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CN100421883C - Two-degree-of-freedom planar parallel high-speed and high-precision robot - Google Patents

Two-degree-of-freedom planar parallel high-speed and high-precision robot Download PDF

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Publication number
CN100421883C
CN100421883C CNB031114377A CN03111437A CN100421883C CN 100421883 C CN100421883 C CN 100421883C CN B031114377 A CNB031114377 A CN B031114377A CN 03111437 A CN03111437 A CN 03111437A CN 100421883 C CN100421883 C CN 100421883C
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link
slider
linear guide
mobile platform
moving platform
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CN1535797A (en
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孙立宁
曲东升
楚中毅
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Boshi Accurate Test Control Co Ltd Harbin Pllytechnical Univ
Harbin Institute of Technology Shenzhen
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Boshi Accurate Test Control Co Ltd Harbin Pllytechnical Univ
Harbin Institute of Technology Shenzhen
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Abstract

两自由度平面并联高速高精度机器人，它涉及一种工业机器人。为解决现有技术中机构惯量较大、系统有效负载与总负载比低，以及整个机构的定位精度低的问题。它包含有相互平行设置的左直线导轨(1)、右直线导轨(5)、左移动平台(2)、右移动平台(6)、驱动装置、左联杆(4)和右联杆(8)，左联杆(4)和右联杆(8)的一端分别通过第一转动副(3)和第二转动副(7)与左移动平台(2)和右移动平台相连接，左联杆(4)和右联杆(8)的另一端通过末端转动副(9)相互连接；所述驱动装置由设置在左直线导轨(1)和右直线导轨(5)上的左丝杠(C1)和右丝杠(C2)、分别与左右丝杠相配合的左滑块(D1)和右滑块(D2)、带动左右丝杠转动的左电机(E1)和右电机(E2)组成，左移动平台(2)和右移动平台(6)分别安装在左滑块(D1)和右滑块(D2)上。本发明可应用于高速、高精度的两维平面运动场合。

Figure 03111437

A two-degree-of-freedom plane parallel high-speed high-precision robot relates to an industrial robot. In order to solve the problems in the prior art that the inertia of the mechanism is large, the ratio of the effective load of the system to the total load is low, and the positioning accuracy of the whole mechanism is low. It includes a left linear guide rail (1), a right linear guide rail (5), a left moving platform (2), a right moving platform (6), a driving device, a left link (4) and a right link (8) arranged parallel to each other. ), one end of the left link (4) and the right link (8) is connected with the left mobile platform (2) and the right mobile platform through the first rotary pair (3) and the second rotary pair (7) respectively, and the left link The other end of the rod (4) and the right link (8) is connected to each other through the end rotating pair (9); the driving device consists of a left lead screw ( C 1 ) and the right lead screw (C 2 ), the left slider (D 1 ) and the right slider (D 2 ) matched with the left and right lead screws respectively, the left motor (E 1 ) and the right Composed of a motor (E 2 ), the left moving platform (2) and the right moving platform (6) are installed on the left slider (D 1 ) and the right slider (D 2 ) respectively. The invention can be applied to high-speed, high-precision two-dimensional plane motion occasions.

Figure 03111437

Description

两自由度平面并联高速高精度机器人 Two-degree-of-freedom planar parallel high-speed and high-precision robot

技术领域 technical field

本发明涉及一种工业机器人，特别是一种两自由度平面移动的机器人。The invention relates to an industrial robot, in particular to a two-degree-of-freedom plane moving robot.

背景技术 Background technique

现有高速、高精度机器人机构有以下运动形式：(1)采用XYTable工作台方式：由于基座上的电机负载重，直线运动惯量大，因此制约了系统的速度和加速度；另外系统有效负载与总负载比低，造成较大的电能浪费。(2)旋转电机驱动的多关节并联杆机构：该多连杆机构的惯量较大，不利于系统速度的进一步提高；同时也带来关节轴承的较大变形，使整个机构的定位精度下降。Existing high-speed, high-precision robot mechanisms have the following motion forms: (1) XYTable workbench mode: due to the heavy load of the motor on the base, the linear motion inertia is large, so the speed and acceleration of the system are restricted; in addition, the effective load of the system and The total load ratio is low, resulting in a large waste of electric energy. (2) Multi-joint parallel linkage mechanism driven by a rotating motor: the inertia of the multi-link mechanism is large, which is not conducive to further improvement of the system speed; at the same time, it also brings large deformation of the joint bearing, which reduces the positioning accuracy of the entire mechanism.

发明内容 Contents of the invention

为解决现有技术存在的问题，本发明提供一种两自由度平面并联高速高精度机器人，本发明的机器人包含有相互平行设置的左直线导轨1和右直线导轨5、分别设置在左直线导轨1和右直线导轨5上并沿导轨作直线运动的左移动平台2和右移动平台6、驱动左移动平台2和右移动平台6移动的驱动装置、左联杆4和右联杆8，左联杆4和右联杆8的一端分别通过第一转动副3和第二转动副7与左移动平台2和右移动平台6相连接，左联杆4和右联杆8的另一端通过末端转动副9相互连接；所述驱动装置由设置在左直线导轨1和右直线导轨5上的左丝杠C1和右丝杠C2、分别与左右丝杠相配合的左滑块D1和右滑块D2、带动左右丝杠转动的左电机E1和右电机E2组成，左移动平台2和右移动平台6分别安装在左滑块D1和右滑块D2上。本发明的左联杆4和右联杆8组成并联机构，当移动平台在驱动装置的驱动下沿直线导轨运动时，便将两平台的一维直线运动转变成联杆末端的两维平面运动。该机器人的质量轻，可大范围、高速运动；其联杆的刚度大、承受的弯矩小、定位精度高；整个系统结构紧凑、重量轻、传动环节少、耗能低，可实现高速、高精度的两维平面运动。In order to solve the problems existing in the prior art, the present invention provides a two-degree-of-freedom planar parallel high-speed high-precision robot. The robot of the present invention includes a left linear guide rail 1 and a right linear guide rail 5 arranged parallel to each other, and is respectively arranged on the left linear guide rail. 1 and the right linear guide rail 5 and the left mobile platform 2 and the right mobile platform 6 moving linearly along the guide rail, the driving device for driving the left mobile platform 2 and the right mobile platform 6 to move, the left linkage 4 and the right linkage 8, the left One end of the connecting rod 4 and the right connecting rod 8 is connected with the left moving platform 2 and the right moving platform 6 through the first rotating pair 3 and the second rotating pair 7 respectively, and the other end of the left connecting rod 4 and the right connecting rod 8 passes through the end The revolving pair 9 is connected with each other; the driving device consists of a left lead screw C 1 and a right lead screw C 2 arranged on the left linear guide rail 1 and the right linear guide rail 5 , the left slider D 1 and the right lead screw C 2 respectively matched with the left and right lead screws. The right slider D 2 is composed of the left motor E 1 and the right motor E 2 that drive the left and right lead screws to rotate, and the left moving platform 2 and the right moving platform 6 are installed on the left slider D 1 and the right slider D 2 respectively. The left link 4 and the right link 8 of the present invention form a parallel mechanism. When the mobile platform moves along the linear guide rail under the drive of the driving device, the one-dimensional linear motion of the two platforms is converted into a two-dimensional plane motion at the end of the link. . The robot is light in weight and can move in a wide range and at high speed; its link rod has high rigidity, small bending moment and high positioning accuracy; High-precision two-dimensional plane motion.

附图说明 Description of drawings

图1是具体实施方式一的结构示意图，图2是具体实施方式二的结构示意图。Fig. 1 is a schematic structural diagram of a specific embodiment 1, and Fig. 2 is a schematic structural diagram of a specific embodiment 2.

具体实施方式Detailed ways

具体实施方式一：参阅图1，本实施方式由左直线导轨1、右直线导轨5、左移动平台2、右移动平台6、驱动装置、左联杆4、右联杆8组成。驱动装置为平行设置的左直线电机A和右直线电机B，两直线电机的定子导轨A1和B1即为左直线导轨1和右直线导轨5，左移动平台2和右移动平台6分别固定连接在两直线电机的动子A2和B2上；左联杆4和右联杆8的一端分别通过第一转动副3和第二转动副7与左移动平台2和右移动平台6相连接，左联杆4和右联杆8的另一端通过末端转动副9相互连接。Specific embodiment one: referring to Fig. 1, present embodiment is made up of left linear guide rail 1, right linear guide rail 5, left mobile platform 2, right mobile platform 6, driving device, left linkage 4, right linkage 8. The driving device is a left linear motor A and a right linear motor B arranged in parallel, the stator guide rails A1 and B1 of the two linear motors are the left linear guide rail 1 and the right linear guide rail 5, and the left moving platform 2 and the right moving platform 6 are respectively fixed Connected to the movers A 2 and B 2 of the two linear motors; one end of the left link 4 and the right link 8 are connected to the left mobile platform 2 and the right mobile platform 6 through the first rotary pair 3 and the second rotary pair 7 respectively. Connect, the other end of the left link 4 and the right link 8 are connected to each other through the end rotary joint 9.

具体实施方式二：参阅图2，本实施方式与具体实施方式一不同的是，驱动装置由设置在左直线导轨1和右直线导轨5上的左丝杠C1和右丝杠C2、分别与左右丝杠相配合的左滑块D1和右滑块D2、带动左右丝杠转动的左电机E1和右电机E2组成，左移动平台2和右移动平台6分别安装在左滑块D1和右滑块D2上。本实施方式电机带动丝杠旋转，并通过滑块使左右平台产生直线运动，平台的直线运动转变成联杆末端的两维平面运动。其它组成和连接关系与具体实施方式一相同。Specific embodiment 2: Referring to Fig. 2, the difference between this embodiment and specific embodiment 1 is that the driving device is composed of left lead screw C 1 and right lead screw C 2 arranged on the left linear guide rail 1 and the right linear guide rail 5 , respectively The left slider D 1 and the right slider D 2 matched with the left and right screw, the left motor E 1 and the right motor E 2 that drive the left and right screw to rotate, the left moving platform 2 and the right moving platform 6 are respectively installed on the left slider Block D1 and right slider on D2 . In this embodiment, the motor drives the lead screw to rotate, and the left and right platforms generate linear motion through the slider, and the linear motion of the platform is converted into a two-dimensional plane motion at the end of the link. Other compositions and connections are the same as in the first embodiment.

Claims (1)

1. 两自由度平面并联高速高精度机器人，它包含有相互平行设置的左直线导轨(1)和右直线导轨(5)、分别设置在左直线导轨(1)和右直线导轨(5)上并沿导轨作直线运动的左移动平台(2)和右移动平台(6)、驱动左移动平台(2)和右移动平台(6)移动的驱动装置、左联杆(4)和右联杆(8)，左联杆(4)和右联杆(8)的一端分别通过第一转动副(3)和第二转动副(7)与左移动平台(2)和右移动平台(6)相连接，左联杆(4)和右联杆(8)的另一端通过末端转动副(9)相互连接，其特征在于所述驱动装置由设置在左直线导轨(1)和右直线导轨(5)上的左丝杠(C1)和右丝杠(C2)、分别与左右丝杠相配合的左滑块(D1)和右滑块(D2)、带动左右丝杠转动的左电机(E1)和右电机(E2)组成，左移动平台(2)和右移动平台(6)分别安装在左滑块(D1)和右滑块(D2)上。1. Two-degree-of-freedom planar parallel high-speed high-precision robot, which includes left linear guide rails (1) and right linear guide rails (5) arranged parallel to each other, and are respectively arranged on the left linear guide rails (1) and right linear guide rails (5) The left mobile platform (2) and the right mobile platform (6) that move linearly along the guide rail, the driving device that drives the left mobile platform (2) and the right mobile platform (6) to move, the left link (4) and the right link (8), one end of the left link (4) and the right link (8) respectively passes through the first rotary pair (3) and the second rotary pair (7) and the left mobile platform (2) and the right mobile platform (6) The other ends of the left link (4) and the right link (8) are connected to each other through the end rotating pair (9), which is characterized in that the driving device is arranged on the left linear guide (1) and the right linear guide ( 5) The left lead screw (C 1 ) and the right lead screw (C 2 ), the left slider (D 1 ) and the right slider (D 2 ) that match with the left and right lead screws respectively, and the drive that drives the left and right lead screws to rotate The left motor (E 1 ) and the right motor (E 2 ) are composed, and the left moving platform (2) and the right moving platform (6) are installed on the left slider (D 1 ) and the right slider (D 2 ) respectively.
CNB031114377A 2003-04-10 2003-04-10 Two-degree-of-freedom planar parallel high-speed and high-precision robot Expired - Fee Related CN100421883C (en)

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Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009069153A1 (en) * 2007-11-26 2009-06-04 Mechatronic System Company S.R.L. A device for handling and/or performing work operations on objects
CN102172912A (en) * 2011-02-23 2011-09-07 常州大学 Two-degree-of-freedom parallel manipulator
CN102152300A (en) * 2011-02-25 2011-08-17 天津大学 Linear-driven high-speed planar parallel mechanical arm
CN104669252A (en) * 2015-02-28 2015-06-03 天津大学 Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof
CN104690723A (en) * 2015-02-28 2015-06-10 天津大学 Two-degree-of-freedom positioning mechanism and telescopic driving type multiple-degree-of-freedom mixed-connected robot thereof
CN105033980A (en) * 2015-08-21 2015-11-11 江苏大学 Automatic lineation machine based on parallel-connection mechanism
CN109958742A (en) * 2017-12-22 2019-07-02 北京北广科技股份有限公司 a movable slider
CN111076028B (en) * 2018-10-18 2024-11-12 杨斌堂 Composite motion control and work platform and self-contained mobile platform

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Publication number Priority date Publication date Assignee Title
JPH02218579A (en) * 1989-02-20 1990-08-31 Smc Corp Chuck using lamination type piezoelectric ceramics
JPH1097983A (en) * 1996-09-20 1998-04-14 Nikon Corp Position detecting method
JPH1094983A (en) * 1996-09-20 1998-04-14 Hitachi Koki Co Ltd Actuator mechanism
DE20101628U1 (en) * 2001-01-29 2001-05-03 VECTOR Verpackungstechnik GmbH, 74589 Satteldorf Industrial robots

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02218579A (en) * 1989-02-20 1990-08-31 Smc Corp Chuck using lamination type piezoelectric ceramics
JPH1097983A (en) * 1996-09-20 1998-04-14 Nikon Corp Position detecting method
JPH1094983A (en) * 1996-09-20 1998-04-14 Hitachi Koki Co Ltd Actuator mechanism
DE20101628U1 (en) * 2001-01-29 2001-05-03 VECTOR Verpackungstechnik GmbH, 74589 Satteldorf Industrial robots

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