/632,372 priority Critical patent/US11312005B2/en
Publication of WO2020125043A1 publication Critical patent/WO2020125043A1/zh

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    • 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
    • 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
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
    • 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
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • 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

Definitions

  • the invention relates to the field of parallel robots, in particular to a two-degree-of-freedom parallel robot with a spatial branch chain structure.
  • a parallel mechanism is a closed-loop structure composed of two or more kinematic branches. It has the advantages of compact structure, high rigidity, and large load-bearing capacity. It has become one of the ideal choices for robot and machine tool design.
  • the parallel mechanism in the related art realizes two degrees of freedom in the plane, there are still some problems that need to be solved, such as kinematics and structural complexity brought by redundant and passively constrained branch chains.
  • a parallel robot disclosed in the prior art it is proposed to use parallel moving members on the active arm to improve the kinematics performance, but this technical solution still needs to be improved.
  • the present invention aims to solve one of the technical problems in the related art at least to a certain extent.
  • the present invention proposes a two-degree-of-freedom parallel robot with a spatial branched chain structure.
  • the two-degree-of-freedom parallel robot has the characteristics of compact structure, easy assembly, high control accuracy, and large working space. Can achieve high speed, high acceleration characteristics.
  • a two-degree-of-freedom parallel robot with a spatial branch chain structure includes: a fixed platform; two driving devices, each of which includes an active arm and a driving unit for driving the active arm to rotate ,
  • the driving unit is set on the fixed platform, the two active arms are located in the same reference plane;
  • the moving platform the moving platform has a main plane that is always perpendicular to the reference plane;
  • the sub-branches each The sub-branches are connected between the active arm and the moving platform, and each of the sub-branches includes: two shafts of equal length and two chains of equal length, and two shafts
  • the rods are arranged in parallel, one of the two shafts is arranged on the active arm and the other is arranged on the moving platform, and the two ends of the two chain rods are respectively connected to the two shafts to form a parallel
  • a quadrilateral each of the shaft and each of the links is spherically articulated; wherein at least one of the active arms is hinged with an end bracket, and the end bracket
  • the arrangement of the two sides of the end bracket that is, the active arm-reinforcement rod combination rod and the double branch chain combination rod, affects the parallel robot. High rigidity, high control accuracy, easy assembly, performance consistency and retention are all outstanding.
  • At least one torsion bar is connected between two of the chain bars, and the torsion bar is equal to the shaft bar and arranged in parallel.
  • each of the chain rods is provided with a sliding hole extending along its length direction, and the rotating shaft of the torsion-resistant rod is penetrated in the sliding hole.
  • the moving platform includes a center plate and a plurality of pairs of ear plates, each pair of the ear plates is connected to the outer periphery of the center plate, and each pair of the ear plates includes two spaced apart ear holes Each ear plate, each of the shafts is connected to the ear holes of a pair of the ear plates.
  • the active arm is provided with a weight reduction hole.
  • the end bracket includes a support plate on which the active arm is hinged; a pair of upper extension ears, and a pair of the upper extension ears are provided on one side of the support plate,
  • the reinforcing rod is hinged between a pair of the upper extension ears; two pairs of lower extension ears, two pairs of the lower extension ears are connected to the other side of the support plate, and one pair is connected to each pair of the lower extension ears
  • the shaft of the sub-branched chain is a support plate on which the active arm is hinged; a pair of upper extension ears, and a pair of the upper extension ears are provided on one side of the support plate,
  • the reinforcing rod is hinged between a pair of the upper extension ears; two pairs of lower extension ears, two pairs of the lower extension ears are connected to the other side of the support plate, and one pair is connected to each pair of the lower extension ears.
  • FIG. 1 is a structural schematic diagram of a two-degree-of-freedom parallel robot with a spatial branched chain structure according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic structural view of a two-degree-of-freedom parallel robot with a spatial branch chain structure according to Embodiment 2 of the present invention
  • FIG. 3 is an enlarged view of the circled area A in FIG. 2;
  • FIG. 4 is an enlarged view of the area B in FIG. 2.
  • Sub-branch 3 shaft 31, upper shaft 311, lower shaft 312, chain 32, sliding hole 321, torsion bar 33,
  • End bracket 5 support plate 51, upper extension ear 52, lower extension ear 53,
  • first and second are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.
  • the features defined as “first” and “second” may include at least one of the features explicitly or implicitly.
  • the meaning of “plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • connection In the present invention, unless otherwise clearly specified and defined, the terms “installation”, “connection”, “connection”, “fixation” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , Or integrated; it can be mechanical connection, electrical connection or communication with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the connection between two components or the interaction between two components, Unless otherwise clearly defined.
  • fixing and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , Or integrated; it can be mechanical connection, electrical connection or communication with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the connection between two components or the interaction between two components, Unless otherwise clearly defined.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • the following describes a two-degree-of-freedom parallel robot 100 with a spatial branched chain structure according to an embodiment of the present invention with reference to FIGS. 1 to 4.
  • the two-degree-of-freedom parallel robot 100 with a spatial branch chain structure includes a fixed platform 1, two driving devices 2, a moving platform 4, and a sub-branched chain 3.
  • each drive device 2 includes an active arm 21 and a drive unit 22 for driving the active arm 21 to rotate
  • the drive unit 22 is provided on the fixed platform 1
  • two active The arms 21 are located in the same reference plane. That is to say, one ends of the two driving arms 21 are pivotally connected to the fixed platform 1, the pivot axes of the two driving arms 21 are parallel, and the plane formed by the two driving arms 21 is called a reference plane.
  • the moving platform 4 has a main plane that is always perpendicular to the reference plane. It is proposed here that the moving platform 4 has a main plane, and the main plane is a virtual surface, which means that the moving mode of the moving platform 4 relative to the reference plane is restricted, the moving platform 4 can only translate along the reference plane, or the rotation axis of the moving platform 4 can only be perpendicular to Reference plane.
  • a sub-branched chain 3 is connected between each driving arm 21 and the moving platform 4, and the sub-branched chain 3 is a parallelogram rod group.
  • Each sub-branched chain 3 includes: two shafts 31 of equal length and two chains 32 of equal length, the two shafts 31 are arranged in parallel, one of the two shafts 31 is provided on the active arm 21, and the other is provided On the moving platform 4, the two ends of the two links 32 are connected to the two shafts 31 respectively.
  • each sub-branched chain 3 has a four-link structure with four connection points, and the two shafts 31 having the same length mean that the length of the two shafts 31 between the connection points is the same length, and the two chains 32 To be long refers to the length of the two chain links 32 between the connection points being equal.
  • the two shafts 31 and the two links 32 of a sub-branched chain 3 form a parallelogram. It is particularly emphasized here that, as shown in FIGS. 3 and 4, each shaft 31 and each link 32 are spherically articulated to ensure flexibility when the shape of the parallelogram changes.
  • At least one active arm 21 is hinged with an end bracket 5, the end bracket 5 is connected to the fixed platform 1 through a reinforcing rod 6, the fixed platform 1, the active arm 21, the end bracket 5 and the reinforcing rod 6 form a parallelogram.
  • a sub-branched chain 3 is connected to the active arm 21.
  • the sub-branches 3 are connected to the end bracket 5 to indirectly connect the active arm 21, and two sub-branches are connected to one end bracket 5 3.
  • the shaft 31 on the end bracket 5 and the rotation axis of the active arm 21 are not on the same axis, and the two sub-branches 3 connected to the same end bracket 5 are opposite
  • the reference plane is symmetrical.
  • the two shafts 31 connected to the end bracket 5 form an angle greater than 0 degrees and less than 180 degrees, and the two shafts connected to the moving platform 4
  • the rod 31 forms an included angle greater than 0 degrees and less than 180 degrees.
  • the distance between the two shafts 31 connected to the end bracket 5 is greater than the distance between the two shafts 31 connected to the moving platform 4.
  • the driving device 2, the end support 5 and the two sub-branches 3 connected to the same end support 5 together constitute a space branch of the two-degree-of-freedom parallel robot 100 having a space branch structure.
  • the two-degree-of-freedom parallel robot 100 may have two basic configurations, which are the configuration shown in FIG. 1 and the configuration shown in FIG. 2.
  • each driving device 2 includes a driving arm 21 and a driving unit 22 for driving the driving arm 21 to rotate.
  • the end of one active arm 21 is not connected to the end bracket 5, and the end of the other active arm 21 is connected to an end bracket 5.
  • a reinforcing rod 6 is also connected between the end bracket 5 and the fixed platform 1.
  • the fixed platform 1, the active arm 21, the end bracket 5 and the reinforcing rod 6 form a parallelogram.
  • Each sub-branched chain 3 includes: two shafts 31 and two chains 32, the two shafts 31 are arranged in parallel, one of the two shafts 31 is provided on the active arm 21, and the other is provided on the moving platform 4,
  • the two ends of the two links 32 are respectively connected to the two axles 31, the two axles 31 of the sub-branch 3 and the two links 32 form a parallelogram, each axle 31 and each link 32 Between the spherical articulation.
  • FIG. 1 the moving platform 4 in FIG. 1 is located below the fixed platform 1, and the shaft 31 connected to the active arm 21 is called the upper shaft 311, and the shaft connected to the moving platform 4 is called 31 ⁇ 312 ⁇ 31 for the lower shaft 312.
  • the directions shown in FIG. 1 will also be used to explain the position of each component.
  • FIG. 1 is only used as an example, and does not indicate or imply that the device or element referred to must have a specific orientation and be constructed in a specific orientation. And operation.
  • Cartesian coordinate system composed of the X axis, the Y axis, and the Z axis shown in FIG. 1 is also introduced.
  • the Z-axis direction is equivalent to the up-down direction.
  • an angle between greater than 0 degrees and less than 180 degrees is formed between the two upper shafts 311, and an angle between greater than 0 degrees and less than 180 degrees is formed between the two lower shafts 312, Moreover, the distance between the two sub-branches 3 on the end bracket 5 is greater than the distance on the moving platform 4.
  • the driving device 2, the end support 5 and the two sub-branches 3 connected to the end support 5 together form a space branch of the two-degree-of-freedom parallel robot 100 having a space branch structure.
  • the basic configuration of the two-degree-of-freedom parallel robot 100 shown in FIG. 1 completely restricts the three degrees of freedom of rotation of the moving platform 4 about the X axis, the Y axis, and the Z axis, and also completely limits the 1 of the moving platform 4 along the Y axis. Translational degrees of freedom.
  • the two-degree-of-freedom parallel robot 100 can achieve freedom of movement along two directions of the X axis and the Z axis, and has the characteristics of compact structure, easy assembly, high control accuracy, and large working space, and can achieve high speed and high acceleration characteristics.
  • each driving device 2 includes a driving arm 21 and a driving unit 22 for driving the driving arm 21 to rotate.
  • End brackets 5 are connected to the ends of the two active arms 21, and a reinforcing rod 6 is connected between each end bracket 5 and the fixed platform 1.
  • the fixed platform 1, the active arm 21, the end bracket 5 and the reinforcing bar 6 all form a parallelogram.
  • each sub-branch 3 includes: two shafts 31 and two chains 32, and the two shafts 31 are an upper shaft 311 and a lower shaft arranged in parallel Lever 312, the upper shaft 311 is provided on the end bracket 5, the lower shaft 312 is provided on the moving platform 4, the two ends of the two chains 32 are connected to the two shafts 31, two of the one sub-branch 3
  • the shaft 31 and the two chains 32 form a parallelogram, and each shaft 31 and each chain 32 are spherically hinged.
  • each driving device 2 the corresponding end bracket 5 and the two sub-branches 3 connected to the end bracket 5 together form a spatial branch chain of the two-degree-of-freedom parallel robot 100 with a spatial branch-chain structure, the two-degree-of-freedom parallel robot 100 has two spatial branches.
  • the basic configuration of the two-degree-of-freedom parallel robot 100 shown in FIG. 2 is an enhanced version of the basic configuration of the two-degree-of-freedom parallel robot 100 shown in FIG. 1.
  • the two-degree-of-freedom parallel robot 100 shown in FIG. 2 can also complete three rotation degrees of freedom around the X-axis, Y-axis, and Z-axis and one translation degree of freedom along the Y-axis of the two-degree-of-freedom parallel robot 100 shown in FIG.
  • the four-degree-of-freedom restriction scheme that is, the two-degree-of-freedom parallel robot 100 shown in FIG. 2, can also achieve freedom of movement along two directions of the X axis and the Z axis.
  • the two active arms 21 are connected to the two sub-branches 3 through the end bracket 5, forming a redundant structure can further improve the robot rigidity and the output characteristics of the moving platform 4 end.
  • the two-degree-of-freedom parallel robot 100 has the following advantages:
  • the driving unit 22 is fixed on the fixed platform 1, instead of moving with the driving chain like the traditional tandem robot. This setting is conducive to lightening the drive chain and improving the dynamic response performance of the drive chain. Moreover, after the drive chain gets rid of the burden of the drive unit 22, the energy consumption can be reduced.
  • the drive unit 22 is preferably a motor.
  • a hydraulic drive mechanism may be used instead of the motor.
  • hydraulic cylinders via pistons, gear systems, etc.
  • the linkage setting cost can be effectively controlled.
  • the hinge holes are formed at both ends of each link 32, the inner wall surface of the hinge hole is a spherical surface, both ends of the shaft 31 are formed as ball heads, and the ball ends at both ends of the shaft 31 are fitted to the two links 32 On the hinge hole on the top, thus forming a spherical hinge.
  • each sub-branched chain 3 at least one torsion bar 33 is connected between the two chain bars 32, and the torsion bar 33 is the same length and parallel to the shaft bar 31 Settings.
  • the torsion bar 33 can more effectively avoid the twisting of the sub-branched chain 3 and ensure the stability of the sub-branched chain 3.
  • each chain bar 32 is provided with a sliding hole 321 extending along its length direction, and the rotation shaft of the torsion bar 33 is penetrated in the sliding hole 321.
  • the adaptability of the sub-branched chain 3 at various angles can be improved, and the flexibility is improved.
  • the moving platform 4 includes a center plate 41 and a plurality of pairs of ear plates 42, each pair of ear plates 42 is connected to the outer periphery of the center plate 41, and each pair of ear plates 42 includes spaced apart devices. Two ear plates 42 having ear holes 421, each shaft 31 is connected to the ear holes 421 of a pair of ear plates 42.
  • the moving platform 4 has a simple structure and is easy to assemble.
  • the active arm 21 is provided with a weight reduction hole 211.
  • the provision of the weight reduction hole 211 can reduce the weight of the active arm 21 and enhance the dynamic characteristics of the robot.
  • the end bracket 5 includes a support plate 51, a pair of upper extension ears 52 and two pairs of lower extension ears 53.
  • the driving arm 21 is hinged on the support plate 51, a pair of upper extension ears 52 are provided on one side of the support plate 51, and the reinforcing rod 6 is hinged between the pair of upper extension ears 52.
  • Two pairs of lower extension ears 53 are connected to the other side of the support plate 51, and each pair of lower extension ears 53 is connected to a shaft 31 of the sub-branch chain 3.

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  • Mechanical Engineering (AREA)
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Abstract

一种具有空间支链结构的两自由度并联机器人(100)，包括：定平台(1)、动平台(4)、两个驱动装置(2)和两个子支链(3)。每个驱动装置包括主动臂(21)和驱动单元(22)，两个主动臂位于同一参考面内。主动臂上铰接有末端支架(5)。每个子支链包括：两个轴杆(31)和两个链杆(32)，两个轴杆中一个设在主动臂上或末端支架上、另一个设在动平台上，两个链杆与两个轴杆形成平行四边形。

Description

具有空间支链结构的两自由度并联机器人
相关申请的交叉引用
本申请基于申请号为201811570358.2、申请日为2018年12月21日的中国专利申请“具有空间支链结构的两自由度并联机器人”提出，并要求上述中国专利申请的优先权，上述中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本发明涉及并联机器人领域，尤其涉及一种具有空间支链结构的两自由度并联机器人。
背景技术
随着工业水平的发展，机器人和机床的应用需求不断提高，如塑料工业、电子工业、药品工业和食品工业领域内的轻物质的快速包装、分拣以及搬运等；如个性化小型平面数控操作的切割、打印及雕刻等；如制造领域中金属切削、材料焊接以及表面喷涂等。分析表明，针对以上两维点到点以及任意曲线运动，仅需平面两移动自由度即可实现。
传统的平面两自由度机构多采用串联形式实现，存在误差积累、运动部件质量大等问题。与串联机构不同，并联机构是由两个或多个运动学支链构成的闭环结构，具有结构紧凑、刚度高、承载能力大等优点，成为机器人和机床设计的理想选择之一。但相关技术中的并联机构在实现平面两自由度的同时，仍存在一些问题需要解决，如冗余和被动约束支链带来的运动学以及结构复杂性等。现有技术公开的一种并联机器人中，提出利用在主动臂上设置平行的运动构件来提高运动学性能，但是这一技术方案仍有待提高。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本发明提出一种具有空间支链结构的两自由度并联机器人，所述两自由度并联机器人具有结构紧凑、易装配、控制精度高和工作空间大等特点。可实现高速、高加速特性。
根据本发明实施例的具有空间支链结构的两自由度并联机器人，包括：定平台；两个驱动装置，每个所述驱动装置包括一个主动臂和用于驱动所述主动臂转动的驱动单元，所述驱动单元设置在所述定平台上，两个所述主动臂位于同一参考面内；动平台，所述动平台具有与所述参考面始终垂直的主平面；子支链，每个所述主动臂与所述动平 台之间均连接有所述子支链，每个所述子支链包括：两个等长的轴杆和两个等长的链杆，两个所述轴杆平行设置，两个所述轴杆中一个设在所述主动臂上、另一个设在所述动平台上，两个所述链杆的两端分别与两个所述轴杆相连形成平行四边形，每个所述轴杆与每个所述链杆之间为球面铰接；其中，至少一个所述主动臂上铰接有末端支架，所述末端支架通过加强杆与所述定平台相连，所述定平台、所述主动臂、所述末端支架和所述加强杆构成平行四边形；且，当所述主动臂直接与所述子支链相连时，所述主动臂上连接有一个所述子支链；当所述主动臂上设有所述末端支架时，所述子支链连接在所述末端支架上以间接连接所述主动臂，且一个所述末端支架上连接有两个所述子支链，连接在同一所述末端支架上的两个所述子支链相对所述参考面对称；另外，连接在同一所述末端支架上的两个所述子支链中，连接在所述末端支架上的两个所述轴杆形成大于0度小于180度的夹角，连接在所述动平台上的两个所述轴杆形成大于0度小于180度的夹角，且连接在所述末端支架上的两个所述轴杆之间距离大于连接在所述动平台上的两个所述轴杆之间距离；所述驱动装置、所述末端支架以及连接在同一所述末端支架上的两个所述子支链共同构成具有空间支链结构的两自由度并联机器人的一条空间支链。
根据本发明实施例的具有空间支链结构的两自由度并联机器人，通过在末端支架两侧的布置，即主动臂-加强杆组合杆以及双支链组合杆的相互影响，使并联机器人整机刚度大、控制精度高、易装配性、性能一致性和保持性均非常突出。
在一些实施例中，每个所述子支链中，两个所述链杆之间连接有至少一个抗扭杆，所述抗扭杆与所述轴杆等长且平行设置。
具体地，每个所述链杆上均设有沿其长度方向延伸的滑孔，所述抗扭杆的转轴穿设在所述滑孔内。
在一些实施例中，所述动平台包括中心板和多对耳板，每对所述耳板连接在所述中心板的外周上，每对所述耳板包括间隔开的设有耳孔的两个耳板，每个所述轴杆连接在一对所述耳板的所述耳孔上。
在一些实施例中，所述主动臂上设有减重孔。
在一些实施例中，所述末端支架包括：支板，所述主动臂铰接在所述支板上；一对上延伸耳，一对所述上延伸耳设在所述支板的一侧，所述加强杆铰接在一对所述上延伸耳之间；两对下延伸耳，两对所述下延伸耳连接在所述支板的另一侧，每对所述下延伸耳上连接一个所述子支链的所述轴杆。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明实施例一的具有空间支链结构的两自由度并联机器人的结构示意图；
图2是本发明实施例二的具有空间支链结构的两自由度并联机器人的结构示意图；
图3是图2中圈示A区放大图；
图4是图2中圈示B区放大图。
附图标记：
两自由度并联机器人100、
定平台1、
驱动装置2、主动臂21、减重孔211、驱动单元22、
子支链3、轴杆31、上轴杆311、下轴杆312、链杆32、滑孔321、抗扭杆33、
动平台4、中心板41、耳板42、耳孔421、
末端支架5、支板51、上延伸耳52、下延伸耳53、
加强杆6。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“上”、“下”、“竖直”、“水平”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接或彼此可通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明 中的具体含义。
下面参考图1-图4描述根据本发明实施例的具有空间支链结构的两自由度并联机器人100。
根据本发明实施例的具有空间支链结构的两自由度并联机器人100，如图1和图2所示，包括：定平台1、两个驱动装置2、动平台4和子支链3。
其中，两个驱动装置2设在定平台1上，每个驱动装置2包括一个主动臂21和用于驱动主动臂21转动的驱动单元22，驱动单元22设置在定平台1上，两个主动臂21位于同一参考面内。也就是说，两个主动臂21的一端可枢转地连接在定平台1上，两个主动臂21的枢转轴相平行，两个主动臂21构成的平面称为参考面。
动平台4具有与参考面始终垂直的主平面。这里提出动平台4具有主平面，主平面是虚拟的面，表示动平台4相对参考面的运动方式受到限制，动平台4仅能沿参考面平动，或者动平台4的转轴只能垂直于参考面。
如图1和图2所示，每个主动臂21与动平台4之间均连接有子支链3，子支链3是平行四边形杆组。每个子支链3包括：两个等长的轴杆31和两个等长的链杆32，两个轴杆31平行设置，两个轴杆31中一个设在主动臂21上、另一个设在动平台4上，两个链杆32的两端分别与两个轴杆31相连。这里，每个子支链3为具有四个连接点的四连杆结构，两个轴杆31等长指的是两个轴杆31在连接点之间的长度部分等长，两个链杆32待长指的是两个链杆32在连接点之间的长度部分等长。一个子支链3的两个轴杆31和两个链杆32形成一个平行四边形。这里要特别强调的是，如图3和图4所示，每个轴杆31与每个链杆32之间为球面铰接，以保证平行四边形形状变化时的灵活性。
其中，至少一个主动臂21上铰接有末端支架5，末端支架5通过加强杆6与定平台1相连，定平台1、主动臂21、末端支架5和加强杆6构成平行四边形。
如图1所示，当主动臂21直接与子支链3相连时，主动臂21上连接有一个子支链3。如图1和图2所示，当主动臂21上设有末端支架5时，子支链3连接在末端支架5上以间接连接主动臂21，且一个末端支架5上连接有两个子支链3。而且当子支链3通过末端支架5与主动臂21相连时，末端支架5上的轴杆31与主动臂21的转动轴不同轴，连接在同一末端支架5上的两个子支链3相对参考面对称。
而且，连接在同一末端支架5上的两个子支链3中，连接在末端支架5上的两个轴杆31形成大于0度小于180度的夹角，连接在动平台4上的两个轴杆31形成大于0度小于180度的夹角。同一末端支架5上的两个子支链3中，连接在末端支架5上的两个轴杆31之间距离大于连接在动平台4上的两个轴杆31之间距离。驱动装置2、末端支架5以及连接在同一末端支架5上的两个子支链3，共同构成具有空间支链结构的两 自由度并联机器人100的一条空间支链。
也就是说本发明中，两自由度并联机器人100可以有两个基本构型，分别为图1所示构型和图2所示构型。
在图1中，定平台1上连接两个驱动装置2，每个驱动装置2包括一个主动臂21和用于驱动主动臂21转动的驱动单元22。其中一个主动臂21的末端没有连接末端支架5，另一个主动臂21的末端连接一个末端支架5。末端支架5与定平台1之间还连接有加强杆6，定平台1、主动臂21、末端支架5和加强杆6构成一个平行四边形。
没连接末端支架5的主动臂21上仅连接一个子支链3，而末端支架5上连接两个子支链3。每个子支链3包括：两个轴杆31和两个链杆32，两个轴杆31平行设置，两个轴杆31中一个设在主动臂21上、另一个设在动平台4上，两个链杆32的两端分别与两个轴杆31相连，一个子支链3的两个轴杆31和两个链杆32形成一个平行四边形，每个轴杆31与每个链杆32之间为球面铰接。
这里为方便说明，参照图1所示方向，图1中动平台4位于定平台1的下方，称与主动臂21相连的轴杆31为上轴杆311，称与动平台4相连的轴杆31为下轴杆312。后文中也均借鉴图1所示方向，对各部件的位置进行说明，当然图1仅是用于示例，并不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作。除此之外，下文中为便于参照附图描述并联机器人的工作原理，还引入了图1所示的由X轴、Y轴、Z轴构成的笛卡尔坐标系。在笛卡尔坐标系中，Z轴方向相当于上下方向。
在同一末端支架5上的两个子支链3中，两个上轴杆311之间形成大于0度小于180度的夹角，两个下轴杆312形成大于0度小于180度的夹角，且两个子支链3在末端支架5上的距离大于在动平台4上的距离。驱动装置2、末端支架5以及连接在末端支架5上的两个子支链3共同构成具有空间支链结构的两自由度并联机器人100的一条空间支链。
在图1所示两自由度并联机器人100的基本构型，完全限制了动平台4绕X轴、Y轴和Z轴的3个转动自由度，也完全限制了动平台4沿Y轴的1个平动自由度。所述两自由度并联机器人100可实现沿着X轴和Z轴两个方向的移动自由度，具有结构紧凑、易装配、控制精度高和工作空间大等特点，可实现高速、高加速特性。
在图2中，定平台1上连接两个驱动装置2，每个驱动装置2包括一个主动臂21和用于驱动主动臂21转动的驱动单元22。两个主动臂21的末端均连接有末端支架5，每个末端支架5与定平台1之间均连接有加强杆6。在定平台1两侧，定平台1、主动 臂21、末端支架5和加强杆6均构成一个平行四边形。
两个末端支架5上均连接有两个子支链3，每个子支链3包括：两个轴杆31和两个链杆32，两个轴杆31为平行设置的上轴杆311和下轴杆312，上轴杆311设在末端支架5上，下轴杆312设在动平台4上，两个链杆32的两端分别与两个轴杆31相连，一个子支链3的两个轴杆31和两个链杆32形成一个平行四边形，每个轴杆31与每个链杆32之间为球面铰接。
在同一末端支架5上的两个子支链3中，两个上轴杆311之间形成大于0度小于180度的夹角，两个下轴杆312形成大于0度小于180度的夹角，且两个子支链3在末端支架5上的距离大于在动平台4上的距离。每个驱动装置2、对应的末端支架5以及连接在该末端支架5上的两个子支链3共同构成具有空间支链结构的两自由度并联机器人100的一条空间支链，两自由度并联机器人100具有两条空间支链。
图2所示两自由度并联机器人100的基本构型，是图1所示两自由度并联机器人100的基本构型的加强版。图2所示两自由度并联机器人100也能完成图1所示两自由度并联机器人100的绕X轴、Y轴和Z轴的3个转动自由度和沿Y轴的1个平动自由度的四自由度限制的方案，即图2所示两自由度并联机器人100同样可实现沿着X轴和Z轴两个方向的移动自由度。而且由于图2所示两自由度并联机器人100上，两个主动臂21上均通过末端支架5连接两个子支链3，形成冗余结构可以进一步提高机器人刚度和动平台4末端输出特性。
本发明实施例的两自由度并联机器人100，具有如下优点：
1、末端支架5两侧的布置，即主动臂21-加强杆6组合杆以及双支链组合杆的相互影响，严格限制了动平台4的四个自由度，动平台4在仅剩下的两个自由度下，整机刚度大、控制精度高，易装配性，性能一致性和保持性均非常突出。
2、将驱动单元22固定在定平台1上，而不像传统串联机器人一样随着驱动链的活动而活动。这样设置有利于实现驱动链的轻量化，提高驱动链的动态响应表现。而且驱动链摆脱了驱动单元22的负累后，还能够降低能耗。
优选地，驱动单元22以电机为佳，当然本发明其他实施例中，也可以采用液压驱动机构替代电机。例如，在生产线上多台两自由度并联机器人100操作时，可采用液压缸(通过活塞、齿轮系统等)对各主动臂21传输动力，联动设置成本可得到有效控制。
具体地，每个链杆32的两端均形成有铰接孔，铰接孔内壁面为球面，轴杆31的两端均形成为球头，轴杆31两端的球头配合在两个链杆32上的铰接孔中，从而形成球面 铰接。
在一些实施例中，如图1-图4所示，每个子支链3中，两个链杆32之间连接有至少一个抗扭杆33，抗扭杆33与轴杆31等长且平行设置。抗扭杆33可以更有效地避免子支链3发生扭转，保证子支链3工作的稳定。
具体地，如图3和图4所示，每个链杆32上均设有沿其长度方向延伸的滑孔321，抗扭杆33的转轴穿设在滑孔321内。有了滑孔321的设置，可以提高子支链3在各角度的自适应性，提高灵活度。
在一些实施例中，如图1所示，动平台4包括中心板41和多对耳板42，每对耳板42连接在中心板41的外周上，每对耳板42包括间隔开的设有耳孔421的两个耳板42，每个轴杆31连接在一对耳板42的耳孔421上。动平台4结构简单，装配容易。
在一些实施例中，主动臂21上设有减重孔211。减重孔211的设置可以降低主动臂21的重量，增强机器人的动态特性。
在一些实施例中，如图3所示，末端支架5包括：支板51、一对上延伸耳52和两对下延伸耳53。主动臂21铰接在支板51上，一对上延伸耳52设在支板51的一侧，加强杆6铰接在一对上延伸耳52之间。两对下延伸耳53连接在支板51的另一侧，每对下延伸耳53上连接一个子支链3的轴杆31。
根据本发明实施例的具有空间支链的两自由度并联机器人100的其他构成例如电机等以及操作对于本领域普通技术人员而言都是已知的，这里不再详细描述。
在本说明书的描述中，参考术语“实施例”、“示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (5)

  1. 一种具有空间支链结构的两自由度并联机器人，其特征在于，包括：
    定平台；
    两个驱动装置，每个所述驱动装置包括一个主动臂和用于驱动所述主动臂转动的驱动单元，所述驱动单元设置在所述定平台上，两个所述主动臂位于同一参考面内；
    动平台，所述动平台具有与所述参考面始终垂直的主平面；
    子支链，每个所述主动臂与所述动平台之间均连接有所述子支链，每个所述子支链包括：两个等长的轴杆和两个等长的链杆，两个所述轴杆平行设置，两个所述轴杆中一个设在所述主动臂上、另一个设在所述动平台上，两个所述链杆的两端分别与两个所述轴杆相连形成平行四边形，每个所述轴杆与每个所述链杆之间为球面铰接；其中，
    至少一个所述主动臂上铰接有末端支架，所述末端支架通过加强杆与所述定平台相连，所述定平台、所述主动臂、所述末端支架和所述加强杆构成平行四边形；且，
    当所述主动臂直接与所述子支链相连时，所述主动臂上连接有一个所述子支链；
    当所述主动臂上设有所述末端支架时，所述子支链连接在所述末端支架上以间接连接所述主动臂，且一个所述末端支架上连接有两个所述子支链，连接在同一所述末端支架上的两个所述子支链相对所述参考面对称；
    另外，连接在同一所述末端支架上的两个所述子支链中，连接在所述末端支架上的两个所述轴杆形成大于0度小于180度的夹角，连接在所述动平台上的两个所述轴杆形成大于0度小于180度的夹角，且连接在所述末端支架上的两个所述轴杆之间距离大于连接在所述动平台上的两个所述轴杆之间距离；
    所述驱动装置、所述末端支架以及连接在同一所述末端支架上的两个所述子支链共同构成具有空间支链结构的两自由度并联机器人的一条空间支链。
  2. 根据权利要求1所述的具有空间支链结构的两自由度并联机器人，其特征在于，每个所述子支链中，两个所述链杆之间连接有至少一个抗扭杆，所述抗扭杆与所述轴杆等长且平行设置。
  3. 根据权利要求2所述的具有空间支链结构的两自由度并联机器人，其特征在于，每个所述链杆上均设有沿其长度方向延伸的滑孔，所述抗扭杆的转轴穿设在所述滑孔内。
  4. 根据权利要求1-3中任一项所述的具有空间支链结构的两自由度并联机器人，其特征在于，所述动平台包括中心板和多对耳板，每对所述耳板连接在所述中心板的外周上，每对所述耳板包括间隔开的设有耳孔的两个耳板，每个所述轴杆连接在一对所述耳 板的所述耳孔上。
  5. 根据权利要求1-4中任一项所述的具有空间支链结构的两自由度并联机器人，其特征在于，所述末端支架包括：
    支板，所述主动臂铰接在所述支板上；
    一对上延伸耳，一对所述上延伸耳设在所述支板的一侧，所述加强杆铰接在一对所述上延伸耳之间；
    两对下延伸耳，两对所述下延伸耳连接在所述支板的另一侧，每对所述下延伸耳上连接一个所述子支链的所述轴杆。
PCT/CN2019/101544 2018-12-21 2019-08-20 具有空间支链结构的两自由度并联机器人 WO2020125043A1 (zh)

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