CN113246098A - Four-degree-of-freedom parallel robot - Google Patents
Four-degree-of-freedom parallel robot Download PDFInfo
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- CN113246098A CN113246098A CN202110517068.7A CN202110517068A CN113246098A CN 113246098 A CN113246098 A CN 113246098A CN 202110517068 A CN202110517068 A CN 202110517068A CN 113246098 A CN113246098 A CN 113246098A
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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
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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Abstract
The invention provides a four-degree-of-freedom parallel robot, and belongs to the technical field of robots. The structure of the robot can reduce the coupling degree and eliminate the singular configuration, and realize the motion of three translation and one rotation, and the robot specifically comprises: a base having an upper base and a lower base; the two ends of the lifting mechanism are respectively connected with the upper base and the lower base; the freedom degree motion mechanism can ascend and descend along the lifting mechanism, the freedom degree motion mechanism is provided with a translation component and a rotating component which are connected with the lifting mechanism, and the translation component is provided with a Bricard single-ring structure; and the movable platform is connected with the freedom degree movement mechanism and is used as an actuating mechanism of the robot. The robot of the mechanism has the advantages of relatively simple structure, partial decoupling and easy production and processing, improves the force transmission performance of the mechanism and reduces the singular configuration of the mechanism. It can be adapted to the fields of parallel machine tool, complex curved surface processing, motion simulation, etc.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a four-degree-of-freedom parallel robot.
Background
The existing robot generally adopts a serial mechanism or a traditional parallel mechanism. The tandem robot is an open kinematic chain, so that the defects of large accumulated error, small bearing capacity, poor transmission performance and the like can be caused; the traditional parallel robot is a closed structure chain, and each branched chain is independent, so that the accumulated error is small, the bearing capacity is large, but the coupling degree is high, and the singular configuration is easy to generate, so that the working space is small.
With the development of science and technology, in the industrial production and application fields, some integrated devices with good performance need to be applied. The parallel robot mechanism is an integrated device and has the advantages of high rigidity, high motion precision and good dynamic response performance. The parallel robot mechanism with the four relative degrees of freedom is an important type thereof, is widely applied to industrial production and scientific research, and can be applied to the fields of parallel machine tools, complex curved surface processing, motion simulation and the like. However, the existing four-degree-of-freedom parallel robot has the problems of poor transmission performance and easy generation of singular configuration, and further limits the application of the mechanism.
Disclosure of Invention
In order to solve the problems, the invention provides a four-degree-of-freedom parallel robot which is used for reducing the coupling degree and eliminating the singular configuration, and adopts the following technical scheme:
the invention provides a four-degree-of-freedom parallel robot, which is characterized by comprising the following components: a base having an upper base and a lower base; the two ends of the lifting mechanism are respectively connected with the upper base and the lower base; the freedom degree movement mechanism ascends and descends along the lifting mechanism and is provided with a translation component and a rotation component which are connected with the lifting mechanism, and the translation component is provided with a Bricard single-ring structure; and the movable platform is connected with the freedom degree movement mechanism and is used as an actuating mechanism of the robot.
The four-degree-of-freedom parallel robot provided by the invention can also have the characteristics that 3 lifting mechanisms are arranged and respectively provided with a lead screw, a lifting motor, a guide rail and a slide block, the lead screw extends along the vertical direction, one end of the lead screw is connected with the upper base, the other end of the lead screw is connected with the lower base, the lifting motor is arranged on the upper base and is connected with the lead screw and is used for driving the lead screw to rotate, the guide rail is parallel to the lead screw, the two ends of the guide rail are respectively connected with the upper base and the lower base, and the slide block is sleeved on the guide rail and the lead screw and is provided with a threaded hole which is matched with the lead screw to slide.
The four-degree-of-freedom parallel robot provided by the invention can also have the characteristic that the translation component is also provided with three first translation connecting rods and three second translation connecting rods, one end of each first translation connecting rod is connected with the sliding block to form a Hooke hinge, the other end of each first translation connecting rod is rotatably connected with one end of each second translation connecting rod, and the other end of each second translation connecting rod is connected with a Bricard single-ring structure.
The four-degree-of-freedom parallel robot provided by the invention can also have the characteristic that the Bricard single-ring mechanism is provided with a plurality of third translational connecting rods which are mutually rotationally connected and a fourth translational connecting rod corresponding to the third translational connecting rods, the plurality of third translational connecting rods and the fourth translational connecting rods are sequentially and alternately connected end to form a single closed-loop structure, a first connecting hole and a second connecting hole are alternately arranged at the end-to-end connection position, the axis of the first connecting hole is not parallel to the axis of the second connecting hole, the second translational connecting rod is rotationally connected with the Bricard single-ring structure through the first connecting hole, and the second connecting hole is rotationally connected with the movable platform.
The four-degree-of-freedom parallel robot provided by the invention can also have the characteristics that the movable platform is provided with three first movable platform connecting rods, three corresponding second movable platform connecting rods and an installation platform, one end of each first movable platform connecting rod is connected with one end of each second movable platform connecting rod, an included angle is formed between the first movable platform connecting rods and the second movable platform connecting rods, the other end of each first movable platform connecting rod is connected with a second connecting hole of a Bricard single-ring structure, the installation platform is provided with three outwards extending columns corresponding to the second movable platform connecting rods, and the extending columns of the installation platform are rotatably connected with the other end of each second movable platform connecting rod.
The four-degree-of-freedom parallel robot provided by the invention can also have the characteristic that the rotating assembly is provided with a rotating motor, a first rotating connecting rod, a plurality of second rotating connecting rods and a third rotating connecting rod which are sequentially and rotatably connected end to end, wherein the rotating motor is connected with one end of the first rotating connecting rod, and one end of the third rotating connecting rod is rotatably connected with the movable platform.
Action and Effect of the invention
The four-degree-of-freedom parallel robot comprises a base; the two ends of the lifting mechanism are respectively connected with the base; the freedom degree motion mechanism is lifted along the lifting mechanism and is provided with a translation component and a rotating component, wherein the translation component is provided with a Bricard single-ring structure; and the movable platform is connected with the freedom degree movement mechanism and is used as an actuating mechanism of the robot. Therefore, the robot can execute space motion, and four-degree-of-freedom motion of three translation and one rotation can be realized through control. It can be seen that the relatively simple structure makes the robot of the present invention easy to manufacture. The robot structure is partially decoupled, so that the force transmission performance of the mechanism is improved, and the singular configuration of the mechanism is reduced. Therefore, the method can be suitable for the fields of parallel machine tools, complex curved surface processing, motion simulation and the like.
Drawings
FIG. 1 is a schematic structural diagram of a partially decoupled four-degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a bottom plate of a lower base according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an extended column of a lower base according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an upper base according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a lift motor mount according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a lead screw in an embodiment of the invention;
FIG. 8 is a schematic structural view of a coupling of an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a slider according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a translation assembly of a four-degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 11 is a schematic structural view of the Bricard monocyclic structure of an embodiment of the present invention;
FIG. 12 is a schematic structural view of a first translating link in accordance with an embodiment of the present invention;
FIG. 13 is a schematic structural view of a second translating link in accordance with an embodiment of the present invention;
FIG. 14 is a schematic structural view of a third translating link in accordance with an embodiment of the present invention;
FIG. 15 is a schematic structural view of a fourth translation link in accordance with an embodiment of the present invention;
fig. 16 is a partial structural schematic diagram of a degree-of-freedom motion mechanism and a movable platform of a four-degree-of-freedom parallel robot according to an embodiment of the present invention;
FIG. 17 is a schematic structural view of a moving platform link assembly in accordance with an embodiment of the present invention;
FIG. 18 is a schematic structural view of a first moving platform link in accordance with an embodiment of the present invention;
FIG. 19 is a schematic structural view of a second movable platform link in accordance with an embodiment of the present invention;
FIG. 20 is a schematic structural diagram of a movable platform mounting platform according to an embodiment of the present invention;
FIG. 21 is a schematic structural diagram of a rotating assembly of a four-DOF parallel robot in accordance with an embodiment of the present invention;
FIG. 22 is a schematic structural view of a first rotating link in accordance with an embodiment of the present invention;
FIG. 23 is a schematic structural view of a second rotating link according to the embodiment of the present invention;
FIG. 24 is a schematic structural view of a third rotating link in accordance with the embodiment of the present invention;
fig. 25 is a schematic structural view of a rotary motor base according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
< example >
The present embodiment provides a four-degree-of-freedom parallel robot 100 for reducing a degree of coupling and eliminating a singular configuration, wherein the four-degree-of-freedom parallel robot 100 is a four-degree-of-freedom parallel robot as described below.
Fig. 1 is a partially decoupled four-degree-of-freedom parallel robot mechanism, fig. 2 is a structural schematic diagram of a bottom plate of a lower base, fig. 3 is a structural schematic diagram of an extension column of the lower base, and fig. 4 is a structural schematic diagram of an upper base.
As shown in fig. 1, 2, 3, and 4, the four-degree-of-freedom parallel robot includes: the device comprises a base 1, a lifting mechanism 2, a freedom degree movement mechanism 3 and a movable platform 4.
The base 1 has a lower base 11 and an upper base 12, wherein the lower base 11 has a bottom plate 111 and three extending columns 112 extending in the vertical direction, and the upper base 12 is parallel to the bottom plate 111 of the lower base 11 and connected to the extending columns 112.
And the two ends of the lifting mechanism 2 are respectively connected with the upper base 12 and the lower base 11.
The freedom degree movement mechanism 3, which moves up and down along the elevating mechanism 2, has a translation assembly 31 and a rotation assembly 32 connected to the elevating mechanism 2.
The movable platform 4 is connected to the degree-of-freedom movement mechanism 3 and serves as an actuator of the robot 100.
Fig. 5 is a schematic structural view of a lifting mechanism, fig. 6 is a schematic structural view of a lifting motor base, fig. 7 is a schematic structural view of a lead screw, fig. 8 is a schematic structural view of a coupler, and fig. 9 is a schematic structural view of a slider;
as shown in fig. 5 to 9, the number of the lifting mechanisms 2 is set to 3, corresponding to the three extending columns 112 of the lower base 11, and each lifting mechanism 2 is provided with a lead screw 21, a lifting motor 22, a guide rail 23, a slider 24, a coupling 25, and a lifting motor support 26.
The lead screw 21 extends along the vertical direction, corresponds to the extension column 112, one end of the lead screw is connected with the upper base 12, the other end of the lead screw is connected with the bottom plate 111 of the lower base 11, the lifting motor 22 is installed on the lifting motor support 26, is connected with the lead screw 21 through the coupler 25 and is used for driving the lead screw 21 to rotate, the guide rail 23 is parallel to the lead screw 21, two ends of the guide rail 23 are respectively connected to the upper base 12 and the lower base 11, and the sliding block 24 is sleeved on the guide rail 23 and the lead screw 21 and is provided with a threaded hole which is matched with the lead screw 21 to slide.
Fig. 10 is a schematic structural view of a translational assembly of a four-degree-of-freedom parallel robot, fig. 11 is a schematic structural view of a Bricard single ring structure, fig. 12 is a schematic structural view of a first translational link, fig. 13 is a schematic structural view of a second translational link, fig. 14 is a schematic structural view of a third translational link, and fig. 15 is a schematic structural view of a fourth translational link.
As shown in fig. 10 to 15, the translational assembly 31 has a Bricard single ring structure 311, three first translational links 312, and three second translational links 313.
One end of the first translational connecting rod 312 is connected with the sliding block 24 to form a Hooke hinge, the other end of the first translational connecting rod 312 is rotatably connected with one end of the second translational connecting rod 313, and the other end of the second translational connecting rod 313 is connected with the Bricard single-ring structure 311.
The Bricard single ring mechanism 311 has three third translational links 311a rotatably connected to each other and three fourth translational links 311b corresponding to the third translational links 311 a.
The three third translational connecting rods and the three fourth translational connecting rods are sequentially and alternately connected end to form a single closed loop structure, and the first connecting holes 311c and the second connecting holes 311d are alternately arranged at the end-to-end positions.
The axis of the first connection hole 311c and the axis of the second connection hole 311d are not parallel to each other.
The second translational link 313 is rotatably connected with the Bricard single ring structure 311 through a first connection hole 311c, and the second connection hole 311d is rotatably connected with the first moving platform link 41 of the moving platform 4.
Fig. 16 is a partial structural schematic diagram of a degree-of-freedom motion mechanism and a moving platform of a four-degree-of-freedom parallel robot, fig. 17 is a structural schematic diagram of a moving platform link assembly, fig. 18 is a structural schematic diagram of a first moving platform link, fig. 19 is a structural schematic diagram of a second moving platform link, and fig. 20 is a structural schematic diagram of a moving platform mounting platform.
As shown in fig. 16-20, the movable platform 4 is provided with three first movable platform links 41, three corresponding second movable platform links 42, and a mounting platform 43.
One end of the first moving platform link 41 is connected to one end of the second moving platform link 42, forming an angle therebetween.
The other end of the first moving platform link 41 is connected to the second connection hole 311d of the Bricard single ring structure 311.
The mounting platform 43 has three outwardly extending columns 431 corresponding to the second movable platform link 42 and an actuating end 432, and the extending columns 431 of the mounting platform 43 are rotatably connected with the other end of the second movable platform link 42.
Fig. 21 is a schematic structural view of a rotating assembly of a four-degree-of-freedom parallel robot, fig. 22 is a schematic structural view of a first rotating link, fig. 23 is a schematic structural view of a second rotating link, fig. 24 is a schematic structural view of a third rotating link, and fig. 25 is a schematic structural view of a rotating motor base.
As shown in fig. 21 to 25, the rotating assembly 32 has a rotating motor 321, and a first rotating link 322, two second rotating links 323, two third rotating links 324, and a rotating motor support 325 which are rotatably connected end to end in sequence.
The rotating motor 321 installed on the rotating motor support 325 is connected with one end of the first rotating connecting rod 322 through a coupler, the other end of the first rotating connecting rod 322 is connected with one end of the second rotating connecting rod 323, the two second rotating connecting rods 323 and the two third rotating connecting rods 324 are sequentially connected end to end in an alternating manner, and finally one end of the third rotating connecting rod 324 is rotatably connected with the movable platform 4.
In this embodiment, when the three lifting motors 22 work, the three motors, which have the same or different rotating speeds, can drive the three sliders 24 to synchronously ascend or descend, and further drive the translational component 31 to ascend and descend along the lifting mechanism 2, so that the structure of the translational component 31 is changed, and thus three translational motions of the movable platform 4 are realized; when the rotating motor 321 works, the rotating assembly 32 is driven to rotate, and the movable platform 4 is driven to rotate at the same time. Therefore, the translation assembly 31 and the rotation assembly 32 are matched with each other, so that the robot 100 can complete four-degree-of-freedom motion of three translations and one rotation, and further, the robot 100 not only can be used as a machine tool for processing complex curved surfaces of gas turbines, propellers, wind driven generator blades and the like, but also can be used as a motion simulation module in entertainment facilities.
Examples effects and effects
The four-degree-of-freedom parallel robot in the embodiment comprises a base with an upper base and a lower base; the two ends of the lifting mechanism are respectively connected with the upper base and the lower base; the freedom degree movement mechanism ascends and descends along the lifting mechanism and is provided with a translation component and a rotation component which are connected with the lifting mechanism, wherein the translation component is provided with a Bricard single-ring structure; and the movable platform is connected with the freedom degree movement mechanism and is used as an actuating mechanism of the robot. Thereby enabling the robot 100 to perform spatial motion, and four degrees of freedom motion of three translational motions and one rotational motion can be realized through control. It follows that the relatively simple construction described above makes the robot of the invention easy to produce and process.
The robot of the embodiment has the advantages that the structure part is decoupled, the coupling degree is reduced, the force transmission performance of the mechanism is improved, and the motion trail planning and control of the robot are facilitated. In addition, the whole robot of the embodiment is of a symmetrical distribution structure, and singular configurations of the mechanism are reduced. Therefore, the robot of the embodiment can adapt to the fields of parallel machine tools, complex curved surface machining, motion simulation and the like.
The above-described embodiments are merely illustrative of specific embodiments of the present invention, and the present invention is not limited to the description of the above-described embodiments.
Claims (6)
1. A four-degree-of-freedom parallel robot for reducing a degree of coupling and eliminating a singular configuration, comprising:
a base having an upper base and a lower base;
the two ends of the lifting mechanism are respectively connected with the upper base and the lower base;
the freedom degree movement mechanism ascends and descends along the lifting mechanism, and is provided with a translation component and a rotation component which are connected with the lifting mechanism, and the translation component is provided with a Bricard single-ring structure; and the number of the first and second groups,
and the movable platform is connected with the freedom degree movement mechanism and is used as an actuating mechanism of the robot.
2. The four degree-of-freedom parallel robot of claim 1, wherein:
wherein the number of the lifting mechanisms is 3, each lifting mechanism is provided with a lead screw, a lifting motor, a guide rail and a slide block,
the screw rod extends along the vertical direction, one end of the screw rod is connected with the upper base, the other end of the screw rod is connected with the lower base,
the lifting motor is arranged on the upper base, is connected with the screw rod and is used for driving the screw rod to rotate,
the guide rail is parallel to the screw rod, two ends of the guide rail are respectively connected to the upper base and the lower base,
the sliding block is sleeved on the guide rail and the lead screw and is provided with a threaded hole matched with the lead screw to slide.
3. The four degree-of-freedom parallel robot of claim 1, wherein:
wherein the translation assembly is also provided with three first translation connecting rods and three second translation connecting rods,
one end of the first translational connecting rod is connected with the sliding block to form a Hooke hinge, the other end of the first translational connecting rod is rotatably connected with one end of the second translational connecting rod,
the other end of the second translational connecting rod is connected with the Bricard single-ring structure.
4. The four degree-of-freedom parallel robot of claim 3, wherein:
wherein the Bricard single ring mechanism has a plurality of third translational links rotationally connected to each other and fourth translational links corresponding to the third translational links,
the plurality of third translational connecting rods and the plurality of fourth translational connecting rods are sequentially and alternately connected end to form a single closed loop structure, and first connecting holes and second connecting holes are alternately arranged at the connection positions of the end to end,
the axis of the first connection hole and the axis of the second connection hole are not parallel to each other,
the second translational connecting rod is rotatably connected with the Bricard single-ring structure through the first connecting hole, and the second connecting hole is rotatably connected with the movable platform.
5. The four degree-of-freedom parallel robot of claim 4, wherein:
wherein the movable platform is provided with three first movable platform connecting rods, three corresponding second movable platform connecting rods and a mounting platform,
one end of the first movable platform connecting rod is connected with one end of the second movable platform connecting rod, an included angle is formed between the first movable platform connecting rod and the second movable platform connecting rod,
the other end of the first movable platform connecting rod is connected with the second connecting hole of the Bricard single-ring structure,
the mounting platform has with the second moves the three extension post that outwards extends that the platform connecting rod corresponds, mounting platform extend the post with the second moves the other end rotation connection of platform connecting rod.
6. The four degree-of-freedom parallel robot of claim 1, wherein:
wherein the rotating component is provided with a rotating motor, a first rotating connecting rod, a plurality of second rotating connecting rods and a third rotating connecting rod which are sequentially and rotationally connected end to end,
the rotating motor is connected with one end of the first rotating connecting rod,
one end of the third rotating connecting rod is rotatably connected with the movable platform.
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