CN103419192B - Four-degree-of-freedhybrid hybrid robot - Google Patents

Abstract

The invention discloses a four-degree-of-freedom hybrid robot, which belongs to the technical field of robots. The invention comprises a lower base, the upper part of the lower base is movably connected with a revolving box I through a vertical shaft I, the revolving box I is hinged in series with an upper base through a parallelogram mechanism at the lower part, and the upper part of the upper base is movably connected with a revolving box through a vertical shaft II Body II, rotary box II is hinged with an upper working platform through the upper parallelogram mechanism; two drive motors of each parallelogram mechanism are independently arranged in parallel in the rotary box. The present invention realizes three translational degrees of freedom along the X, Y, and Z axes and one rotational degree of freedom around the Z axis. The invention has the advantages of simple structure, relatively small occupied space, high torsional rigidity, horizontal working surface, symmetrical working space and large working range, and can be used for large-scale spraying, measuring and other occasions.

Description

Four degrees of freedom hybrid robot

technical field

The invention relates to an industrial robot and belongs to the technical field of industrial robots.

Background technique

The existing conventional four-degree-of-freedom robot should have four power devices. There are three options for its arrangement:

1. Series mechanism: four independent hinges are equipped with power devices.

2. Hybrid mechanism: part of the power unit is connected in series, and part of it is connected in parallel.

3. Parallel mechanism: four driving devices are installed on the same foundation.

Tandem mechanisms are common in robotic systems in the form of SCARAs, with a powered element for each hinge from the shoulder to the elbow to the wrist. In addition, the wrist also has a moving pair connected in series with the rotating pair.

An example of a hybrid mechanism is the Delta robot. It has the characteristics of a parallel mechanism, and when it moves in a plane, it has translation in three directions. Three motors drive the movement of the table, which is attached to a fixed coordinate system (usually the ceiling). The axes of the motors form an equilateral triangle, and the fourth motor drives the lift of the worktable, which rotates around the normal of the plane formed by the first three motors.

The series mechanism provides a rich and complex mechanism form, and the parallel mechanism provides a simple structure form. Hybrid agencies are somewhere in between.

If you only consider the simplicity of the structure, you can choose a parallel mechanism. However, the parallel mechanism is somewhat powerless when the working space is limited and a large working range and high flexibility are required.

Contents of the invention

In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a four-degree-of-freedom hybrid robot, which connects two parallelogram drive modules based on parallel connections in series to realize 3-axis motion along the X, Y, and Z axes. One translational degree of freedom and one rotational degree of freedom about the Z-axis.

The present invention is realized through the following technical scheme: a four-degree-of-freedom hybrid robot, which includes a lower base, the upper part of the lower base is movably connected with a rotary box I through a vertical shaft I, and the rotary box I is connected in series through a parallelogram mechanism at the lower part The upper base is hinged, and the upper part of the upper base is movably connected with the rotary box II through the vertical shaft II, and the rotary box II is hinged with the upper working platform through the upper parallelogram mechanism;

The lower parallelogram mechanism is composed of parallel connecting rod I and connecting rod II, and two parallel connecting rods IV, and connecting rod III parallel to connecting rod IV is hinged between connecting rod I and connecting rod II , the two connecting rods IV are connected with the connecting rod I and the connecting rod II with the living hinge I, and the two connecting rods IV are respectively connected with the rotary hinge I and the fixed hinge II The box I is connected, the upper end of the connecting rod IV is connected to the upper base through the fixed hinge III, and two independent lower drive motors are arranged in parallel in the revolving box I, one of the lower drive motors passes through The transmission pair is connected to the vertical shaft I, another lower drive motor is connected to the power output shaft I, and the power output shaft I is connected to the connecting rod III;

The upper parallelogram mechanism is hinged by parallel connecting rod V, connecting rod VI, and two parallel connecting rods VIII, and connecting rod VII parallel to connecting rod VIII is hinged between connecting rod V and connecting rod VI The two connecting rods VIII and the connecting rod V and VI are connected by a living hinge II, and the two connecting rods VIII are respectively connected by a fixed hinge IV and a fixed hinge V to the rotary The box II is connected, the upper end of the connecting rod VIII is connected to the upper working platform through the fixed hinge VI, and two independent upper drive motors are arranged in parallel in the rotary box II, one of which is the upper drive motor The vertical shaft II is connected through a transmission pair, another upper drive motor is connected to the power output shaft II, and the power output shaft II is connected to the connecting rod VII.

The beneficial effects of the present invention are: the present invention connects two parallelogram drive modules based on parallel connection in series, and realizes three translational degrees of freedom along the X, Y, and Z axes and one rotational degree of freedom around the Z axis . The invention has the advantages of simple structure, relatively small occupied space, high torsional rigidity, horizontal working surface, symmetrical working space and large working range, and can be used for large-scale spraying, measuring and other occasions.

Description of drawings

The present invention will be further described below according to the accompanying drawings and embodiments.

Fig. 1 is a schematic diagram of the structure of the present invention.

In the figure, (1) lower base; (1-1) vertical shaft Ⅰ; (2) fixed hinge Ⅰ; (3) revolving box Ⅰ; (4) connecting rod Ⅰ; (5) living hinge Ⅰ; (6) Fixed hinge II; (7) Connecting rod II; (8) PTO shaft I; (9) Connecting rod III; (10) Connecting rod IV; (11) Fixed hinge III; (12) Upper base; (12-1 ) vertical shaft Ⅱ; (13) connecting rod Ⅴ; (14) fixed hinge Ⅳ; (15) movable hinge Ⅱ; (16) fixed hinge Ⅴ; (17) power output shaft Ⅱ; (18) rotary box Ⅱ; ( 19) connecting rod Ⅵ; (20) connecting rod Ⅶ; (21) connecting rod Ⅷ; (22) fixed hinge Ⅵ; (23) upper working platform.

Detailed ways

Below in conjunction with embodiment the present invention is further described.

A four-degree-of-freedom hybrid robot, characterized in that it includes a lower base 1, the upper part of the lower base 1 is movably connected to a rotary box I3 through a vertical shaft I1-1, and the rotary box I3 is hinged in series through a lower parallelogram mechanism. The upper base 12, the upper part of the upper base 12 is movably connected with the rotary box II18 through the vertical shaft II12-1, and the rotary box II18 is hinged with the upper working platform 23 through the upper parallelogram mechanism;

The lower parallelogram mechanism is hinged by parallel connecting rod I4, connecting rod II7, and two parallel connecting rods IV10, and connecting rod III9 parallel to connecting rod IV10 is hinged between connecting rod I4 and connecting rod II7 , the two connecting rods IV10 are connected with the connecting rod I4 and the connecting rod II7 with the living hinge I5, and the two connecting rods IV10 are connected with the rotary hinge I2 and the fixed hinge II6 respectively. The box I3 is connected, the upper end of the connecting rod IV10 is connected to the upper base 12 through the fixed hinge III11, and two independent lower driving motors are arranged in parallel in the rotating box I3, one of which is the lower driving motor The vertical shaft I1-1 is connected through the transmission pair, another lower drive motor is connected to the power output shaft I8, and the power output shaft I8 is connected to the connecting rod III9;

The upper parallelogram mechanism is hinged by parallel connecting rod V13, connecting rod VI19, and two parallel connecting rods VIII21, and connecting rod VII20 parallel to connecting rod VIII21 is hinged between connecting rod V13 and connecting rod VI19 The two connecting rods Ⅷ21 are connected with the connecting rod V13 and the connecting rod VI19 using a living hinge II15, and the two connecting rods Ⅷ21 are respectively connected with the rotating hinge IV14 and V16. The box II18 is connected, the upper end of the connecting rod VIII21 is connected to the upper working platform 23 through the fixed hinge VI22, and two independent upper drive motors are arranged in parallel in the rotary box II18, one of which drives the upper part The motor is connected to the vertical shaft II12-1 through a transmission pair, another upper drive motor is connected to the power output shaft II17, and the power output shaft II17 is connected to the connecting rod VII20.

The working principle of the present invention is: the robot is required to be able to realize three independent translations and one rotation around a vertical axis, and must be able to withstand larger vertical and horizontal forces, that is, higher torsional rigidity, At the same time, the working platform is required to be kept as horizontal as possible.

The power of the robot comes from motion in two directions, one is tilting motion around the horizontal axis, and the other is rotation motion around the vertical axis, so that the upper working platform 23 maintains a horizontal state as shown in FIG. 1 .

In order to enable the motor to produce independent tilting and rotating motions under different load conditions, two sets of parallelogram mechanisms with the same structure are selected to be connected in series, and the power elements of each set of parallelogram mechanisms are connected in parallel. Each group of parallelogram units is composed of several connecting rods of different lengths connected by hinges, as shown in Figure 1. Each group of parallelogram mechanism is powered by two DC motors arranged in the corresponding rotary box. Taking the parallelogram mechanism in the lower part of Fig. 1 as an example, one DC motor provides the rotational motion around the Z axis at a rate of , another motor transmits the power to the connecting rod Ⅲ9 through the power output shaft Ⅰ8, and then the connecting rod Ⅲ9 transmits the power to the entire parallelogram mechanism through the connecting rod Ⅰ4, the connecting rod Ⅱ7 and the movable hinge Ⅰ5, so that the parallelogram can fix the hinge Ⅰ2 and fixed hinge Ⅱ6 rotate for the center of rotation, thus providing rotational motion around the horizontal axis at a rate of .

In terms of layout, the two driving motors of each parallelogram mechanism are independently arranged in parallel in the revolving box, and are respectively provided with gears to rotate around the Z axis (vertical rotation axis I1-1, vertical rotation axis II12-1) at a rate of , and the motion around the horizontal axis with a rate of .

The upper parallelogram mechanism and the lower parallelogram mechanism are connected in series, and finally transmit the motion to the upper working platform 23 .

In institutions, use , Represents the rotation angle around the Z axis, directly generated; use , Indicates the swing angle, by the angular velocity of the parallelogram , Indirect generation, as shown in Figure 1.

Two parallelogram mechanisms connected in series can produce two independent movements in the corresponding vertical planes (rotation around the axis perpendicular to the corresponding plane in two mutually perpendicular planes), the first movement is through a rotary joint Rotate around the vertical axis Z fixed on the base 1, namely , ; The second movement is the rotation of the parallelogram plane shown in Figure 1 around the X-axis or the Y-axis, namely , .

Figure 1 body in , , , Four degrees of freedom can be generated under the combined action of the motion, that is, the rotation around the Z axis and the translation along the X, Y, and Z axes.

Claims (1)

1. a Four-degree-of-freedhybrid hybrid robot, it is characterized in that: it comprises lower bottom base (1), the top of lower bottom base (1) is connected with revolution casing I (3) by vertical rotation axis I (1-1), revolution casing I (3) has upper bed-plate (12) by lower parallel quadrangular mechanism hinged in series, the top of upper bed-plate (12) is connected with revolution casing II (18) by vertical rotation axis II (12-1), and revolution casing II (18) is hinged with top workbench (23) by upper parallel quadrangular mechanism;

Described lower parallel quadrangular mechanism is by parallel connecting rod I (4) and connecting rod II (7), and two parallel connecting rods IV (10) are hinged forms, the connecting rod III (9) parallel with connecting rod IV (10) is hinged with between connecting rod I (4) and connecting rod II (7), connecting rod IV (10) described in two adopts hinges I (5) to be connected with between described connecting rod I (4) and connecting rod II (7), connecting rod IV (10) described in two adopts fixed hinge I (2) to be connected with described revolution casing I (3) with fixed hinge II (6) respectively, the upper end of described connecting rod IV (10) is by the upper bed-plate (12) described in fixed hinge III (11) connection, the bottom drive motors of two platform independent is arranged in parallel in described revolution casing I (3), wherein a bottom drive motors connected by transmission described in vertical rotation axis I (1-1), another bottom drive motors connects power output shaft I (8), connecting rod III (9) described in power output shaft I (8) connects,

Described upper parallel quadrangular mechanism is by parallel connecting rod V (13) and connecting rod VI (19), and two parallel connecting rods VIII (21) are hinged forms, the connecting rod VII (20) parallel with connecting rod VIII (21) is hinged with between connecting rod V (13) and connecting rod VI (19), connecting rod VIII (21) described in two adopts hinges II (15) to be connected with between described connecting rod V (13) and connecting rod VI (19), connecting rod VIII (21) described in two adopts fixed hinge IV (14) to be connected with described revolution casing II (18) with fixed hinge V (16) respectively, the upper end of described connecting rod VIII (21) is by the top workbench (23) described in fixed hinge VI (22) connection, the top drive motors of two platform independent is arranged in parallel in described revolution casing II (18), wherein a top drive motors connected by transmission described in vertical rotation axis II (12-1), another top drive motors connects power output shaft II (17), connecting rod VII (20) described in power output shaft II (17) connects.