CN107972017A - Six axis serial-parallel mirror robots - Google Patents

Abstract

The six-axis series-parallel hybrid robot includes a fixed plate and a movable plate. The fixed plate is equipped with three rotating series drive devices that drive the telescopic intermediate rods. The intermediate rods drive the first, second, and third serial output devices to rotate respectively. Between the two plates, three series output devices are arranged under the movable plate, and the rotation planes of two adjacent series output devices are vertical; three parallel drive devices are evenly distributed under the fixed plate; each parallel drive device drives a large arm, One end of the big arm away from the driving device is hinged to the small arm, and the other end of the small arm is hinged to the side of the movable disc. The parallel driving device drives the upper arm and then drives the small arm to realize the movement of the movable plate in the XOY plane and the Z axis direction. The movable plate cooperates with three rotating serial driving devices to drive the middle rod and then drives the three serial output devices to achieve rotation in all directions, improving the flexibility of movement On the basis of ensuring the range of motion, the motion speed and precision are improved, while the overall rigidity is good, the load is large, and the structure is stable.

Description

Six-axis serial-parallel hybrid robot

technical field

The invention belongs to the field of robots, in particular to a six-axis serial-parallel hybrid robot.

Background technique

At present, there are two types of robots widely used in industry, serial and parallel. Multi-degree-of-freedom serial robots are mostly used in welding, handling, painting, and cutting. Large, low precision, slow speed; parallel robot has stable structure, good rigidity, and large load, but its flexible movement in space is relatively poor. Therefore, how to design a robot with small error, high precision and flexibility has become a research topic for those skilled in the art.

Contents of the invention

In view of this, the present invention aims to provide a serial-parallel hybrid robot, which overcomes the problems of large cumulative error, poor precision and poor flexibility of the existing serial robot.

In order to achieve the above object, technical solution of the present invention is achieved in that way:

The six-axis series-parallel hybrid robot includes a fixed plate and a movable plate. The fixed plate is provided with three rotating serial drive devices, each of which drives a telescopic intermediate rod to rotate, and the three intermediate rods respectively drive the first The series output device, the second series output device and the third series output device rotate, the middle rod is arranged between the fixed plate and the movable plate, the first series output device, the second series output device and the first series output device Three series output devices are arranged below the movable disk, the rotation surface of the first series output device is parallel to the movable disk, the rotation surface of the second series output device is perpendicular to the rotation surface of the first series output device, The rotation plane of the third series output device is perpendicular to the rotation plane of the second series output device; the edge of the lower surface of the fixed plate is evenly distributed with a first parallel drive device, a second parallel drive device and a third parallel drive device; The first parallel drive device, the second parallel drive device and the third parallel drive device each drive a parallel boom, and each parallel boom is hinged to a parallel arm far away from the end of the corresponding drive device, and the parallel arm is far away from the corresponding boom One end is hinged on the side of the movable disc.

The series driving device and the first parallel driving device, the second parallel driving device and the third parallel driving device all include a motor and a reducer, and the motor drives the reducer.

The forearm includes two forearm rods arranged in parallel, one end of the two forearm rods is respectively connected to both sides of the corresponding boom through connecting ball joints, and the other ends of the two small arms are respectively connected to the movable plate through connecting ball joints The two ends of each small arm are provided with spring hangers near the connecting ball head, and springs are connected between the spring hangers at the same position of the two small arms.

The telescopic intermediate rod includes a connecting block, a cross universal joint and a first fixing seat, one end of the first fixing seat is connected to the cross universal joint, and two parallel telescopic tubes are fixed on both sides of the other end. The other end is fixed on the second fixed seat, and a telescopic shaft is arranged in the telescopic tube, and the telescopic shaft is connected with the second fixed seat through a sliding linear bearing, and the end of the telescopic shaft far away from the telescopic tube is fixed on the third fixed seat. On the seat, the middle of the third fixed seat is connected to a telescopic shaft through a sliding linear bearing, one end of the telescopic shaft protrudes from the third fixed seat and is fixed in the middle of the second fixed seat, and the other end is provided with a U-shaped connecting block, The end of the universal joint far away from the first fixing seat is connected with the corresponding serial driving device through a connecting block.

The third series output device includes a first drive plate, which is driven by a first drive block, and the center of the first drive plate is fixedly connected to one end of the sixth bevel gear shaft, and the sixth bevel gear shaft The other end is provided with the sixth bevel gear, the fifth bevel gear meshes with the sixth bevel gear, and the fifth bevel gear is fixed on one end of the fourth and fifth bevel gear shafts, and the other end of the fourth and fifth bevel gear shafts One end is fixed with a fourth bevel gear, the fourth bevel gear meshes with the third bevel gear, the third bevel gear is fixed on the third series output shaft, and the sixth bevel gear shaft is connected with the third series output shaft The shafts are arranged in parallel, and the fourth and fifth bevel gear shafts are perpendicular to the sixth bevel gear shaft;

The second series output device includes a hollow second drive plate, the second drive plate is driven by a second drive block, and the second drive plate is fixedly connected to one end of the hollow second bevel gear shaft, and the second drive plate is fixedly connected to one end of the hollow second bevel gear shaft. The other end of the bevel gear shaft is provided with a hollow second bevel gear, and the second bevel gear meshes with the hollow first bevel gear, and the first bevel gear is fixed on one end of the hollow second series output shaft, and the second bevel gear is engaged with the hollow first bevel gear. The bevel gear is sleeved on the sixth bevel gear shaft above the sixth bevel gear through a bearing, the second drive disc is sleeved on the sixth bevel gear shaft below the first drive disc through a bearing, and the first gear is passed through The bearing is sleeved on the fourth and fifth bevel gear shafts on the right side of the fifth bevel gear;

The first series output device includes a hollow third drive plate, which is driven by a third drive block, and the third drive plate is fixedly connected to one end of the hollow first series output shaft. The disk is sleeved on the second bevel gear shaft below the second drive disk through a bearing;

The first driving block, the second driving block and the third driving block are respectively connected to the corresponding U-shaped connecting blocks of the middle rod.

The first drive disc, the second drive disc and the third drive disc all extend outwards with a protrusion, and the first drive block, the second drive block and the third drive block are respectively arranged on the corresponding protrusions on the drive disc. , each protrusion is correspondingly located below the corresponding middle rod.

The outer cover of the three rotating series driving devices is provided with an upper cover.

The first parallel drive device, the second parallel drive device and the third parallel drive device are externally provided with a casing.

The tops of the first driving block, the second driving block and the third driving block are provided with a connecting portion, and the connecting portion is provided with horizontally arranged through holes, and the opening sides of the U-shaped connecting block are provided with through holes , the connecting portion is arranged between the openings of the U-shaped connecting block and is connected with the U-shaped connecting block through a pin shaft.

Compared with the prior art, the six-axis serial-parallel hybrid robot described in the present invention has the following advantages:

Owing to adopting above-mentioned technical scheme:

1. The three parallel driving devices on the fixed disk of the present invention drive the three parallel large arms and then drive the parallel forearm to realize the movement of the movable disk in the XOY plane and the Z-axis direction, and the movable disk cooperates with the three rotating serial driving devices to drive the middle rod Then drive the three serial output devices to achieve rotation in all directions, improve the flexibility of the robot's movement, and improve the movement speed and accuracy on the basis of ensuring the range of motion. At the same time, the overall rigidity of the robot is good, the load is large, and the structure is stable;

2. The present invention has simple structure, small volume and easy operation;

3. The small arm and the large arm are connected by a ball joint, with flexible rotation, large rotation angle, high precision, convenient installation, and better structural rigidity and stability;

4. The telescopic intermediate rod is composed of a base, a linear sliding bearing, a telescopic tube and a telescopic shaft, with a simple structure and a wide range of telescopic adjustment;

5. The first, second, and third series output devices are compact and small, and realize the functions of good rigidity and large load at the same time.

Description of drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the structural representation of intermediate bar of the present invention;

Fig. 4 is a schematic diagram of the internal structure of the movable plate and its lower part of the present invention;

Fig. 5 is the sectional view along B-B direction of Fig. 4;

Fig. 6 is the right view of Fig. 4;

Fig. 7 is the back view of Fig. 4;

Figure 8 is a partially enlarged view of Figure 1;

Fig. 9 is an enlarged view of part A in Fig. 8 .

Explanation of reference signs:

1. Upper cover; 2. Fixed plate; 3. Parallel arm; 4. Shell; 5. Parallel arm; 6. Intermediate rod; 7. Movable plate; 8. First parallel drive device; 9. Second parallel drive device; 10, the third parallel drive device; 11, the first serial output device; 12, the second serial output device; 13, the third serial output device; 14, bump; 51, connecting ball head; 52, spring hanger ; 53, spring; 54, small arm lever; 61, connecting block; 62, cross universal joint; 63, telescopic tube; 64, sliding linear bearing; 65, telescopic shaft; 66, first fixed seat; 67, U-shaped Connecting block; 68, the second fixed seat; 69, the third fixed seat; 111, the third driving block; 112, the third driving disc; 113, the first series output shaft; 121, the first bevel gear; 122, the second Bevel gear; 123, the second bevel gear shaft; 124, the second drive plate; 125, the second drive block; 126, the second series output shaft; 131, the third bevel gear; 132, the fourth five bevel gear shaft; 133 134, the fifth bevel gear; 135, the sixth bevel gear; 136, the sixth bevel gear shaft; 137, the first driving disc; 138, the first driving block; 139, the third series output shaft.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be interpreted as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention based on specific situations.

The present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in Figure 1-9, the six-axis serial-parallel hybrid robot includes a fixed disk 2 and a movable disk 7. The fixed disk 2 is provided with three rotating serial drive devices, and each serial drive device drives a telescopic intermediate drive device. The rod 6 rotates, and the three intermediate rods 6 respectively drive the first serial output device 11, the second serial output device 12 and the third serial output device 13 to rotate, and the intermediate rods 6 are arranged on the fixed disk 2 and the movable disk 7, the first series output device 11, the second series output device 12 and the third series output device 13 are arranged under the movable disk 7, and the rotation plane of the first series output device 11 is parallel to the movable disk 7. The rotation plane of the second series output device 12 is perpendicular to the rotation plane of the first series output device 11, and the rotation plane of the third series output device 13 is perpendicular to the rotation plane of the second series output device 12; The edge of the lower surface of the fixed disk 2 is evenly distributed with a first parallel drive device 8, a second parallel drive device 9 and a third parallel drive device 10; the first parallel drive device 8, the second parallel drive device 9 and the third parallel drive device The driving device 10 each drives a parallel boom 3, and one end of each parallel boom 3 away from the corresponding driving device is hinged to a parallel arm 5, and the end of the parallel arm 5 away from the corresponding boom is hinged on the side of the movable disk 7.

The series driving device and the first parallel driving device 8 , the second parallel driving device 9 and the third parallel driving device 10 all include a motor and a reducer, and the motor drives the reducer.

The forearm includes two forearm rods 54 arranged in parallel, one end of the two forearm rods 54 is respectively connected to both sides of the corresponding boom through connecting ball joints 51, and the other ends of the two small arms are respectively connected through connecting ball joints 51. Connected to the side of the movable plate 7, the two ends of each small arm 54 are provided with springs 53 hangers 52 near the connecting ball head 51, and springs 53 are connected between the springs 53 hangers 52 at the same position of the two small arms 54 .

The telescopic intermediate rod 6 includes a connecting block 61, a cross universal joint 62 and a first fixing base 66, one end of the first fixing base 66 is connected to the cross universal joint 62, and two parallel telescopic tubes are fixed on both sides of the other end. 63, the other end of the telescopic tube 63 is fixed on the second fixed seat 68, and the telescopic tube 63 is provided with a telescopic shaft 65, and the telescopic shaft 65 is connected with the second fixed seat 68 through a sliding linear bearing 64, so The end of the telescopic shaft 65 away from the telescopic tube 63 is fixed on the third fixed seat 69, and the middle of the third fixed seat 69 is connected to a telescopic shaft 65 through a sliding linear bearing 64, and one end of the telescopic shaft 65 protrudes from the The third fixing base 69 is fixed in the middle of the second fixing base 68, and the other end is provided with a U-shaped connecting block 67, and the end of the cross universal joint 62 away from the first fixing base 66 is connected to the corresponding serial driving device through a connecting block.

The third series output device 13 includes a first drive disc 137, the first drive disc 137 is driven by a first drive block 138, and the center of the first drive disc 137 is fixedly connected to one end of the sixth bevel gear shaft 136, so The other end of the sixth bevel gear shaft 136 is provided with a sixth bevel gear 135, and the fifth bevel gear 134 is meshed on the sixth bevel gear 135, and the fifth bevel gear 134 is fixed on the fourth and fifth bevel gear shafts 132. One end, the other end of the fourth and fifth bevel gear shafts 132 is fixed with a fourth bevel gear 133, and the fourth bevel gear 133 meshes with the third bevel gear 131, and the third bevel gear 131 is fixed on the third serial output On the shaft 139, the sixth bevel gear shaft 136 is arranged parallel to the third series output shaft 139, and the fourth and fifth bevel gear shafts 132 are perpendicular to the sixth bevel gear shaft 136;

The second serial output device 12 includes a hollow second drive disc 124, the second drive disc 124 is driven by a second drive block 125, and the second drive disc 124 is fixedly connected to the hollow second bevel gear shaft 123. One end, the other end of described second bevel gear shaft 123 is provided with hollow second bevel gear 122, and described second bevel gear 122 engages hollow first bevel gear 121, and described first bevel gear 121 is fixed on hollow One end of the second series output shaft 126, the second bevel gear 122 is sleeved on the sixth bevel gear shaft 136 above the sixth bevel gear 135 through a bearing, and the second drive disc 124 is sleeved on the first drive shaft 135 through a bearing. On the sixth bevel gear shaft 136 below the disc 137, the first gear is sleeved on the fourth and fifth bevel gear shafts 132 on the right side of the fifth bevel gear 134 through a bearing;

The first series output device 11 includes a hollow third drive disc 112, the third drive disc 112 is driven by a third drive block 111, and the third drive disc 112 is fixedly connected to one end of the hollow first series output shaft 113 , the third drive disc 112 is sleeved on the second bevel gear shaft 123 below the second drive disc 124 through a bearing;

The first driving block 138 , the second driving block 125 and the third driving block 111 are respectively connected to the corresponding U-shaped connecting blocks 67 of the middle rod 6 .

The first drive plate 137, the second drive plate 124 and the third drive plate 112 all extend outwards with a protrusion 14, and the first drive block 138, the second drive block 125 and the third drive block 111 are respectively arranged on corresponding On the projections 14 on the drive plate, each projection 14 is correspondingly located below the corresponding middle rod 6 .

The outer cover of the three rotating series driving devices is provided with an upper cover 1 .

The first parallel driving device 8 , the second parallel driving device 9 and the third parallel driving device 10 are externally provided with a housing 4 . The setting of upper cover 1 and shell 4 is not only beautiful but also dustproof, prolonging the service life of motor and reducer.

The tops of the first driving block 138, the second driving block 125 and the third driving block 111 are provided with a connecting portion, and the connecting portion is provided with a horizontally arranged through hole, and the two sides of the opening of the U-shaped connecting block 67 A through hole is provided, and the connecting part is arranged between the openings of the U-shaped connecting block 67 and connected with the U-shaped connecting block 67 through a pin shaft.

working principle:

The six-axis series-parallel hybrid robot includes three parallel manipulators (parallel main arm 3, parallel small arm 5) and three series manipulators (first series output device 11, second series output device 12 and third series output device 13). The three parallel mechanical arms are fixed on the fixed disk 2, and the movable disk 7 is controlled to realize the XOY plane movement and the translation of the Z-axis direction movement through the rotation drive of the servo motor at different angles; the three serial mechanical arms are fixed on the movable disk 7, and the The fixed disk 2 is equipped with a servo motor, and the movable disk 7 drives the serial manipulators to perform synchronous movement, and the manipulators can realize flexible movements in space through the rotational movements in three planes.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (9)

1. six axis serial-parallel mirror robots, it is characterised in that：Including fixed disk and movable disk, the fixed disk is equipped with three rotations Turn tandem drive, each tandem drive drives a scalable intermediate bar rotation, and three intermediate bars drive respectively First series connection output device, the second series connection output device and the 3rd series connection output device rotation, the intermediate bar is arranged on described solid Between price fixing and the movable disk, the first series connection output device, the second series connection output device and the 3rd series connection output device Below the movable disk, the surfaces of revolution of the first series connection output device is parallel to movable disk, the second series connection output The surfaces of revolution of device perpendicular to described first series connection output device the surfaces of revolution, it is described 3rd series connection output device the surfaces of revolution hang down Directly in the surfaces of revolution of the second series connection output device；The edge of the fixed disk lower surface is evenly equipped with the first parallel drive unit, Two parallel drive units and the 3rd parallel drive unit；First parallel drive unit, the second parallel drive unit and the 3rd are in parallel Driving device respectively drives a large arm in parallel, each the hinged parallel connection forearm in the one end of parallel connection large arm away from respective drive device, The described one end of parallel connection forearm away from corresponding large arm is hinged on the side of movable disk.

2. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：The tandem drive and first Parallel drive unit, the second parallel drive unit and the 3rd parallel drive unit include motor and speed reducer, and the motor drives Dynamic gear reducer.

3. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：The forearm includes two and parallel sets The small armed lever put, one end of the two small armed levers are connected to the both sides of corresponding large arm by connecting ball head respectively, and two forearms are another End is connected to the side of movable disk by connecting ball head respectively, and the both ends of each small armed lever are nearby equipped with bullet close to connecting ball head Spring hanger, is connected with spring between the spring hanger of two small armed lever same positions.

4. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：The scalable intermediate bar includes connecting Block, candan universal joint and the first fixed seat are connect, described first fixed seat one end connects candan universal joint, and other end both sides fix two The telescoping tube being arranged in parallel, the other end of the telescoping tube are fixed in the second fixed seat, and telescopic shaft is equipped with telescoping tube, described Telescopic shaft is connected with second fixed seat by sliding straight bearing, and the one end of the telescopic shaft away from the telescoping tube is fixed In the 3rd fixed seat, the centre of the 3rd fixed seat connects a telescopic shaft, the telescopic shaft one end by sliding straight bearing The centre that the 3rd fixed seat is fixed on the second fixed seat is stretched out, the other end is equipped with U-shaped contiguous block, and candan universal joint is away from One end of one fixed seat is connected by a contiguous block with corresponding tandem drive.

5. six axis serial-parallel mirror robot according to claim 4, it is characterised in that：The 3rd series connection output device bag The first drive disk is included, first drive disk is driven by the first drive block, and the first driving disk center is fixedly connected with the 6th cone One end of gear shaft, the other end of the 6th bevel gear shaft are equipped with the 6th bevel gear, the 5th are engaged on the 6th bevel gear Bevel gear, the 5th bevel gear are fixed on one end of the four or five bevel gear shaft, and the other end of the four or five bevel gear shaft is consolidated Surely there is the 4th bevel gear, the 4th bevel gear engages third hand tap gear, and the third hand tap gear is installed in the 3rd series connection output On axis, the 6th bevel gear shaft is arranged in parallel with the described 3rd output shaft of connecting, and the four or five bevel gear shaft is perpendicular to institute State the 6th bevel gear shaft；

The second series connection output device includes the second hollow drive disk, and second drive disk is driven by the second drive block, Second drive disk is fixedly connected with one end of hollow second bevel gear axis, and the other end of the second bevel gear axis is equipped with sky The second bevel gear of the heart, the second bevel gear engage hollow first bevel gear, and the first bevel gear is fixed on hollow Second series connection output shaft one end, the second bevel gear are set in the 6th bevel gear shaft above the 6th bevel gear by bearing On, second drive disk is set on the 6th bevel gear shaft below the first drive disk by bearing, and the first gear is led to Cross on the four or five bevel gear shaft that bearing is set on the right side of the 5th bevel gear；

The first series connection output device includes the 3rd hollow drive disk, and the 3rd drive disk is driven by the 3rd drive block, 3rd drive disk is fixedly connected with hollow first series connection output shaft one end, and the 3rd drive disk is set in the by bearing On second bevel gear axis below two drive disks；

First drive block, second drive block and the 3rd drive block U-shaped connection with corresponding intermediate bar respectively Block connects.

6. six axis serial-parallel mirror robot according to claim 5, it is characterised in that：First drive disk, second drive Moving plate and the 3rd drive disk extend outward a convex block, and the first drive block, the second drive block and the 3rd drive block are respectively arranged on On convex block on corresponding drive disk, each convex block is corresponded to positioned at the lower section of corresponding intermediate bar.

7. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：Three rotations tandem drive dress Upper cover is covered with outside putting.

8. six axis serial-parallel mirror robot according to claim 1, it is characterised in that：First parallel drive unit, Second parallel drive unit and the 3rd parallel drive unit are externally provided with shell.

9. six axis serial-parallel mirror robot according to claim 5, it is characterised in that：First drive block, second drive The top of motion block and the 3rd drive block is equipped with a connecting portion, and the connecting portion is equipped with horizontally disposed through hole, the U-shaped connection The opening both sides of block are equipped with through hole, and the connecting portion is connected between being arranged on U-shaped contiguous block opening by axis pin with U-shaped contiguous block.