CN106426092A - Movement redundancy five-freedom-degree parallel serial robot - Google Patents

Abstract

The invention relates to a movement redundancy five-freedom-degree parallel serial robot. The movement redundancy five-freedom-degree parallel serial robot mainly comprises a fixed platform, a movable platform, a rotation work table, stand columns, a connecting beam, four branch chains, a middle connecting rod, a moving platform and a main shaft head. The movable platform is arranged above the fixed platform. The rotation work table is arranged on the movable platform. The two stand columns are arranged above the fixed platform. The connecting beam is arranged above the two stand columns. The four branch chains the same in length are arranged between the two stand columns. One ends of the four branch chains are connected with sliding blocks through rotation pairs, and the other ends of the four branch chains are connected with one end of the moving platform and one end of the middle connecting rod through rotation pairs. The sliding blocks are connected with the stand columns through moving pairs. The other end of the middle connecting rod is connected with the other end of the moving platform through a rotation pair. The moving platform is provided with the main shaft head. The movement redundancy five-freedom-degree parallel serial robot has the moving redundancy character, influences on the mechanism due to the uncoordinated redundancy driving force are eliminated, the singular points of the mechanism are effectively reduced, and the work space of the mechanism is increased.

Description

Motion redundant five-degree-of-freedom hybrid robot

technical field

The invention relates to a robot, in particular to a hybrid robot.

Background technique

In the field of industrial robot applications, five-degree-of-freedom robots can be used in spraying, welding, handling, assembly, engraving and other fields, especially in aviation, aerospace, military, scientific research, precision instruments, high-precision medical equipment and other industries, and have a decisive influence . The development of robot technology has become a symbol of modern industrial manufacturing. Among them, the five-degree-of-freedom hybrid robot constructed based on the planar parallel mechanism combines the advantages of the planar parallel mechanism and the serial robot. The characteristics of the simple learning model and the large and flexible working space of the series mechanism have become one of the research hotspots in the field of robotics and mechanisms.

Patent Publication No. CN104057442B discloses a hybrid robot based on a space parallel mechanism. The spatial structure model is relatively complex and the manufacturing cost is high. Patent Publication No. CN103101050B discloses a new two-degree-of-freedom redundant drive parallel mobile platform , Patent CN103101049B authorized to publish a three-degree-of-freedom parallel mechanism with a new redundant drive branch chain, due to the shortcomings of few degrees of freedom and singular points, it cannot complete the processing of complex curved surfaces; the patent published by the publication number CN204935636U A hybrid robot with redundant drive based on a planar parallel mechanism, although it has the characteristics of simple space structure and high degree of modularization, but the series part of the hybrid mechanism requires a large swing angle of the workbench to meet the flexibility of the robot. However, this design scheme of the swingable table is not easy to improve the structural rigidity, and the mechanism is driven redundantly. The coordination of redundant driving force is a major difficulty in the research field of redundant driving, and it is necessary to add additional force sensors. The control of this type of hybrid robot is better realized, so its application in industry is limited.

The patent with the publication number CN104626103A discloses a multi-degree-of-freedom parallel mechanism type controllable mobile palletizing robot, and the patent with the publication number CN102720226B discloses a motion-redundant front shovel excavating device, which all involve motion redundancy; Motion redundancy is similar to drive redundancy, both of which can improve the flexibility of the robot. However, the above-mentioned robot with motion redundancy has a single motion form, and the degree of freedom and flexibility of the end effector are limited. Therefore, a robot with motion redundancy is designed. Multi-DOF and high-flexibility robots with redundant characteristics help to improve their application range in the industrial field. However, there are no related reports on industrial five-DOF hybrid robots with motion redundancy.

Contents of the invention

The object of the present invention is to propose a redundant five-degree-of-freedom hybrid robot with simple structure, high rigidity, fast response speed, large working space and good dynamic performance.

The invention mainly includes a fixed platform, a movable platform base, a movable platform, a rotatable workbench, a rotatable workbench, a column, a connecting beam, four branch chains, an intermediate connecting rod, a moving platform, a main shaft head and a branch chain drive assembly. 1. Movable platform drive assembly and rotatable worktable assembly, wherein a movable platform seat is provided on the fixed platform, the movable platform is connected with the movable platform seat through a moving pair, and a rotatable working platform is provided on the movable platform. The pedestal, the rotatable workbench is connected to the rotatable workbench through a rotating pair whose axis is in the vertical direction, and opposite columns are arranged on both sides of the fixed platform, and the upper ends of the two columns are provided with connecting beams connecting the two columns , four branch chains with the same length are arranged between the two uprights, and one end of the first and second branch chains on the left side of the four branch chains is respectively connected with the sliders arranged on the upper and lower cylindrical guide rails on the left side through a rotating pair, The other end is connected to one end of the moving platform through the same rotating pair, and one end of the third and fourth branch chains on the right side of the four branch chains is respectively connected to the sliders on the upper and lower cylindrical guide rails on the right side through the rotating pair. The other end is connected to one end of the intermediate connecting rod through the same rotating pair, and the other end of the intermediate connecting rod is connected to the other end of the moving platform through a rotating pair, and the length of the intermediate connecting rod is 1 of the length of the moving platform. /3; a spindle head is provided on the moving platform.

The input kinematic pair of the slider along the vertical direction on the cylindrical guide rail, the rotation pair axes in the four branch chains are parallel to each other, and perpendicular to the moving pair axis formed by the slider and the column, the left side The axes of the rotating pairs connected to the moving platform in the first and second branch chains are coincident, the first branch chain is located above the horizontal plane passing through the coincident rotating pair axes, and the second branch chain is located below the horizontal plane passing through the overlapping rotating pair axes. The axes of the third and fourth branches on the right side of the third and fourth branches are coincident with each other, the fourth branch is located above the horizontal plane passing through the coincident rotation axis, and the third branch is located at the horizontal plane passing through the coincidence rotation axis below the water level.

The branch chain drive assembly includes a linear unit base, a servo motor, a motor base, a shaft coupling, a lead screw, a lead screw nut, an upper support seat for the lead screw, a slider, a cylindrical guide rail and a lower support seat for the lead screw, two of which are linear The unit bases are respectively vertically fixed on the opposite column walls, and a pair of screw upper support seats and lead screw lower support seats are respectively arranged on the upper and lower sides of the linear unit bases, and the upper lead screw upper support seats and the lower lead screw lower support seats There are motor bases on both sides, and the servo motors are respectively fixed on the upper and lower motor bases. The output ends of the servo motors are connected to one end of the lead screw through a coupling, and the upper and lower lead screws and one end of the cylindrical guide rail are supported by the upper support seat of the lead screw. , the other end of which is supported by the lower support seat of the lead screw, sliders are respectively provided on the upper and lower lead screws and the upper and lower cylindrical guide rails, the effective stroke part of the lead screw is connected with the lead screw nut, and the lead screw nut is fixed on the slide on the block.

The drive assembly of the movable platform includes a fixed platform, a movable platform base, a movable platform servo motor, a movable platform motor base, a movable platform coupling, a movable platform screw, a movable platform screw nut, a movable platform The upper support seat of the platform lead screw, the movable platform slider, the movable platform guide rail, the movable platform guide rail groove and the lower support seat of the movable platform lead screw, wherein one end of the movable platform seat on the fixed platform is provided with a movable Platform motor base, the movable platform servo motor is fixed on the movable platform motor base, the output end of the servo motor is connected to one end of the movable platform screw through the movable platform coupling, and one end of the screw is fixed on the fixed platform The upper support seat of the movable platform lead screw on the platform is supported, and the other end is supported by the lower support seat of the movable platform lead screw fixed on the fixed platform, and the movable platform lead screw is provided with a movable platform lead screw nut The movable platform lead screw nut is fixed on the movable platform lead screw nut seat under the movable platform, which is used to control the effective stroke of the movable platform. The sliding block of the mobile platform cooperates with the guide rails of the movable platform fixed on both sides of the base of the movable platform to form a sliding connection.

The rotatable workbench assembly includes a rotatable workbench seat, a rotatable workbench servo motor, a 90-degree corner reducer and a rotatable workbench, wherein a groove is provided under the rotatable workbench seat fixed on the movable platform, which can The rotary table servo motor is fixed in the groove of the rotary table seat, the output end of the rotary table servo motor is connected to the input end of the 90-degree corner reducer, and the output end of the 90-degree corner reducer is connected to the rotary table Connected, the rotation axis of the output end of the 90-degree corner reducer is in the vertical direction.

When the middle link of the planar parallel mechanism is parallel to the moving platform or the rotation pair between the moving platform and the middle link is locked, the motion redundant five-degree-of-freedom hybrid robot is converted into a drive redundant five-degree-of-freedom hybrid robot, The internal singularity of the mechanism can be eliminated by simply controlling the attitude between the intermediate link and the moving platform.

The working process of the present invention is roughly as follows: the servo motor fixed on the motor seat on the column drives the lead screw and the nut to move together, and then transmits the motion through four branch chains to control the posture of the intermediate connecting rod and the moving platform to realize the moving platform Two-shift, one-turn three-degree-of-freedom movement: up and down movement, left and right movement, and rotation in a vertical plane; the movable platform can move forward and backward through its drive components; the 90-degree corner reducer is driven by the servo motor of the rotatable worktable , to drive the rotary motion of the rotatable worktable above the movable platform; combined with the three degrees of freedom of the moving platform of the above-mentioned planar parallel mechanism, the movement degrees of freedom of the movable platform and the rotation degrees of freedom of the rotatable worktable, five degrees of freedom in space can be realized Movement, so as to realize the spatial movement that the robot needs to complete in actual work.

Compared with the prior art, the present invention has the following advantages:

1. It has motion redundancy, which overcomes the problem of singularity in ordinary parallel mechanisms, and at the same time effectively increases the working space of parallel robots and improves the overall rigidity of the mechanism;

2. The driving motor is fixed on the column and does not move with the branch chain, which effectively reduces the moment of inertia of the machine tool;

3. The branch kinematic chain is short, the response speed is fast, the structure is simple and compact, and it has good manufacturing and assembly process;

4. The rotatable worktable is connected in series with the movable platform on the fixed platform, independent of the parallel part, effectively avoiding error accumulation caused by parts processing errors and assembly errors;

5. The direction of the rotary axis of the rotatable worktable is the vertical direction, which is beneficial to increase the rigidity and bearing capacity of the worktable;

6. Motion redundancy eliminates the influence of uncoordinated driving forces on the mechanism. At the same time, using the characteristics of the mechanism itself, not only the motion redundancy control strategy of the motion redundancy five-degree-of-freedom hybrid robot can be studied, but also the drive redundancy control strategy can be studied. .

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the present invention.

FIG. 2 is a schematic diagram of the branch chain and branch chain drive assembly of FIG. 1 .

Fig. 3 is a schematic diagram of the movable platform drive assembly and the rotatable worktable assembly of the present invention.

In the figure: 1. Fixed platform, 2. Movable platform seat, 3. Movable platform, 4. Revolvable table seat, 5. Revolvable table, 6. Second branch chain, 7. Intermediate connecting rod, 8. The first branch chain, 9. Column (left), 10. Connecting beam, 11. Column (right), 12. The fourth branch chain, 13. Linear unit base, 14. The third branch chain, 15. Moving platform, 16 .Spindle head, 17. Upper slider, 18. Upper support seat of lead screw, 19. Coupling, 20. Motor seat, 21. Servo motor, 22. Cylindrical guide rail, 23. Lead screw nut, 24. Lead screw, 25. Lower support seat of lead screw, 26. Lower slider, 27. Servo motor of movable platform, 28. Motor base of movable platform, 29. Coupling of movable platform 30. Upper support seat of lead screw of movable platform, 31 .Movable platform screw, 32. Movable platform screw nut, 33. Movable platform screw nut seat, 34. Movable platform screw lower support seat, 35. Rotary table servo motor, 36.90-degree corner deceleration Device, 37. movable platform slide block, 38. movable platform guide rail.

detailed description

In the schematic diagram of a five-degree-of-freedom hybrid robot shown in Figure 1, a movable platform seat 2 is provided on a fixed platform 1, and a movable platform 3 is connected with the movable platform seat through a moving pair. There is a rotatable workbench 4, and the rotatable workbench 5 is connected with the rotatable workbench through a rotating pair whose axis is in the vertical direction. Relative columns 9 and 11 are respectively arranged on both sides of the fixed platform, and the upper ends of the two columns are provided with There are connecting beams 10 connecting the two columns, four branch chains are arranged between the two columns, the two branch chains at the top have the same structure, and the two branch chains at the bottom have the same structure, and the first branch chain 8 on the left side in the four branch chains and One end of the second branch chain 6 is respectively connected with the upper slide block 17 and the lower slide block 26 which are located on the upper and lower cylindrical guide rails 22 on the left side through a rotating pair, and its other end is connected with an end of the moving platform 15 through the same rotating pair. One end of the third branch chain 14 on the right side and the fourth branch chain 12 in the four branch chains are respectively connected with the upper and lower sliders on the upper and lower cylindrical guide rails on the right side through a rotating pair, and the other end is connected with the middle connecting rod through the same rotating pair 7, the other end of the intermediate connecting rod is connected to the other end of the moving platform through a rotating pair, the length of the intermediate connecting rod is 1/3 of the length of the moving platform, and on the moving platform A spindle head 16 is provided.

The input kinematic pair of the slider along the vertical direction on the cylindrical guide rail, the rotation pair axes in the four branch chains are parallel to each other, and perpendicular to the moving pair axis formed by the slider and the column, the left side The axes of the rotating pairs connected to the moving platform in the first and second branch chains are coincident, the first branch chain is located above the horizontal plane passing through the coincident rotating pair axes, and the second branch chain is located below the horizontal plane passing through the overlapping rotating pair axes. The axes of the third and fourth branches on the right side of the third and fourth branches are coincident with each other, the fourth branch is located above the horizontal plane passing through the coincident rotation axis, and the third branch is located at the horizontal plane passing through the coincidence rotation axis below the water level.

As shown in Figure 2, the two linear unit bases 13 in the branch chain drive assembly are respectively vertically fixed on the opposite column walls, and a pair of screw upper support seats 18 and a screw screw lower support are respectively arranged above and below the linear unit bases. Seat 25 is provided with motor seat 20 on the supporting seat on the leading screw on the top, and servo motor 21 is fixed on the motor seat, and the output end of servo motor is connected with an end of leading screw 24 by coupling 19, leading screw up and down and up and down One end of the cylindrical guide rail is supported by the upper support seat of the lead screw, and the other end is supported by the lower support seat of the lead screw. Sliders are respectively arranged on the upper and lower lead screws and the upper and lower cylindrical guide rails. The rod nut 23 is connected, and the described lead screw nut is fixed on the slide block.

As shown in Figure 3, one end of the movable platform seat on the fixed platform in the movable platform driving group is provided with a movable platform motor seat 28, and the movable platform servo motor 27 is fixed on the movable platform motor seat, and the servo motor The output end of the output end is connected with one end of the movable platform lead screw 31 through the movable platform coupling 29, and one end of the lead screw is supported by the support base 30 on the movable platform lead screw fixed on the fixed platform, and the other end is supported by the movable platform lead screw 31. The supporting base 34 under the movable platform leading screw fixed on the fixed platform is supported, and the movable platform leading screw is provided with a movable platform leading screw nut 32, and the movable platform leading screw nut 32 is fixed on the bottom of the movable platform. On the lead screw nut seat 33 of the movable platform, it is used to control the effective stroke of the movable platform. The two sides of the bottom of the movable platform are provided with movable platform sliders 37 in pairs, which are fixed on the movable platform. The movable platform guide rails 38 on both sides of the mobile platform base cooperate to form a sliding connection. In the rotatable workbench assembly, there is a groove under the rotatable workbench seat fixed on the movable platform, and the rotatable workbench servo motor 35 is fixed in the groove of the rotatable workbench seat. The output of the rotatable workbench servo motor End is connected with the input end of 90 degree corner speed reducer 36, and the output end of this 90 degree corner speed reducer is connected with rotatable workbench, and the output end rotation axis of this 90 degree corner speed reducer is vertical direction.

Claims (2)

1. a kind of motion redundancy series parallel robot in five degrees of freedom, mainly includes fixed platform, moveable platform seat, may move and put down Platform, rotatable table rest, rotatable workbench, column, connecting cross beam, four side chains, intermediate connecting rod, moving platform and main tapping And side chain drive component, moveable platform drive component and rotatable table assembly it is characterised in that：Described fixed platform It is provided with moveable platform seat, moveable platform is connected with this moveable platform seat, in described moveable platform by moving sets It is provided with rotatable table rest, rotation pair and this rotatable table rest that rotatable workbench is vertical by axis Connect, be respectively provided on two sides with relative column in described fixed platform, two column upper ends are provided with the connection connecting this two columns Crossbeam, is provided with four side chains between two columns, in described four side chains, one end of first and second side chains in left side is passed through respectively Rotate slide block that is secondary and being located on the upper and lower cylindrical guide in left side to be connected, its other end rotates secondary one end with moving platform by same Connection, in described four side chains, one end of third and fourth side chain on right side is passed through respectively to rotate secondary and is located at right side cylinder up and down On guide rail slide block connect, its other end pass through same rotate pair be connected with one end of intermediate connecting rod, this intermediate connecting rod another The other end that secondary and described moving platform is passed through to rotate in one end is connected, and the length dimension of described intermediate connecting rod is moving platform length dimension 1/3, described moving platform is provided with main tapping；

Described slide block is on cylindrical guide along the input motion pair of vertical, the turns auxiliary shaft line phase in four described side chains Mutually parallel, and the mobile secondary axis being formed perpendicular to slide block and column, flat with dynamic in described left side first and second side chain The turns auxiliary shaft line that platform connects overlaps, and the first side chain was located at the top of this coincidence turns auxiliary shaft line horizontal plane, the second side chain position In the lower section crossing this coincidence turns auxiliary shaft line horizontal plane, it is connected with intermediate connecting rod in described right side the 3rd side chain and the 4th side chain Turns auxiliary shaft line overlap, the 4th side chain was located at the top of this coincidence turns auxiliary shaft line horizontal plane, and the 3rd side chain was located at this The lower section of coincidence turns auxiliary shaft line horizontal plane；

Described side chain drive component includes straight line units base, servomotor, motor cabinet, shaft coupling, leading screw, feed screw nut, silk Support base under thick stick upper support seat, slide block, cylindrical guide and leading screw, two of which straight line units base is vertically fixed on relatively respectively Stud wall on, be respectively equipped with support base under a pair of leading screw upper support seat and leading screw up and down, on top in straight line units base Leading screw upper support seat and bottom leading screw under be equipped with motor cabinet on support base, servomotor is separately fixed at upper and lower motor cabinet On, the output end of servomotor is all connected with one end of leading screw by shaft coupling, and one end of upper lower leading screw and cylindrical guide is passed through Leading screw upper support seat is supported, and its other end is supported by support base under leading screw, leads in upper lower leading screw and upper and lower cylinder Slide block is respectively equipped with rail, the effective travel part of described leading screw is connected with feed screw nut, and described feed screw nut is fixed on slide block On；

Described moveable platform drive component includes fixed platform, moveable platform seat, moveable platform servomotor, may move Platform motor cabinet, moveable platform shaft coupling, moveable platform leading screw, moveable platform feed screw nut, moveable platform leading screw Upper support seat, moveable platform slide block, moveable platform guide rail, moveable platform guide-track groove and lower of moveable platform leading screw Support seat, the one end wherein setting moveable platform seat on the stationary platform is provided with moveable platform motor cabinet, and moveable platform is watched Take motor to be fixed on moveable platform motor cabinet, the output end of servomotor is passed through moveable platform shaft coupling and put down with removable One end of platform leading screw connects, and one end of this leading screw is carried out by fixing moveable platform leading screw upper support seat on the stationary platform Support, its other end is supported by support base under the moveable platform leading screw that is fixed in described fixed platform, may move Platform leading screw is provided with moveable platform feed screw nut, and moveable platform feed screw nut is fixed on removable below moveable platform On moving platform feed screw nut seat, described moveable platform two bottom sides are provided with the moveable platform slide block for a group two-by-two, this cunning Block matches to be combined into the moveable platform guide rail being fixed on moveable platform base both sides and is slidably connected；

Described rotatable table assembly includes rotatable table rest, rotatable workbench servomotor, 90 degree of corners decelerations Device and rotatable workbench, are wherein fixed on and are provided with groove below the rotatable table rest on moveable platform, rotatable work Station servomotor is fixed in rotatable table rest groove, and the output end of this rotatable workbench servomotor is turned with 90 degree The input of angle decelerator connects, and the output end of this 90 degree of tortuous decelerating machines is connected with rotatable workbench, and this 90 degree of corners subtract The output end pivot center of fast device is vertical.

2. a kind of motion redundancy series parallel robot in five degrees of freedom according to claim 1 it is characterised in that：Described four The length dimension of chain is identical, and the length dimension of intermediate connecting rod is the 1/3 of moving platform length dimension.